lpc17xx_can.c.svn-base

uCOSII_lwip_lpc1768

/**********************************************************************
* $Id$		lpc17xx_can.c				2011-03-09
*//**
* @file		lpc17xx_can.c
* @brief	Contains all functions support for CAN firmware library on LPC17xx
* @version	3.3
* @date		09. March. 2011
* @author	NXP MCU SW Application Team
*
* Copyright(C) 2011, NXP Semiconductor
* All rights reserved.
*
***********************************************************************
* Software that is described herein is for illustrative purposes only
* which provides customers with programming information regarding the
* products. This software is supplied "AS IS" without any warranties.
* NXP Semiconductors assumes no responsibility or liability for the
* use of the software, conveys no license or title under any patent,
* copyright, or mask work right to the product. NXP Semiconductors
* reserves the right to make changes in the software without
* notification. NXP Semiconductors also make no representation or
* warranty that such application will be suitable for the specified
* use without further testing or modification.
**********************************************************************/

/* Peripheral group ----------------------------------------------------------- */
/** @addtogroup CAN
 * @{
 */

/* Includes ------------------------------------------------------------------- */
#include "lpc17xx_can.h"
#include "lpc17xx_clkpwr.h"

/* If this source file built with example, the LPC17xx FW library configuration
 * file in each example directory ("lpc17xx_libcfg.h") must be included,
 * otherwise the default FW library configuration file must be included instead
 */
#ifdef __BUILD_WITH_EXAMPLE__
#include "lpc17xx_libcfg.h"
#else
#include "lpc17xx_libcfg_default.h"
#endif /* __BUILD_WITH_EXAMPLE__ */


#ifdef _CAN

/* Private Variables ---------------------------------------------------------- */
/** @defgroup CAN_Private_Variables CAN Private Variables
 * @{
 */

FunctionalState FULLCAN_ENABLE;


/* Counts number of filters (CAN message objects) used */
uint16_t CANAF_FullCAN_cnt = 0;
uint16_t CANAF_std_cnt = 0;
uint16_t CANAF_gstd_cnt = 0;
uint16_t CANAF_ext_cnt = 0;
uint16_t CANAF_gext_cnt = 0;

/* End of Private Variables ----------------------------------------------------*/
/**
 * @}
 */

/* Private Variables ---------------------------------------------------------- */
static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate);

/*********************************************************************//**
 * @brief 		Setting CAN baud rate (bps)
 * @param[in] 	CANx point to LPC_CAN_TypeDef object, should be:
 * 				- LPC_CAN1: CAN1 peripheral
 * 				- LPC_CAN2: CAN2 peripheral
 * @param[in]	baudrate: is the baud rate value will be set
 * @return 		None
 ***********************************************************************/
static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate)
{
	uint32_t result = 0;
	uint8_t NT, TSEG1, TSEG2, BRFail;
	uint32_t CANPclk = 0;
	uint32_t BRP;
	CHECK_PARAM(PARAM_CANx(CANx));

	if (CANx == LPC_CAN1)
	{
		CANPclk = CLKPWR_GetPCLK (CLKPWR_PCLKSEL_CAN1);
	}
	else
	{
		CANPclk = CLKPWR_GetPCLK (CLKPWR_PCLKSEL_CAN2);
	}
	result = CANPclk / baudrate;
	/* Calculate suitable nominal time value
	 * NT (nominal time) = (TSEG1 + TSEG2 + 3)
	 * NT <= 24
	 * TSEG1 >= 2*TSEG2
	 */
	BRFail = 1;
	for(NT=24;NT>0;NT=NT-2)
	{
		if ((result%NT)==0)
		{
			BRP = result / NT - 1;
			NT--;
			TSEG2 = (NT/3) - 1;
			TSEG1 = NT -(NT/3) - 1;
			BRFail = 0;
			break;
		}
	}
	if(BRFail)
		while(1); // Failed to calculate exact CAN baud rate
	/* Enter reset mode */
	CANx->MOD = 0x01;
	/* Set bit timing
	 * Default: SAM = 0x00;
	 *          SJW = 0x03;
	 */
	CANx->BTR  = (TSEG2<<20)|(TSEG1<<16)|(3<<14)|BRP;
	/* Return to normal operating */
	CANx->MOD = 0;
}
/* End of Private Functions ----------------------------------------------------*/


/* Public Functions ----------------------------------------------------------- */
/** @addtogroup CAN_Public_Functions
 * @{
 */

/********************************************************************//**
 * @brief		Initialize CAN peripheral with given baudrate
 * @param[in]	CANx pointer to LPC_CAN_TypeDef, should be:
 * 				- LPC_CAN1: CAN1 peripheral
 * 				- LPC_CAN2: CAN2 peripheral
 * @param[in]	baudrate: the value of CAN baudrate will be set (bps)
 * @return 		None
 *********************************************************************/
void CAN_Init(LPC_CAN_TypeDef *CANx, uint32_t baudrate)
{
	uint32_t temp;
	uint16_t i;
	CHECK_PARAM(PARAM_CANx(CANx));

	if(CANx == LPC_CAN1)
	{
		/* Turn on power and clock for CAN1 */
		CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, ENABLE);
		/* Set clock divide for CAN1 */
	}
	else
	{
		/* Turn on power and clock for CAN1 */
		CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, ENABLE);
		/* Set clock divide for CAN2 */
	}
	CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_CAN1, CLKPWR_PCLKSEL_CCLK_DIV_2);
	CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_CAN2, CLKPWR_PCLKSEL_CCLK_DIV_2);
	CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_ACF, CLKPWR_PCLKSEL_CCLK_DIV_2);

	CANx->MOD = 1; // Enter Reset Mode
	CANx->IER = 0; // Disable All CAN Interrupts
	CANx->GSR = 0;
	/* Request command to release Rx, Tx buffer and clear data overrun */
	//CANx->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO;
	CANx->CMR = (1<<1)|(1<<2)|(1<<3);
	/* Read to clear interrupt pending in interrupt capture register */
	temp = CANx->ICR;
	CANx->MOD = 0;// Return Normal operating

	//Reset CANAF value
	LPC_CANAF->AFMR = 0x01;

	//clear ALUT RAM
	for (i = 0; i < 512; i++) {
		LPC_CANAF_RAM->mask[i] = 0x00;
	}

	LPC_CANAF->SFF_sa = 0x00;
	LPC_CANAF->SFF_GRP_sa = 0x00;
	LPC_CANAF->EFF_sa = 0x00;
	LPC_CANAF->EFF_GRP_sa = 0x00;
	LPC_CANAF->ENDofTable = 0x00;

	LPC_CANAF->AFMR = 0x00;
	/* Set baudrate */
	can_SetBaudrate (CANx, baudrate);
}

/********************************************************************//**
 * @brief		CAN deInit
 * @param[in]	CANx pointer to LPC_CAN_TypeDef, should be:
 * 				- LPC_CAN1: CAN1 peripheral
 * 				- LPC_CAN2: CAN2 peripheral
 * @return 		None
 *********************************************************************/
void CAN_DeInit(LPC_CAN_TypeDef *CANx)
{
	CHECK_PARAM(PARAM_CANx(CANx));

	if(CANx == LPC_CAN1)
	{
		/* Turn on power and clock for CAN1 */
		CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, DISABLE);
	}
	else
	{
		/* Turn on power and clock for CAN1 */
		CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, DISABLE);
	}
}

/********************************************************************//**
 * @brief		Setup Acceptance Filter Look-Up Table
 * @param[in]	CANAFx	pointer to LPC_CANAF_TypeDef
 * 				Should be: LPC_CANAF
 * @param[in]	AFSection	the pointer to AF_SectionDef structure
 * 				It contain information about 5 sections will be install in AFLUT
 * @return 		CAN Error	could be:
 * 				- CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
 * 				- CAN_AF_ENTRY_ERROR: table error-violation of ascending numerical order
 * 				- CAN_OK: ID is added into table successfully
 *********************************************************************/
CAN_ERROR CAN_SetupAFLUT(LPC_CANAF_TypeDef* CANAFx, AF_SectionDef* AFSection)
{
	uint8_t ctrl1,ctrl2;
	uint8_t dis1, dis2;
	uint16_t SID, ID_temp,i, count = 0;
	uint32_t EID, entry, buf;
	uint16_t lowerSID, upperSID;
	uint32_t lowerEID, upperEID;

	CHECK_PARAM(PARAM_CANAFx(CANAFx));
	CANAFx->AFMR = 0x01;

/***** setup FullCAN Table *****/
	if(AFSection->FullCAN_Sec == NULL)
	{
		FULLCAN_ENABLE = DISABLE;
	}
	else
	{
		FULLCAN_ENABLE = ENABLE;
		for(i=0;i<(AFSection->FC_NumEntry);i++)
		{
			if(count + 1 > 64)
			{
				return CAN_OBJECTS_FULL_ERROR;
			}
			ctrl1 = AFSection->FullCAN_Sec->controller;
			SID = AFSection->FullCAN_Sec->id_11;
			dis1 = AFSection->FullCAN_Sec->disable;

			CHECK_PARAM(PARAM_CTRL(ctrl1));
			CHECK_PARAM(PARAM_ID_11(SID));
			CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
			entry = 0x00; //reset entry value
			if((CANAF_FullCAN_cnt & 0x00000001)==0)
			{
				if(count!=0x00)
				{
					buf = LPC_CANAF_RAM->mask[count-1];
					ID_temp = (buf & 0xE7FF); //mask controller & identifier bits
					if(ID_temp > ((ctrl1<<13)|SID))
					{
						return CAN_AF_ENTRY_ERROR;
					}
				}
				entry = (ctrl1<<29)|(dis1<<28)|(SID<<16)|(1<<27);
				LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
				LPC_CANAF_RAM->mask[count] |= entry;
				CANAF_FullCAN_cnt++;
				if(CANAF_FullCAN_cnt == AFSection->FC_NumEntry) //this is the lastest FullCAN entry
					count++;
			}
			else
			{
				buf = LPC_CANAF_RAM->mask[count];
				ID_temp = (buf >>16) & 0xE7FF;
				if(ID_temp > ((ctrl1<<13)|SID))
				{
					return CAN_AF_ENTRY_ERROR;
				}
				entry = (ctrl1<<13)|(dis1<<12)|(SID<<0)|(1<<11);
				LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
				LPC_CANAF_RAM->mask[count]|= entry;
				count++;
				CANAF_FullCAN_cnt++;
			}
			AFSection->FullCAN_Sec = (FullCAN_Entry *)((uint32_t)(AFSection->FullCAN_Sec)+ sizeof(FullCAN_Entry));
		}
	}

/***** Setup Explicit Standard Frame Format Section *****/
	if(AFSection->SFF_Sec != NULL)
	{
		for(i=0;i<(AFSection->SFF_NumEntry);i++)
		{
			if(count + 1 > 512)
			{
				return CAN_OBJECTS_FULL_ERROR;
			}
			ctrl1 = AFSection->SFF_Sec->controller;
			SID = AFSection->SFF_Sec->id_11;
			dis1 = AFSection->SFF_Sec->disable;

			//check parameter
			CHECK_PARAM(PARAM_CTRL(ctrl1));
			CHECK_PARAM(PARAM_ID_11(SID));
			CHECK_PARAM(PARAM_MSG_DISABLE(dis1));

			entry = 0x00; //reset entry value
			if((CANAF_std_cnt & 0x00000001)==0)
			{
				if(CANAF_std_cnt !=0 )
				{
					buf = LPC_CANAF_RAM->mask[count-1];
					ID_temp = (buf & 0xE7FF); //mask controller & identifier bits
					if(ID_temp > ((ctrl1<<13)|SID))
					{
						return CAN_AF_ENTRY_ERROR;
					}
				}
				entry = (ctrl1<<29)|(dis1<<28)|(SID<<16);
				LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
				LPC_CANAF_RAM->mask[count] |= entry;
				CANAF_std_cnt++;
				if(CANAF_std_cnt == AFSection->SFF_NumEntry)//if this is the last SFF entry
					count++;
			}
			else
			{
				buf = LPC_CANAF_RAM->mask[count];
				ID_temp = (buf >>16) & 0xE7FF;
				if(ID_temp > ((ctrl1<<13)|SID))
				{
					return CAN_AF_ENTRY_ERROR;
				}
				entry = (ctrl1<<13)|(dis1<<12)|(SID<<0);
				LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
				LPC_CANAF_RAM->mask[count] |= entry;
				count++;
				CANAF_std_cnt++;
			}
			AFSection->SFF_Sec = (SFF_Entry *)((uint32_t)(AFSection->SFF_Sec)+ sizeof(SFF_Entry));
		}
	}

/***** Setup Group of Standard Frame Format Identifier Section *****/
	if(AFSection->SFF_GPR_Sec != NULL)
	{
		for(i=0;i<(AFSection->SFF_GPR_NumEntry);i++)
		{
			if(count + 1 > 512)
			{
				return CAN_OBJECTS_FULL_ERROR;
			}
			ctrl1 = AFSection->SFF_GPR_Sec->controller1;
			ctrl2 = AFSection->SFF_GPR_Sec->controller2;
			dis1 = AFSection->SFF_GPR_Sec->disable1;
			dis2 = AFSection->SFF_GPR_Sec->disable2;
			lowerSID = AFSection->SFF_GPR_Sec->lowerID;
			upperSID = AFSection->SFF_GPR_Sec->upperID;

			/* check parameter */
			CHECK_PARAM(PARAM_CTRL(ctrl1));
			CHECK_PARAM(PARAM_CTRL(ctrl2));
			CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
			CHECK_PARAM(PARAM_MSG_DISABLE(dis2));
			CHECK_PARAM(PARAM_ID_11(lowerSID));
			CHECK_PARAM(PARAM_ID_11(upperSID));

			entry = 0x00;
			if(CANAF_gstd_cnt!=0)
			{
				buf = LPC_CANAF_RAM->mask[count-1];
				ID_temp = buf & 0xE7FF;
				if((ctrl1 != ctrl2)||(lowerSID > upperSID)||(ID_temp > ((ctrl1<<13)|lowerSID)))
				{
					return CAN_AF_ENTRY_ERROR;
				}
			}
			entry = (ctrl1 << 29)|(dis1 << 28)|(lowerSID << 16)|  \
					(ctrl2 << 13)|(dis2 << 12)|(upperSID << 0);
			LPC_CANAF_RAM->mask[count] = entry;
			CANAF_gstd_cnt++;
			count++;
			AFSection->SFF_GPR_Sec = (SFF_GPR_Entry *)((uint32_t)(AFSection->SFF_GPR_Sec)+ sizeof(SFF_GPR_Entry));
		}
	}

/***** Setup Explicit Extend Frame Format Identifier Section *****/
	if(AFSection->EFF_Sec != NULL)
	{
		for(i=0;i<(AFSection->EFF_NumEntry);i++)
		{
			if(count + 1 > 512)
			{
				return CAN_OBJECTS_FULL_ERROR;
			}
			EID = AFSection->EFF_Sec->ID_29;
			ctrl1 = AFSection->EFF_Sec->controller;

			// check parameter
			CHECK_PARAM(PARAM_ID_29(EID));
			CHECK_PARAM(PARAM_CTRL(ctrl1));

			entry = (ctrl1 << 29)|(EID << 0);
			if(CANAF_ext_cnt != 0)
			{
				buf = LPC_CANAF_RAM->mask[count-1];
//				EID_temp = buf & 0x0FFFFFFF;
				if(buf > entry)
				{
					return CAN_AF_ENTRY_ERROR;
				}
			}
			LPC_CANAF_RAM->mask[count] = entry;
			CANAF_ext_cnt ++;
			count++;
			AFSection->EFF_Sec = (EFF_Entry *)((uint32_t)(AFSection->EFF_Sec)+ sizeof(EFF_Entry));
		}
	}

/***** Setup Group of Extended Frame Format Identifier Section *****/
	if(AFSection->EFF_GPR_Sec != NULL)
	{
		for(i=0;i<(AFSection->EFF_GPR_NumEntry);i++)
		{
			if(count + 2 > 512)
			{
				return CAN_OBJECTS_FULL_ERROR;
			}
			ctrl1 = AFSection->EFF_GPR_Sec->controller1;
			ctrl2 = AFSection->EFF_GPR_Sec->controller2;
			lowerEID = AFSection->EFF_GPR_Sec->lowerEID;
			upperEID = AFSection->EFF_GPR_Sec->upperEID;

			//check parameter
			CHECK_PARAM(PARAM_CTRL(ctrl1));
			CHECK_PARAM(PARAM_CTRL(ctrl2));
			CHECK_PARAM(PARAM_ID_29(lowerEID));
			CHECK_PARAM(PARAM_ID_29(upperEID));

			entry = 0x00;
			if(CANAF_gext_cnt != 0)
			{
				buf = LPC_CANAF_RAM->mask[count-1];
//				EID_temp = buf & 0x0FFFFFFF;
				if((ctrl1 != ctrl2) || (lowerEID > upperEID) || (buf > ((ctrl1 << 29)|(lowerEID << 0))))
				{
					return CAN_AF_ENTRY_ERROR;
				}
			}
			entry = (ctrl1 << 29)|(lowerEID << 0);
			LPC_CANAF_RAM->mask[count++] = entry;
			entry = (ctrl2 << 29)|(upperEID << 0);
			LPC_CANAF_RAM->mask[count++] = entry;
			CANAF_gext_cnt++;
			AFSection->EFF_GPR_Sec = (EFF_GPR_Entry *)((uint32_t)(AFSection->EFF_GPR_Sec)+ sizeof(EFF_GPR_Entry));
		}
	}
	//update address values
	LPC_CANAF->SFF_sa = ((CANAF_FullCAN_cnt + 1)>>1)<<2;
	LPC_CANAF->SFF_GRP_sa = LPC_CANAF->SFF_sa + (((CANAF_std_cnt+1)>>1)<< 2);
	LPC_CANAF->EFF_sa = LPC_CANAF->SFF_GRP_sa + (CANAF_gstd_cnt << 2);
	LPC_CANAF->EFF_GRP_sa = LPC_CANAF->EFF_sa + (CANAF_ext_cnt << 2);
	LPC_CANAF->ENDofTable = LPC_CANAF->EFF_GRP_sa + (CANAF_gext_cnt << 3);

	if(FULLCAN_ENABLE == DISABLE)
	{
		LPC_CANAF->AFMR = 0x00; // Normal mode
	}
	else
	{
		LPC_CANAF->AFMR = 0x04;
	}
	return CAN_OK;
}
/********************************************************************//**
 * @brief		Add Explicit ID into AF Look-Up Table dynamically.