lpc17xx_can.c.svn-base

uCOSII_lwip_lpc1768

					}
					else
						return CAN_CONFLICT_ID_ERROR;
				}
			}
			if(cnt1 >= bound1)
			{
				//add new entry at the last position in this list
				buf0 = LPC_CANAF_RAM->mask[cnt1];
				LPC_CANAF_RAM->mask[cnt1] = entry1;
			}

			//remove all remaining entry of this section one place up
			bound1 = total - cnt1;
			while(bound1--)
			{
				cnt1++;
				buf1 = LPC_CANAF_RAM->mask[cnt1];
				LPC_CANAF_RAM->mask[cnt1] = buf0;
				buf0 = buf1;
			}
		}
		CANAF_gstd_cnt++;
		//update address values
		LPC_CANAF->EFF_sa     +=0x04 ;
		LPC_CANAF->EFF_GRP_sa +=0x04;
		LPC_CANAF->ENDofTable +=0x04;
	}


/*********Add Group of Extended Identifier Frame Format************/
	else
	{
		if ((total >= 511)){//don't have enough space
			return CAN_OBJECTS_FULL_ERROR;
		}
		lowerID  &= 0x1FFFFFFF; //mask ID
		upperID &= 0x1FFFFFFF;
		entry1   = (tmp << 29)|(lowerID << 0);
		entry2   = (tmp << 29)|(upperID << 0);

		cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt + CANAF_ext_cnt;
		//if this is the first Group standard ID entry
		if(CANAF_gext_cnt == 0)
		{
			LPC_CANAF_RAM->mask[cnt1] = entry1;
			LPC_CANAF_RAM->mask[cnt1+1] = entry2;
		}
		else
		{
			//find the position to add new Group entry
			bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt \
						+ CANAF_ext_cnt + (CANAF_gext_cnt<<1);
			while(cnt1 < bound1)
			{
				while((LPC_CANAF_RAM->mask[cnt1] >>29)< tmp) //increase until meet greater or equal controller
					cnt1++;
				buf0 = LPC_CANAF_RAM->mask[cnt1];
				buf1 = LPC_CANAF_RAM->mask[cnt1+1];
				if((LPC_CANAF_RAM->mask[cnt1] >> 29)> (entry1 >> 29)) //meet greater controller
				{
					//add at this position
					LPC_CANAF_RAM->mask[cnt1] = entry1;
					LPC_CANAF_RAM->mask[++cnt1] = entry2;
					break;
				}
				else //meet equal controller
				{
					LID  = buf0 & 0x1FFFFFFF; //mask ID
					UID  = buf1 & 0x1FFFFFFF;
					if (upperID <= LID)
					{
						//add new entry before this entry
						LPC_CANAF_RAM->mask[cnt1] = entry1;
						LPC_CANAF_RAM->mask[++cnt1] = entry2;
						break;
					}
					else if (lowerID >= UID)
					{
						//load next entry to compare
						cnt1 +=2;
					}
					else
						return CAN_CONFLICT_ID_ERROR;
				}
			}
			if(cnt1 >= bound1)
			{
				//add new entry at the last position in this list
				buf0 = LPC_CANAF_RAM->mask[cnt1];
				buf1 = LPC_CANAF_RAM->mask[cnt1+1];
				LPC_CANAF_RAM->mask[cnt1]   = entry1;
				LPC_CANAF_RAM->mask[++cnt1] = entry2;
			}
			//remove all remaining entry of this section two place up
			bound1 = total - cnt1 + 1;
			cnt1++;
			while(bound1>0)
			{
				entry1 = LPC_CANAF_RAM->mask[cnt1];
				entry2 = LPC_CANAF_RAM->mask[cnt1+1];
				LPC_CANAF_RAM->mask[cnt1]   = buf0;
				LPC_CANAF_RAM->mask[cnt1+1] = buf1;
				buf0 = entry1;
				buf1 = entry2;
				cnt1   +=2;
				bound1 -=2;
			}
		}
		CANAF_gext_cnt++;
		//update address values
		LPC_CANAF->ENDofTable +=0x08;
	}
	LPC_CANAF->AFMR = 0x04;
 	return CAN_OK;
}

/********************************************************************//**
 * @brief		Remove AFLUT entry (FullCAN entry and Explicit Standard entry)
 * @param[in]	EntryType: the type of entry that want to remove, should be:
 * 				- FULLCAN_ENTRY
 * 				- EXPLICIT_STANDARD_ENTRY
 * 				- GROUP_STANDARD_ENTRY
 * 				- EXPLICIT_EXTEND_ENTRY
 * 				- GROUP_EXTEND_ENTRY
 * @param[in]	position: the position of this entry in its section
 * Note: the first position is 0
 * @return 		CAN_ERROR, could be:
 * 				- CAN_OK: removing is successful
 * 				- CAN_ENTRY_NOT_EXIT_ERROR: entry want to remove is not exit
 *********************************************************************/
CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position)
{
	uint16_t cnt, bound, total;
	uint32_t buf0, buf1;
	CHECK_PARAM(PARAM_AFLUT_ENTRY_TYPE(EntryType));
	CHECK_PARAM(PARAM_POSITION(position));

	/* Setup Acceptance Filter Configuration
	Acceptance Filter Mode Register = Off */
	LPC_CANAF->AFMR = 0x00000001;
	total = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt + 1) >> 1) + \
			CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);


/************** Remove FullCAN Entry *************/
	if(EntryType == FULLCAN_ENTRY)
	{
		if((CANAF_FullCAN_cnt==0)||(position >= CANAF_FullCAN_cnt))
		{
			return CAN_ENTRY_NOT_EXIT_ERROR;
		}
		else
		{
			cnt = position >> 1;
			buf0 = LPC_CANAF_RAM->mask[cnt];
			bound = (CANAF_FullCAN_cnt - position -1)>>1;
			if((position & 0x0001) == 0) //event position
			{
				while(bound--)
				{
					//remove all remaining FullCAN entry one place down
					buf1  = LPC_CANAF_RAM->mask[cnt+1];
					LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
					buf0  = buf1;
					cnt++;
				}
			}
			else //odd position
			{
				while(bound--)
				{
					//remove all remaining FullCAN entry one place down
					buf1  = LPC_CANAF_RAM->mask[cnt+1];
					LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
					LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
					buf0  = buf1<<16;
					cnt++;
				}
			}
			if((CANAF_FullCAN_cnt & 0x0001) == 0)
			{
				if((position & 0x0001)==0)
					LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
				else
					LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
			}
			else
			{
				//remove all remaining section one place down
				cnt = (CANAF_FullCAN_cnt + 1)>>1;
				bound = total + CANAF_FullCAN_cnt * 3;
				while(bound>cnt)
				{
					LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
					cnt++;
				}
				LPC_CANAF_RAM->mask[cnt-1]=0x00;
				//update address values
				LPC_CANAF->SFF_sa 	  -=0x04;
				LPC_CANAF->SFF_GRP_sa -=0x04 ;
				LPC_CANAF->EFF_sa     -=0x04 ;
				LPC_CANAF->EFF_GRP_sa -=0x04;
				LPC_CANAF->ENDofTable -=0x04;
			}
			CANAF_FullCAN_cnt--;

			//delete its FullCAN Object in the FullCAN Object section
			//remove all remaining FullCAN Object three place down
			cnt = total + position * 3;
			bound = (CANAF_FullCAN_cnt - position + 1) * 3;

			while(bound)
			{
				LPC_CANAF_RAM->mask[cnt]=LPC_CANAF_RAM->mask[cnt+3];;
				LPC_CANAF_RAM->mask[cnt+1]=LPC_CANAF_RAM->mask[cnt+4];
				LPC_CANAF_RAM->mask[cnt+2]=LPC_CANAF_RAM->mask[cnt+5];
				bound -=3;
				cnt   +=3;
			}
		}
	}

/************** Remove Explicit Standard ID Entry *************/
	else if(EntryType == EXPLICIT_STANDARD_ENTRY)
	{
		if((CANAF_std_cnt==0)||(position >= CANAF_std_cnt))
		{
			return CAN_ENTRY_NOT_EXIT_ERROR;
		}
		else
		{
			cnt = ((CANAF_FullCAN_cnt+1)>>1)+ (position >> 1);
			buf0 = LPC_CANAF_RAM->mask[cnt];
			bound = (CANAF_std_cnt - position - 1)>>1;
			if((position & 0x0001) == 0) //event position
			{
				while(bound--)
				{
					//remove all remaining FullCAN entry one place down
					buf1  = LPC_CANAF_RAM->mask[cnt+1];
					LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
					buf0  = buf1;
					cnt++;
				}
			}
			else //odd position
			{
				while(bound--)
				{
					//remove all remaining FullCAN entry one place down
					buf1  = LPC_CANAF_RAM->mask[cnt+1];
					LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
					LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
					buf0  = buf1<<16;
					cnt++;
				}
			}
			if((CANAF_std_cnt & 0x0001) == 0)
			{
				if((position & 0x0001)==0)
					LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
				else
					LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
			}
			else
			{
				//remove all remaining section one place down
				cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1);
				bound = total + CANAF_FullCAN_cnt * 3;
				while(bound>cnt)
				{
					LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
					cnt++;
				}
				LPC_CANAF_RAM->mask[cnt-1]=0x00;
				//update address value
				LPC_CANAF->SFF_GRP_sa -=0x04 ;
				LPC_CANAF->EFF_sa     -=0x04 ;
				LPC_CANAF->EFF_GRP_sa -=0x04;
				LPC_CANAF->ENDofTable -=0x04;
			}
			CANAF_std_cnt--;
		}
	}

/************** Remove Group of Standard ID Entry *************/
	else if(EntryType == GROUP_STANDARD_ENTRY)
	{
		if((CANAF_gstd_cnt==0)||(position >= CANAF_gstd_cnt))
		{
			return CAN_ENTRY_NOT_EXIT_ERROR;
		}
		else
		{
			cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ position + 1;
			bound = total + CANAF_FullCAN_cnt * 3;
			while (cnt<bound)
			{
				LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
				cnt++;
			}
			LPC_CANAF_RAM->mask[cnt-1]=0x00;
		}
		CANAF_gstd_cnt--;
		//update address value
		LPC_CANAF->EFF_sa     -=0x04;
		LPC_CANAF->EFF_GRP_sa -=0x04;
		LPC_CANAF->ENDofTable -=0x04;
	}

/************** Remove Explicit Extended ID Entry *************/
	else if(EntryType == EXPLICIT_EXTEND_ENTRY)
	{
		if((CANAF_ext_cnt==0)||(position >= CANAF_ext_cnt))
		{
			return CAN_ENTRY_NOT_EXIT_ERROR;
		}
		else
		{
			cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + position + 1;
			bound = total + CANAF_FullCAN_cnt * 3;
			while (cnt<bound)
			{
				LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
				cnt++;
			}
			LPC_CANAF_RAM->mask[cnt-1]=0x00;
		}
		CANAF_ext_cnt--;
		LPC_CANAF->EFF_GRP_sa -=0x04;
		LPC_CANAF->ENDofTable -=0x04;
	}

/************** Remove Group of Extended ID Entry *************/
	else
	{
		if((CANAF_gext_cnt==0)||(position >= CANAF_gext_cnt))
		{
			return CAN_ENTRY_NOT_EXIT_ERROR;
		}
		else
		{
			cnt = total - (CANAF_gext_cnt<<1) + (position<<1);
			bound = total + CANAF_FullCAN_cnt * 3;
			while (cnt<bound)
			{
				//remove all remaining entry two place up
				LPC_CANAF_RAM->mask[cnt] = LPC_CANAF_RAM->mask[cnt+2];
				LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+3];
				cnt+=2;
			}
		}
		CANAF_gext_cnt--;
		LPC_CANAF->ENDofTable -=0x08;
	}
	LPC_CANAF->AFMR = 0x04;
	return CAN_OK;
}

/********************************************************************//**
 * @brief		Send message data
 * @param[in]	CANx pointer to LPC_CAN_TypeDef, should be:
 * 				- LPC_CAN1: CAN1 peripheral
 * 				- LPC_CAN2: CAN2 peripheral
 * @param[in]	CAN_Msg point to the CAN_MSG_Type Structure, it contains message
 * 				information such as: ID, DLC, RTR, ID Format
 * @return 		Status:
 * 				- SUCCESS: send message successfully
 * 				- ERROR: send message unsuccessfully
 *********************************************************************/
Status CAN_SendMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg)
{
	uint32_t data;
	CHECK_PARAM(PARAM_CANx(CANx));
	CHECK_PARAM(PARAM_ID_FORMAT(CAN_Msg->format));
	if(CAN_Msg->format==STD_ID_FORMAT)
	{
		CHECK_PARAM(PARAM_ID_11(CAN_Msg->id));
	}
	else
	{
		CHECK_PARAM(PARAM_ID_29(CAN_Msg->id));
	}
	CHECK_PARAM(PARAM_DLC(CAN_Msg->len));
	CHECK_PARAM(PARAM_FRAME_TYPE(CAN_Msg->type));

	//Check status of Transmit Buffer 1
	if (CANx->SR & (1<<2))
	{
		/* Transmit Channel 1 is available */
		/* Write frame informations and frame data into its CANxTFI1,
		 * CANxTID1, CANxTDA1, CANxTDB1 register */
		CANx->TFI1 &= ~0x000F0000;
		CANx->TFI1 |= (CAN_Msg->len)<<16;
		if(CAN_Msg->type == REMOTE_FRAME)
		{
			CANx->TFI1 |= (1<<30); //set bit RTR
		}
		else
		{
			CANx->TFI1 &= ~(1<<30);
		}
		if(CAN_Msg->format == EXT_ID_FORMAT)
		{
			CANx->TFI1 |= (1<<31); //set bit FF
		}
		else
		{
			CANx->TFI1 &= ~(1<<31);
		}

		/* Write CAN ID*/
		CANx->TID1 = CAN_Msg->id;

		/*Write first 4 data bytes*/
		data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
		CANx->TDA1 = data;

		/*Write second 4 data bytes*/
		data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
		CANx->TDB1 = data;

		 /*Write transmission request*/
		 CANx->CMR = 0x21;
		 return SUCCESS;
	}
	//check status of Transmit Buffer 2
	else if(CANx->SR & (1<<10))
	{
		/* Transmit Channel 2 is available */
		/* Write frame informations and frame data into its CANxTFI2,
		 * CANxTID2, CANxTDA2, CANxTDB2 register */
		CANx->TFI2 &= ~0x000F0000;
		CANx->TFI2 |= (CAN_Msg->len)<<16;
		if(CAN_Msg->type == REMOTE_FRAME)
		{
			CANx->TFI2 |= (1<<30); //set bit RTR
		}
		else
		{
			CANx->TFI2 &= ~(1<<30);
		}
		if(CAN_Msg->format == EXT_ID_FORMAT)
		{
			CANx->TFI2 |= (1<<31); //set bit FF
		}
		else
		{
			CANx->TFI2 &= ~(1<<31);
		}

		/* Write CAN ID*/
		CANx->TID2 = CAN_Msg->id;

		/*Write first 4 data bytes*/
		data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
		CANx->TDA2 = data;

		/*Write second 4 data bytes*/
		data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
		CANx->TDB2 = data;

		/*Write transmission request*/
		CANx->CMR = 0x41;
		return SUCCESS;
	}
	//check status of Transmit Buffer 3
	else if (CANx->SR & (1<<18))
	{
		/* Transmit Channel 3 is available */
		/* Write frame informations and frame data into its CANxTFI3,
		 * CANxTID3, CANxTDA3, CANxTDB3 register */
		CANx->TFI3 &= ~0x000F0000;
		CANx->TFI3 |= (CAN_Msg->len)<<16;
		if(CAN_Msg->type == REMOTE_FRAME)
		{
			CANx->TFI3 |= (1<<30); //set bit RTR
		}
		else
		{
			CANx->TFI3 &= ~(1<<30);
		}
		if(CAN_Msg->format == EXT_ID_FORMAT)