bsp_can.c

IAR 平台ATMEL 的例程, 和说明

            /* Get packet length */
            can_pkt.length = CSP_CAN_CHANNEL_GET_CR(CAN0, i) & 0x0F ;

            /* Copy Data  */
            memcpy((U8_T*)(&(can_pkt.data[0])), (U8_T *)(&(CSP_CAN_CHANNEL_GET_DRA(CAN0, i))), (8 * sizeof(U8_T)) );
             
            /* Get Idetifier Field */
            can_pkt.identifier = (( CSP_CAN_CHANNEL_GET_IR(CAN0, i) & 0x7FF ) << 18) | ((CSP_CAN_CHANNEL_GET_IR(CAN0, i) & 0x1FFFF800)  >> 11);
         
            /* Set Message Waiting Flag */
            BSP_CanStatus_a_s.mailbox_status[i].message_waiting = 1;
            memcpy((U8_T*)(&(BSP_CanStatus_a_s.mailbox_status[i].data[0])), (U8_T *)(&(CSP_CAN_CHANNEL_GET_DRA(CAN0, i))), (8 * sizeof(U8_T)));
         
            /* Call BIOS CAN Mailbox Callback */
            (BSP_CanStatus_a_s.mailbox_status[i].mailbox_function)(&can_pkt);
            
            /* Restart Reception */
            CSP_CAN_CHANNEL_SET_CR(CAN0, i, 0x98);

         }
      }
   }
}


/******************************************************************************
Function          : BSP_CAN0InterruptHandler
Description       : CAN0 interrupt handler
Inputs            : None
Functions called  : 
Returns           : None
******************************************************************************/
void BSP_CAN0MBX0InterruptHandler(void)
{
   /* Local Variables */
   BSP_CAN_PKT_T   *can_pkt;
   U8_T            *tx_tailptr;
   U8_T            *tx_headptr;
   
   /* Get Current head & tail pointers in Tx Queue */
   tx_tailptr = &(BSP_CanStatus_a_s.queue.tx_tailptr);
   tx_headptr = &(BSP_CanStatus_a_s.queue.tx_headptr);
   
   /* Get Current Tx Packet in Tx Queue */
   can_pkt  = &(BSP_CanStatus_a_s.queue.tx_queue[*tx_tailptr]);
   
   /* Check if ACK is an Interrupt Source */
   if( (CSP_CAN_CHANNEL_GET_SR(CAN0, GENERAL_TRANSMIT) & ACK & CSP_CAN_CHANNEL_GET_IMR(CAN0, GENERAL_TRANSMIT) ) != 0 )
   {
      while(CSP_CAN_CHANNEL_GET_SR(CAN0, GENERAL_TRANSMIT) & ACK)
             CSP_CAN_CHANNEL_SET_CSR(CAN0, GENERAL_TRANSMIT, ACK);

      /* Increment Ack Counter */
      BSP_CanStatus_a_s.ack_counter_u8++;
      
      /* If Ack Limit */
      if( BSP_CanStatus_a_s.ack_counter_u8 == BSP_CanStatus_a_s.ack_limit_u8 )     
      {
         /* Disable Transission */
         CSP_CAN_CHANNEL_SET_CR(CAN0, GENERAL_TRANSMIT, 0);
         
         /* Clear Ack Counter */
         BSP_CanStatus_a_s.ack_counter_u8 = 0;
         
         /* Check if the Trasmit Queue is Empty (no more frame to send) */
         if( *tx_headptr != *tx_tailptr )
         {
            /* Copy Data to Send In CAN Mailbox*/
            CSP_CAN_CHANNEL_SET_DRA(CAN0, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[0])));
            CSP_CAN_CHANNEL_SET_DRB(CAN0, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[4])));

            /* Set Idetifier Field */
            CSP_CAN_CHANNEL_SET_IR(CAN0, GENERAL_TRANSMIT, (( can_pkt->identifier & 0x1FFC0000 ) >> 18) | ((can_pkt->identifier & 0x3FFFF) << 11));        
         
            /* Send Data (Extended Format) */
            CSP_CAN_CHANNEL_SET_CR(CAN0, GENERAL_TRANSMIT, ( CHANEN | IDE | PCB | ( can_pkt->length & DLC_MASK)));

            /* Increment Tail Pointer to the next packet to send*/
            (*tx_tailptr)++;
            (*tx_tailptr) %= BSP_CAN_TX_QUEUE_SIZE;
         }
         /* Tx Queue is Empty */     
         else
         {
            BSP_CanStatus_a_s.transmit_u8  = 0;
         }
      }   
   }
   /* Check if TXOK is an Interrupt Source */
   else if( (CSP_CAN_CHANNEL_GET_SR(CAN0, GENERAL_TRANSMIT) & TXOK & CSP_CAN_CHANNEL_GET_IMR(CAN0, GENERAL_TRANSMIT)) != 0 )
   {
      /* Clear TXOK Error Interrupt Flag*/
      while(CSP_CAN_CHANNEL_GET_SR(CAN0, GENERAL_TRANSMIT) & TXOK )
             CSP_CAN_CHANNEL_SET_CSR(CAN0, GENERAL_TRANSMIT, TXOK);
      
      /* Check if the Trasmit Queue is Empty (no more frame to send) */
      if( *tx_headptr != *tx_tailptr )
      {
         /* Copy Data to Send In CAN Mailbox*/
            CSP_CAN_CHANNEL_SET_DRA(CAN0, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[0])));
            CSP_CAN_CHANNEL_SET_DRB(CAN0, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[4])));                
         
         /* Set Idetifier Field */
          CSP_CAN_CHANNEL_SET_IR(CAN0, GENERAL_TRANSMIT, (( can_pkt->identifier & 0x1FFC0000 ) >> 18) | ((can_pkt->identifier & 0x3FFFF) << 11));
         
         /* Send Data (Extended Format) */
         CSP_CAN_CHANNEL_SET_CR(CAN0, GENERAL_TRANSMIT, ( CHANEN | IDE | PCB | ( can_pkt->length & DLC_MASK))); 

         /* Increment Tail Pointer to the next packet to send*/
         (*tx_tailptr)++;
         (*tx_tailptr) %= BSP_CAN_TX_QUEUE_SIZE;
      }
      /* Tx Queue is Empty */     
      else
      {
         BSP_CanStatus_a_s.transmit_u8  = 0;
      }
   }
}

/******************************************************************************
Function          : BSP_CAN0MBX15InterruptHandler
Description       : CAN0 interrupt handler
Inputs            : None
Functions called  : 
Returns           : None
******************************************************************************/
void BSP_CAN0MBX15InterruptHandler(void)
{
   /* Local Variables */
   BSP_CAN_PKT_T  *can_pkt;
   U8_T           *rx_headptr;
   
   /* Get Current head pointers in Rx Queue */
   rx_headptr = &(BSP_CanStatus_a_s.queue.rx_headptr);
   
   /* Get Current CAN Packet in Rx Queue */
   can_pkt = &(BSP_CanStatus_a_s.queue.rx_queue[*rx_headptr]);
   
   /* Check if RXOK is an Interrupt Source */
   if( (CSP_CAN_CHANNEL_GET_SR(CAN0, MBX15) & RXOK & CSP_CAN_CHANNEL_GET_IMR(CAN0, MBX15)) != 0 )
   {
      /* Clear ACK Error Interrupt Flag*/
      CSP_CAN_CHANNEL_SET_CSR(CAN0, MBX15, RXOK);

      /* Get packet length */
      can_pkt->length = CSP_CAN_CHANNEL_GET_CR(CAN0, MBX15) & 0x0F ;

      /* Copy Data In Rx Queue */
      memcpy((U8_T*)(&(can_pkt->data[0])), (U8_T*)(&(CSP_CAN_CHANNEL_GET_DRA(CAN0, MBX15))), (8 * sizeof(U8_T)) );
             
      /* Get Idetifier Field */
      can_pkt->identifier = (( CSP_CAN_CHANNEL_GET_IR(CAN0, MBX15) & 0x7FF ) << 18) | ((CSP_CAN_CHANNEL_GET_IR(CAN0, MBX15) & 0x1FFFF800)  >> 11);
      can_pkt->msecs      = CSP_CAN_CHANNEL_GET_STP(CAN0, MBX15);
         
      /* Increment head Pointer to the next packet to receive */
      (*rx_headptr)++;
      (*rx_headptr) %= BSP_CAN_RX_QUEUE_SIZE;
   }
}

/******************************************************************************
Function          : BSP_CANConfigMailbox
Description       : CAN0 interrupt handler
Inputs            : None
Functions called  : 
Returns           : None
******************************************************************************/
void BSP_CANConfigMailbox(BSP_CAN_MAILBOX_ID_E mailbox_id, BSP_CAN_MAILBOX_CONFIGURE_T *mailbox_config)
{
   /* Local Variables */
   CSP_CAN_PTR can_controller_ptr;

      if( (mailbox_id != GENERAL_RECEIVE) &&  (mailbox_id != GENERAL_TRANSMIT) && 
          ((U8_T) mailbox_id > 0)         &&  ((U8_T) mailbox_id < (BSP_CanStatus_a_s.number_of_mailbox_u8 - 1)) )
      {
         /* Get Current CAN Controller */
         can_controller_ptr = (CSP_CAN_PTR) BSP_CanStatus_a_s.can_controller_u32;

         /* Set CAN Mailbox Status Callback Function */
         BSP_CanStatus_a_s.mailbox_status[mailbox_id].identifier       = mailbox_config->identifier;
         BSP_CanStatus_a_s.mailbox_status[mailbox_id].identifier_mask  = mailbox_config->identifier_mask;
         BSP_CanStatus_a_s.mailbox_status[mailbox_id].length           = mailbox_config->length;
         BSP_CanStatus_a_s.mailbox_status[mailbox_id].mailbox_function = mailbox_config->mailbox_function;
         BSP_CanStatus_a_s.mailboxes_used |= (1 << mailbox_id);
         BSP_CanStatus_a_s.mailboxes_available &= ~(1 << mailbox_id);

         /* Configure CAN Channel In Reception with Id and Mask */
         CSP_CANReceive(can_controller_ptr, mailbox_id,  mailbox_config->identifier,  mailbox_config->identifier_mask, ((mailbox_config->length)|OVERWRITE));

         /* Configure CAN Channel Interrupt */
         CSP_CANChannelConfigInterrupt(can_controller_ptr, mailbox_id, RXOK);
      }
      /* BIOS Fault */
      else
      {
         //BIOS_Error_e = BIOS_INVALID_PARAMETER; 
      }

}