bsp_can.c

IAR 平台ATMEL 的例程, 和说明

            /* Send Data (Extended Format) */
            CSP_CAN_CHANNEL_SET_CR(CAN1, 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[1].transmit_u8  = 0;
         }
      }   
   }
   /* Check if TXOK is an Interrupt Source */
   else if( (CSP_CAN_CHANNEL_GET_SR(CAN1, GENERAL_TRANSMIT) & TXOK & CSP_CAN_CHANNEL_GET_IMR(CAN1, GENERAL_TRANSMIT)) != 0 )
   {
      /* Clear TXOK Error Interrupt Flag*/
      while(CSP_CAN_CHANNEL_GET_SR(CAN1, GENERAL_TRANSMIT) & TXOK )
         CSP_CAN_CHANNEL_SET_CSR(CAN1, 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(CAN1, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[0])));
            CSP_CAN_CHANNEL_SET_DRB(CAN1, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[4])));                    

         /* Set Idetifier Field */
         CSP_CAN_CHANNEL_SET_IR(CAN1, GENERAL_TRANSMIT,(( can_pkt->identifier & 0x1FFC0000 ) >> 18) | ((can_pkt->identifier & 0x3FFFF) << 11));      
            
         /* Send Data (Extended Format) */
         CSP_CAN_CHANNEL_SET_CR(CAN1, 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[1].transmit_u8  = 0;
      }
   }
}


/****************************************************************************
Function    : BSP_CAN1MBX15InterruptHandler
Description : CAN0 General Receive Interrupt Handler
Inputs      : None
Returns     : None
****************************************************************************/
void BSP_CAN1MBX15InterruptHandler(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[1].queue.rx_headptr);
   
   /* Get Current CAN Packet in Rx Queue */
   can_pkt = &(BSP_CanStatus_a_s[1].queue.rx_queue[*rx_headptr]);
   
   /* Check if RXOK is an Interrupt Source */
   if( (CSP_CAN_CHANNEL_GET_SR(CAN1, MBX15) & RXOK & CSP_CAN_CHANNEL_GET_IMR(CAN1, MBX15)) != 0 )
   {
      /* Clear ACK Error Interrupt Flag*/
      CSP_CAN_CHANNEL_SET_CSR(CAN1, MBX15, RXOK);

      /* Get packet length */
      can_pkt->length = CSP_CAN_CHANNEL_GET_CR(CAN1, MBX15) & 0x0F ;

      /* Copy Data In Rx Queue */
      memcpy((U8_T*)(&(can_pkt->data[1])), (U8_T*)(&(CSP_CAN_CHANNEL_GET_DRA(CAN1, MBX15))), (8 * sizeof(U8_T)) );
             
      /* Get Idetifier Field */
      can_pkt->identifier = (( CSP_CAN_CHANNEL_GET_IR(CAN1, MBX15)& 0x7FF ) << 18) | ((CSP_CAN_CHANNEL_GET_IR(CAN1, MBX15) & 0x1FFFF800)  >> 11);
      can_pkt->msecs      = CSP_CAN_CHANNEL_GET_STP(CAN1, MBX15);
         
      /* Increment head Pointer to the next packet to receive */
      (*rx_headptr)++;
      (*rx_headptr) %= BSP_CAN_RX_QUEUE_SIZE;
   }
}

/****************************************************************************
Function    : BSP_CAN2MBX0InterruptHandler
Description : CAN1 General Transmit Interrupt
            : 
Inputs      : None
Returns     : None
****************************************************************************/
void BSP_CAN2MBX0InterruptHandler(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[CAN2_IO].queue.tx_tailptr);
   tx_headptr = &(BSP_CanStatus_a_s[CAN2_IO].queue.tx_headptr);
   
   /* Get Current Tx Packet in Tx Queue */
   can_pkt  = &(BSP_CanStatus_a_s[CAN2_IO].queue.tx_queue[*tx_tailptr]);
   
   /* Check if ACK is an Interrupt Source */
   if( (CSP_CAN_CHANNEL_GET_SR(CAN2, GENERAL_TRANSMIT) & ACK & CSP_CAN_CHANNEL_GET_IMR(CAN2, GENERAL_TRANSMIT)) != 0 )
   {
      while( CSP_CAN_CHANNEL_GET_SR(CAN2, GENERAL_TRANSMIT) & ACK )
         CSP_CAN_CHANNEL_SET_CSR(CAN2, GENERAL_TRANSMIT, ACK);

      /* Increment Ack Counter */
      BSP_CanStatus_a_s[CAN2_IO].ack_counter_u8++;

      /* If Ack Limit */
      if( BSP_CanStatus_a_s[CAN2_IO].ack_counter_u8 == BSP_CanStatus_a_s[CAN2_IO].ack_limit_u8 )     
      {
         /* Disable Transission */
         CSP_CAN_CHANNEL_SET_CR(CAN2, GENERAL_TRANSMIT, 0);
         
         /* Clear Ack Counter */
         BSP_CanStatus_a_s[CAN2_IO].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(CAN2, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[0])));
            CSP_CAN_CHANNEL_SET_DRB(CAN2, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[4])));                     

           /* Set Idetifier Field */
           CSP_CAN_CHANNEL_SET_IR(CAN2, GENERAL_TRANSMIT,(( can_pkt->identifier & 0x1FFC0000 ) >> 18) | ((can_pkt->identifier & 0x3FFFF) << 11));              
         
           /* Send Data (Extended Format) */
           CSP_CAN_CHANNEL_SET_CR(CAN2, 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[2].transmit_u8  = 0;
        }
      }   
   }

   /* Check if TXOK is an Interrupt Source */
   else if( (CSP_CAN_CHANNEL_GET_SR(CAN2, GENERAL_TRANSMIT) & TXOK & CSP_CAN_CHANNEL_GET_IMR(CAN2, GENERAL_TRANSMIT)) != 0 )
   {
      /* Clear TXOK Error Interrupt Flag*/
      while( CSP_CAN_CHANNEL_GET_SR(CAN2, GENERAL_TRANSMIT) & TXOK )
         CSP_CAN_CHANNEL_SET_CSR(CAN2, 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(CAN2, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[0])));
            CSP_CAN_CHANNEL_SET_DRB(CAN2, GENERAL_TRANSMIT, *(U32_T *)(&(can_pkt->data[4])));                       

         /* Set Idetifier Field */
         CSP_CAN_CHANNEL_SET_IR(CAN2, GENERAL_TRANSMIT,(( can_pkt->identifier & 0x1FFC0000 ) >> 18) | ((can_pkt->identifier & 0x3FFFF) << 11));                      
     
         /* Send Data (Extended Format) */
         CSP_CAN_CHANNEL_SET_CR(CAN2, 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[2].transmit_u8  = 0;
      }
   }
}

/****************************************************************************
Function    : BSP_CAN2MBX31InterruptHandler
Description : CAN2 General Receive Interrupt Handler
Inputs      : None
Returns     : None
****************************************************************************/
void BSP_CAN2MBX31InterruptHandler(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[CAN2_IO].queue.rx_headptr);
   
   /* Get Current CAN Packet in Rx Queue */
   can_pkt = &(BSP_CanStatus_a_s[CAN2_IO].queue.rx_queue[*rx_headptr]);
   
   /* Check if RXOK is an Interrupt Source */
   if( (CSP_CAN_CHANNEL_GET_SR(CAN2, MBX31) & RXOK & CSP_CAN_CHANNEL_GET_IMR(CAN2, MBX31)) != 0 )
   {
      /* Clear ACK Error Interrupt Flag*/
      CSP_CAN_CHANNEL_SET_CSR(CAN2, MBX31, RXOK);

      /* Get packet length */
      can_pkt->length = CSP_CAN_CHANNEL_GET_CR(CAN2, MBX31) & 0x0F ;

      /* Copy Data In Rx Queue */
      memcpy((U8_T*)(&(can_pkt->data[0])), (U8_T*)(&(CSP_CAN_CHANNEL_GET_DRA(CAN2, MBX31))), (8 * sizeof(U8_T)) );
             
      /* Get Idetifier Field */
      can_pkt->identifier = ((CSP_CAN_CHANNEL_GET_IR(CAN2, MBX31) & 0x7FF ) << 18) | ((CSP_CAN_CHANNEL_GET_IR(CAN2, MBX31) & 0x1FFFF800)  >> 11);
      can_pkt->msecs      = CSP_CAN_CHANNEL_GET_STP(CAN2, MBX31);
         
      /* Increment head Pointer to the next packet to receive */
      (*rx_headptr)++;
      (*rx_headptr) %= BSP_CAN_RX_QUEUE_SIZE;
   }
}

/****************************************************************************
Function    : BIOS_CANConfigMailbox
Description :
Inputs      : BIOS_CAN_IO_E can_io
            : BIOS_CAN_MAILBOX_ID_E mailbox_id
            : BIOS_CAN_MAILBOX_CONFIGURE_PTR mailbox_config
Returns     : None
****************************************************************************/
void BSP_CANConfigMailbox(BSP_CAN_IO_E can_io, BSP_CAN_MAILBOX_ID_E mailbox_id, BSP_CAN_MAILBOX_CONFIGURE_PTR mailbox_config)
{
   /* Local Variables */
   CSP_CAN_PTR can_controller_ptr;

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

         /* Set CAN Mailbox Status Callback Function */
         BSP_CanStatus_a_s[can_io].mailbox_status[mailbox_id].identifier       = mailbox_config->identifier;
         BSP_CanStatus_a_s[can_io].mailbox_status[mailbox_id].identifier_mask  = mailbox_config->identifier_mask;
         BSP_CanStatus_a_s[can_io].mailbox_status[mailbox_id].length           = mailbox_config->length;
         BSP_CanStatus_a_s[can_io].mailbox_status[mailbox_id].mailbox_function = mailbox_config->mailbox_function;
         BSP_CanStatus_a_s[can_io].mailboxes_used |= (1 << mailbox_id);
         BSP_CanStatus_a_s[can_io].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; 
      }
   }
   /* BIOS Fault */
   else
   {
         //BIOS_Error_e = BIOS_INVALID_PIN; 
   }
}