📄 can_lib.c
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CANCDMOB |= NB_DATA_MAX;
/* If DLC of received message < NB_DATA_MAX, DLCW will be set */
// if (rtr == TRUE)
if ((conf_rx & CONF_RTR) != FALSE)
{
CANIDT4 |= (SET<<RTRTAG); /* set RTRTAG bit in CANIDT4. */
}
/* else already done */
// if (msk_rtr == TRUE)
if ((conf_rx & CONF_MSK_RTR) != FALSE)
{
CANIDM4 |= (SET<<RTRMSK); /* set RTRMSK bit in CANIDM4. */
}
/* else already done */
// if (msk_ide == TRUE)
if ((conf_rx & CONF_MSK_IDE) != FALSE)
{
CANIDM4 |= (SET<<IDEMSK); /* set IDEMSK bit in CANIDM4. */
}
/* else already done */
// if (buffer == TRUE)
if ((conf_rx & CONF_BUFFER) != FALSE)
{
ENABLE_CHANNEL_BUFFER; /* Buffer Reception enabled.*/
}
else
{
ENABLE_CHANNEL_RX; /* Reception enabled.*/
}
}
/*F***************************************************************************
* FUNCTION_NAME: SendCanMsg
*----------------------------------------------------------------------------
* FUNCTION_AUTHOR: BERTHY J.S.
* FUNCTION_DATE : 28/09/99
* AVR RELEASE : 23/05/03 - JT
*----------------------------------------------------------------------------
* FUNCTION_PURPOSE: Send message
* The identifier to send is declared in the globale variable can_id_tx,
* data to transmit is declared in the globale variable pt_candata_tx
* The configuration is defined in globale variable conf_tx.
* FUNCTION_INPUTS : void
* FUNCTION_OUTPUTS: void
*----------------------------------------------------------------------------
* GLOBAL VARIABLES USED :
* - conf_tx
* - pt_candata_tx
* - can_tx_id
******************************************************************************
* The variable conf_tx must contain information:
* - on ide:
* standart(NOT_IDE) or
* extended (IDE)
* - on rtr:
* data frame(NO_RTR) or
* remote frame(RTR)
* - on dlc: size of data dlc_t.
*
* Exemple of declaration:
* ----------------------
*
* conf_tx = IDE | NO_RTR | DLC_6
*
******************************************************************************
* NOTE:
* The corresponding MOb (or channel) must be selected before calling
* this function.
* It's very important to make sure that this MOb (or channel) is free.
* No verification are perform by this function.
*
* Exemple of use:
* ---------------
*
* CAN_SET_CHANNEL(CHANNEL_7);
* canid_tx.std = frame1.id.std;
* conf_tx = frame1.ctrl;
* pt_candata_tx= frame1.pt_donne;
* CANIE2 |= (1 << CHANNEL_7);
* SendCanMsg();
******************************************************************************/
void SendCanMsg (void)
{
Uchar dlc2send;
CAN_IT_DISABLE; /* Why? */
CANSTMOB = 0x00;
CANCDMOB = 0x00;
// if (ide == TRUE)
if ((conf_tx & CONF_IDE) != FALSE)
{
CANIDT1 = CAN_SET_EXT_ID_28_21 (can_tx_id.ext);
CANIDT2 = CAN_SET_EXT_ID_20_13 (can_tx_id.ext);
CANIDT3 = CAN_SET_EXT_ID_12_5 (can_tx_id.ext);
CANIDT4 = CAN_SET_EXT_ID_4_0 (can_tx_id.ext);
CANCDMOB |= (SET<<IDE); /* set IDE bit in CANCDMOB */
}
else
{
CANIDT1 = CAN_SET_STD_ID_10_4 (can_tx_id.std);
CANIDT2 = CAN_SET_STD_ID_3_0 (can_tx_id.std);
//CANIDM3 = 0; /* optional */
CANIDM4 = 0; /* Clear RTRMSK and IDEMSK */
/* IDE=0 in CANCDMOB already done at the beginning */
}
dlc2send = (conf_tx & MSK_CTRL_DLC);
CANCDMOB |= dlc2send; /* set DLC field in CANCDMOB */
if ((conf_tx & CONF_RTR) != FALSE)
{
CANIDT4 |= (SET<<RTRTAG); /* set RTRTAG bit in CANIDT4. */
}
/* Load data to transmit */
for (; dlc2send!=0; dlc2send--)
{
CANMSG = *pt_candata_tx++;
}
ENABLE_CHANNEL_TX;
CAN_IT_ENABLE;
}
/*F***************************************************************************
* FUNCTION_NAME: ReadCanMsg
*----------------------------------------------------------------------------
* FUNCTION_AUTHOR: BERTHY J.S.
* FUNCTION_DATE : 28/09/99
* AVR RELEASE : 23/05/03 - JT
*----------------------------------------------------------------------------
* FUNCTION_PURPOSE: Copy message received on num_channel in structure
* of type st_can_msg_t, and configured the MOB (or channel)
* with the new configuration given by next_conf, past as
* parameter
* FUNCTION_INPUTS : Uchar next_conf:
* - CHANNEL_DISABLE
* - CHANNEL_RX_ENABLE (re-enable the channel in reception)
* - CHANNEL_RXB_ENABLE(re-enable the channel
* in buffer mode)
* FUNCTION_OUTPUTS: void
*----------------------------------------------------------------------------
* GLOBAL VARIABLES USED :
* - conf_rx
* - pt_st_can_rx
******************************************************************************
* NOTE:
******************************************************************************/
void ReadCanMsg (Uchar next_conf)
{
Uchar * pt_local;
Uchar dlc2read;
pt_st_can_rx->ctrl = CANCDMOB; /* Save control register */
conf_rx = CANCDMOB;
// if(ide)
if ((conf_rx & CONF_IDE) != FALSE)
{
pt_st_can_rx->id.tab[3] = CANIDT1 >> 3;
pt_st_can_rx->id.tab[2] = (CANIDT1 << 5) | (CANIDT2 >> 3);
pt_st_can_rx->id.tab[1] = (CANIDT2 << 5) | (CANIDT3 >> 3);
pt_st_can_rx->id.tab[0] = (CANIDT3 << 5) | (CANIDT4 >> 3);
}
else
{
pt_st_can_rx->id.std = (CANIDT1 << 3) | (CANIDT2 >> 5);
}
pt_local = pt_st_can_rx->pt_donne;
dlc2read = (conf_rx & MSK_CTRL_DLC);
for (; dlc2read!=0; dlc2read--)
{
*pt_local++ = CANMSG;
}
/*---------- New configuration for this channel. */
// b_var_read = next_conf;
// if (NEW_CONF_CH_DISABLE)
if (next_conf == CHANNEL_DISABLE)
{
DISABLE_CHANNEL; /* (Reception) disable.*/
}
// else if(NEW_CONF_CH_RX_ENABLE)
else if (next_conf == CHANNEL_RX_ENABLE)
{
CANCDMOB |= (CH_RxENA << CONMOB); /* Reception (re)enable.*/
}
else /* CHANNEL_RXB_ENABLE */
{
CANCDMOB |= (CH_RxBENA << CONMOB); /* Buffer (re)enable.*/
}
}
/*F***************************************************************************
* FUNCTION_NAME: FindFirstChIt
*----------------------------------------------------------------------------
* FUNCTION_AUTHOR: BERTHY J.S.
* FUNCTION_DATE :
* AVR RELEASE : 23/05/03 - JT
*----------------------------------------------------------------------------
* FUNCTION_PURPOSE: This function return the first channel with an interrupt
* request. The big priority start with the lowest channel
* value (CHANNEL_0).
* FUNCTION_INPUTS : void
* FUNCTION_OUTPUTS: Uchar num_channel: return the channel number of the first
* it find in CANSIT registers (c.f. CANHPMOB register).
*****************************************************************************
* NOTE:
******************************************************************************/
Uchar FindFirstChIt (void)
{
Uchar num_channel;
num_channel = (CANHPMOB >> HPMOB);
return ((num_channel <= LAST_CHANNEL_NB) ? num_channel : NO_CHANNEL);
}
/*F***************************************************************************
* FUNCTION_NAME: fct_can_it
*-----------------------------------------------------------------------------
* FUNCTION_AUTHOR: BERTHY J.S.
* FUNCTION_DATE :
* AVR RELEASE : to be done! - JT
*-----------------------------------------------------------------------------
* FUNCTION_PURPOSE: function called on can interrupt
* The first task of this function is to identified whish channel
* generate the interrupt, and the second is to identified whish kind
* of interrupt is generated (rxok, txok, error, buffer full).
* FUNCTION_INPUTS : void
* FUNCTION_OUTPUTS: void
******************************************************************************
* NOTE:
******************************************************************************/
#pragma vector=CANIT_vect
__interrupt void CANIT_handler(void)
{
Uchar channel;
Uchar save_canpage;
save_canpage = CANPAGE; /* Save the current page */
channel = FindFirstChIt();
if (channel != NO_CHANNEL)
{
CAN_SET_CHANNEL(channel);
if ((CANSTMOB & (1<<RXOK)) != FALSE)
{
#ifdef USER_CAN_FCT_IT_RXOK
can_fct_it_rxok();
#endif /* USER_CAN_FCT_IT_RXOK */
}
else if ((CANSTMOB & (1<<TXOK)) != FALSE)
{
#ifdef USER_CAN_FCT_IT_TXOK
can_fct_it_txok();
#endif /* USER_CAN_FCT_IT_TXOK */
}
if((CANSTMOB & ((1<<TXOK) | (1<<RXOK))) == FALSE)
{
#ifdef USER_CAN_FCT_IT_ERROR
can_fct_it_error();
#endif /* USER_CAN_FCT_IT_ERROR */
}
CANSTMOB = CANSTMOB & (~INT_MOB_msk); /* Reset all MOb Int, Keep WDLC */
}
else /* No Channel matchs with the interrupt => General IT*/
{
#ifdef USER_CAN_FCT_IT_GEN
can_fct_it_gen();
#endif /* USER_CAN_FCT_IT_GEN */
CANGIT = INT_GEN_msk; /* New for AVR */
}
CANPAGE = save_canpage; /* Restore the previous page */
}
/*F***************************************************************************
* FUNCTION_NAME: fct_tim_ovf_it
*----------------------------------------------------------------------------
* FUNCTION_AUTHOR: BERTHY J.S.
* FUNCTION_DATE :
* AVR RELEASE : 23/05/03 - JT
*----------------------------------------------------------------------------
* FUNCTION_PURPOSE: function called on ovf_tim
* FUNCTION_INPUTS : void
* FUNCTION_OUTPUTS: void
******************************************************************************
* NOTE: Automatic IT clear in AVR (Equ to: CANGIT &= ~MSK_CANGIT_OVRTIM;)
******************************************************************************/
#pragma vector=CANTOVF_vect
__interrupt void CANTOVF_handler(void)
{
#ifdef USER_CAN_FCT_IT_TIMOVF
can_fct_it_timovf();
#endif /*USER_CAN_FCT_IT_TIMOVF */
}
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