can1.c

mc68HC12C64的CAN部件例子程序,不错的.

  MsgBuff->IDR3 = ((DwordSwap *)&tmpId)->b.b3; /* Store the message ID */
  MsgBuff->IDR2 = ((DwordSwap *)&tmpId)->b.b2;
  MsgBuff->IDR1 = ((DwordSwap *)&tmpId)->b.b1;
  MsgBuff->IDR0 = ((DwordSwap *)&tmpId)->b.b0;
  if (FrameType == DATA_FRAME) {       /* Is it a data frame? */
    for (i=0; i<Length; i++) {
      MsgBuff->Data[i] = Data[i];      /* Store data to the transmit register */
    }
    if (MessageID & CAN_EXTENDED_FRAME_ID) { /* Is it the extended frame? */
      MsgBuff->IDR3 &= 254;            /* If no then set message type as "data frame" */
    }
    else {
      MsgBuff->IDR1 &= 239;            /* If yes then set message type as "data frame" */
    }
  }
  else {                               /* Remote frame */
    if (MessageID & CAN_EXTENDED_FRAME_ID) { /* Is it the extended frame? */
      MsgBuff->IDR3 |= 1;              /* If yes then set message type as "remote frame" */
    }
    else {
      MsgBuff->IDR1 |= 16;             /* If yes then set message type as "remote frame" */
    }
  }
  CANTXDLR = Length;                   /* Set the length of the message */
  CANTXTBPR = 0;                       /* Set the priority (high) */
  CANTFLG = CANTBSEL;                  /* Start transmission */
  ExitCritical();                      /* Enable global interrupts */
  return ERR_OK;                       /* OK */
}

/*
** ===================================================================
**     Method      :  CAN1_ReadFrame (bean FreescaleCAN)
**
**     Description :
**         Reads a frame from the CAN device. The user is informed
**         about CAN reception through OnFullRxBuffer event or
**         GetStateRX method.
**     Parameters  :
**         NAME            - DESCRIPTION
**       * MessageID       - Pointer to a message
**                           indentification
**       * FrameType       - Pointer to a frame type
**                           DATA_FRAME - data frame
**                           REMOTE_FRAME - remote frame
**       * FrameFormat     - Pointer to a frame
**                           format
**                           STANDARD_FORMAT - standard frame 11-bits
**                           EXTENDED_FORMAT - extended frame 29-bits.
**                           Note: This parameter is obsolete and
**                           will be removed in future releases.
**       * Length          - Pointer to a length of the frame
**       * Data            - The buffer for received data
**     Returns     :
**         ---             - Error code, possible codes:
**                           ERR_OK - OK
**                           ERR_SPEED - This device does not work in
**                           the active speed mode
**                           ERR_DISABLED - This bean is disabled by
**                           user
**                           ERR_RXEMPTY - The receive buffer is
**                           empty
**                           ERR_OVERRUN - The previous message in
**                           the receive buffer was overwriten by a
**                           new message.
** ===================================================================
*/
byte CAN1_ReadFrame(dword *MessageID,byte *FrameType,byte *FrameFormat,byte *Length,byte *Data)
{
  byte i;
  dword tmpId = 0;

  if (!(SerFlag & FULL_RX_BUF)) {      /* Is the receive buffer empty? */
    return ERR_RXEMPTY;                /* If yes then error */
  }
  ((DwordSwap*)&tmpId)->b.b0 = CANRXIDR0;
  ((DwordSwap*)&tmpId)->b.b1 = CANRXIDR1;
  ((DwordSwap*)&tmpId)->b.b2 = CANRXIDR2;
  ((DwordSwap*)&tmpId)->b.b3 = CANRXIDR3;
  if (tmpId & MB_ID_IDE) {
    *MessageID = ((tmpId >> 1) & 0x3FFFFUL) | ((tmpId >> 3) & 0x1FFC0000UL) | CAN_EXTENDED_FRAME_ID; /* Extended frame */
  }
  else {
    *MessageID = tmpId >> 21;          /* Standard frame */
  }
  if (*MessageID & CAN_EXTENDED_FRAME_ID) {
    *FrameFormat = EXTENDED_FORMAT;
    *FrameType = (CANRXIDR3 & 1)? (byte)REMOTE_FRAME : (byte)DATA_FRAME; /* Result the frame type */
    *MessageID &= ~CAN_EXTENDED_FRAME_ID; /* Remove EXTENDED_FRAME indicator, frame type will be returned in FrameType parameter */
  }
  else {
    *FrameFormat = STANDARD_FORMAT;
    *FrameType = (CANRXIDR1 & 16)? (byte)REMOTE_FRAME : (byte)DATA_FRAME; /* Result the frame type */
  }
  *Length = CANRXDLR & 15;             /* Result length of the message */
  if (*FrameType == DATA_FRAME) {      /* Is it "data frame"? */
    for (i=0; i<*Length; i++) {
      Data[i] = *((byte *)&CANRXDSR0 + i); /* Return received data */
    }
  }
  SerFlag &= ~FULL_RX_BUF;             /* Clear flag "full RX buffer" */
  if (SerFlag & CANRFLG_OVRIF_MASK) {  /* Is the overrun detected? */
    SerFlag &= ~CANRFLG_OVRIF_MASK;    /* Clear the internal overrun flag */
    return ERR_OVERRUN;                /* If yes then error */
  }
  return ERR_OK;                       /* OK */
}

/*
** ===================================================================
**     Method      :  CAN1_Init (bean FreescaleCAN)
**
**     Description :
**         Initializes the associated peripheral(s) and the beans 
**         internal variables. The method is called automatically as a 
**         part of the application initialization code.
**         This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void CAN1_Init(void)
{
  /* CANCTL1: CANE=1,CLKSRC=0,LOOPB=0,LISTEN=0,??=0,WUPM=0,SLPAK=0,INITAK=0 */
  CANCTL1 = 128;                       /* Set the control register */
  /* CANCTL0: RXFRM=0,RXACT=0,CSWAI=0,SYNCH=0,TIME=0,WUPE=0,SLPRQ=0,INITRQ=1 */
  CANCTL0 = 1;                         /* Set the control register */
  CANIDAC_IDAM = 0;                    /* Set the acceptance mode */
  CANIDAR0 = 0;                        /* Set the acceptance code, register CANIDAR0 */
  CANIDAR1 = 0;                        /* Set the acceptance code, register CANIDAR1 */
  CANIDAR2 = 0;                        /* Set the acceptance code, register CANIDAR2 */
  CANIDAR3 = 0;                        /* Set the acceptance code, register CANIDAR3 */
  CANIDAR4 = 0;                        /* Set the acceptance code, register CANIDAR4 */
  CANIDAR5 = 0;                        /* Set the acceptance code, register CANIDAR5 */
  CANIDAR6 = 0;                        /* Set the acceptance code, register CANIDAR6 */
  CANIDAR7 = 0;                        /* Set the acceptance code, register CANIDAR7 */
  CANIDMR0 = 255;                      /* Set the acceptance mask, register CANIDMR0 */
  CANIDMR1 = 255;                      /* Set the acceptance mask, register CANIDMR1 */
  CANIDMR2 = 255;                      /* Set the acceptance mask, register CANIDMR2 */
  CANIDMR3 = 255;                      /* Set the acceptance mask, register CANIDMR3 */
  CANIDMR4 = 255;                      /* Set the acceptance mask, register CANIDMR4 */
  CANIDMR5 = 255;                      /* Set the acceptance mask, register CANIDMR5 */
  CANIDMR6 = 255;                      /* Set the acceptance mask, register CANIDMR6 */
  CANIDMR7 = 255;                      /* Set the acceptance mask, register CANIDMR7 */
  /* CANBTR0: SJW1=0,SJW0=1,BRP5=0,BRP4=0,BRP3=0,BRP2=1,BRP1=0,BRP0=0 */
  CANBTR0 = 68;                        /* Set the device timing register */
  /* CANBTR1: SAMP=0,TSEG22=0,TSEG21=1,TSEG20=1,TSEG13=0,TSEG12=1,TSEG11=1,TSEG10=1 */
  CANBTR1 = 55;                        /* Set the device timing register */
  CANCTL1_CLKSRC = 0;                  /* Select the clock source from crystal */
  CANCTL0_INITRQ = 0;                  /* Start device */
  while(CANCTL1_INITAK) {}             /* Wait for enable */
  /* CANRFLG: WUPIF=1,CSCIF=1,RSTAT1=1,RSTAT0=1,TSTAT1=1,TSTAT0=1,OVRIF=1 */
  CANRFLG |= 254;                      /* Reset error flags */
  /* CANRIER: WUPIE=0,CSCIE=1,RSTATE1=1,RSTATE0=1,TSTATE1=1,TSTATE0=1,OVRIE=0,RXFIE=1 */
  CANRIER = 125;                       /* Enable interrupts */
}

/*
** ===================================================================
**     Method      :  CAN1_GetStateTX (bean FreescaleCAN)
**
**     Description :
**         Returns a value of the transmission complete flags.
**     Parameters  : None
**     Returns     :
**         ---             - Content of the transmitter complete
**                           flag register.
** ===================================================================
*/
/*
byte CAN1_GetStateTX(void)

**      This method is implemented as a macro in the header module. **
*/

/*
** ===================================================================
**     Method      :  CAN1_SetAcceptanceMask (bean FreescaleCAN)
**
**     Description :
**         Sets the acceptance mask registers. This method writes an
**         acceptance mask directly to the acceptance mask registers.
**     Parameters  :
**         NAME            - DESCRIPTION
**         AccMask1        - Acceptance mask for the
**                           message filtering. This acceptance mask
**                           will be written to the acceptance mask
**                           registers IDMR0-IDMR3. The most
**                           significant byte of the acceptance mask
**                           will be written to the IDMR0 register
**                           and the least significant byte of the
**                           acceptance mask will be written to the
**                           IDMR3 register.
**         AccMask2        - Acceptance mask for the
**                           message filtering. This acceptance mask
**                           will be written to the acceptance mask
**                           registers IDMR4-IDMR7. The most
**                           significant byte of the acceptance mask
**                           will be written to the IDMR4 register
**                           and the least significant byte of the
**                           acceptance mask will be written to the
**                           IDMR7 register.
**     Returns     :
**         ---             - Error code, possible codes:
**                           ERR_OK - OK
**                           ERR_SPEED - This device does not work in
**                           the active speed mode
**                           ERR_DISABLED - This bean is disabled by
**                           user
** ===================================================================
*/
byte CAN1_SetAcceptanceMask(dword AccMask1, dword AccMask2)
{
  EnterCritical();                     /* Enter critical section */
  CANCTL0_INITRQ = 1;                  /* Disable device */
  while(!CANCTL1_INITAK){}             /* Wait for disable */
  CANIDMR3 = ((DwordSwap *)&AccMask1)->b.b3; /* Set acceptance mask, register CANIDMR3 */
  CANIDMR2 = ((DwordSwap *)&AccMask1)->b.b2; /* Set acceptance mask, register CANIDMR2 */
  CANIDMR1 = ((DwordSwap *)&AccMask1)->b.b1; /* Set acceptance mask, register CANIDMR1 */
  CANIDMR0 = ((DwordSwap *)&AccMask1)->b.b0; /* Set acceptance mask, register CANIDMR0 */
  CANIDMR7 = ((DwordSwap *)&AccMask2)->b.b3; /* Set acceptance mask, register CANIDMR7 */
  CANIDMR6 = ((DwordSwap *)&AccMask2)->b.b2; /* Set acceptance mask, register CANIDMR6 */
  CANIDMR5 = ((DwordSwap *)&AccMask2)->b.b1; /* Set acceptance mask, register CANIDMR5 */
  CANIDMR4 = ((DwordSwap *)&AccMask2)->b.b0; /* Set acceptance mask, register CANIDMR4 */
  CANCTL0_INITRQ = 0;                  /* Start device */
  while(CANCTL1_INITAK) {}             /* Wait for device initialization acknowledge */
  /* CANRFLG: WUPIF=1,CSCIF=1,OVRIF=1 */
  CANRFLG |= 194;                      /* Reset error flags */
  /* CANRIER: WUPIE=0,CSCIE=1,RSTATE1=1,RSTATE0=1,TSTATE1=1,TSTATE0=1,OVRIE=0,RXFIE=1 */
  CANRIER = 125;                       /* Enable interrupts */
  ExitCritical();                      /* Exit critical section */
  return ERR_OK;                       /* OK */
}


/*
** ===================================================================
**     Method      :  CAN1_InterruptRx (bean FreescaleCAN)
**
**     Description :
**         The method services the receive interrupt of the selected 
**         peripheral(s) and eventually invokes the beans event(s).
**         This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
#pragma CODE_SEG __NEAR_SEG NON_BANKED
#define ON_OVERRUN  1
ISR(CAN1_InterruptRx)
{
  if (SerFlag & FULL_RX_BUF) {         /* Is any char already present in the receive buffer? */
    SerFlag |= CANRFLG_OVRIF_MASK;     /* If yes then set internal flag OVERRUN */
  }
  SerFlag |= FULL_RX_BUF;              /* Set flag "full RX buffer" */
   __DI();                             /* Disable maskable interrupts */
  CAN1_OnFullRxBuffer();               /* If yes then invoke user event. Parameter is always 1 because the CAN module has only one RX message buffer */
  CANRFLG = CANRFLG_RXF_MASK;          /* Reset the reception complete flag and release the RX buffer */
}

#pragma CODE_SEG CAN1_CODE
/*
** ===================================================================
**     Method      :  CAN1_InterruptError (bean FreescaleCAN)
**
**     Description :
**         The method services the error interrupt of the selected 
**         peripheral(s) and eventually invokes the beans event(s).
**         This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
#pragma CODE_SEG __NEAR_SEG NON_BANKED
ISR(CAN1_InterruptError)
{
  byte Status = CANRFLG;               /* Read the status register */

  CANRFLG = 254;                       /* Reset error flags */
}

#pragma CODE_SEG CAN1_CODE

/* END CAN1. */
/*
** ###################################################################
**
**     This file was created by UNIS Processor Expert 2.96 [03.76]
**     for the Freescale HCS12 series of microcontrollers.
**
** ###################################################################
*/