can.c

Infineon单片机XC164CMADC模数转换模块和定时器中断例程

//****************************************************************************
// @Module        TwinCAN Module (CAN)
// @Filename      CAN.C
// @Project       164.dav
//----------------------------------------------------------------------------
// @Controller    Infineon XC164CM-4F40
//
// @Compiler      Keil
//
// @Codegenerator 1.1
//
// @Description   This file contains functions that use the CAN module.
//
//----------------------------------------------------------------------------
// @Date          2007-5-2 13:51:07
//
//****************************************************************************

// USER CODE BEGIN (CAN_General,1)

// USER CODE END



//****************************************************************************
// @Project Includes
//****************************************************************************

#include "MAIN.H"

// USER CODE BEGIN (CAN_General,2)

// USER CODE END


//****************************************************************************
// @Macros
//****************************************************************************

// USER CODE BEGIN (CAN_General,3)

// USER CODE END


//****************************************************************************
// @Defines
//****************************************************************************

// Structure for a single TwinCAN object
// A total of 31 such object structures exists

struct stCanObj 
{
  ubyte  ubData[8];  // Message Data 0..7
  ulong  ulCANAR;    // Arbitration Register
  ulong  ulCANAMR;   // Acceptance Mask Register
  uword  uwMSGCTR;   // Message Control Register
  uword  uwCounter;  // Frame Counter
  uword  uwMSGCFG;   // Message Configuration Register
  uword  uwINP;      // Interrupt Node Pointer
  uword  uwCANFCR;   // FIFO / Gateway Control Register 
  uword  uwCANPTR;   // FIFO Pointer
  ulong  ulReserved; // Reserved
};

#define CAN_HWOBJ ((struct stCanObj volatile far *) 0x200300)

// USER CODE BEGIN (CAN_General,4)

// USER CODE END


//****************************************************************************
// @Typedefs
//****************************************************************************

// USER CODE BEGIN (CAN_General,5)

// USER CODE END


//****************************************************************************
// @Imported Global Variables
//****************************************************************************

// USER CODE BEGIN (CAN_General,6)

// USER CODE END


//****************************************************************************
// @Global Variables
//****************************************************************************

static ubyte aubFIFOWritePtr[16];
static ubyte aubFIFOReadPtr[16];


// USER CODE BEGIN (CAN_General,7)

// USER CODE END


//****************************************************************************
// @External Prototypes
//****************************************************************************

// USER CODE BEGIN (CAN_General,8)

// USER CODE END


//****************************************************************************
// @Prototypes Of Local Functions
//****************************************************************************

// USER CODE BEGIN (CAN_General,9)

// USER CODE END


//****************************************************************************
// @Function      void CAN_vInit(void) 
//
//----------------------------------------------------------------------------
// @Description   This is the initialization function of the CAN function 
//                library. It is assumed that the SFRs used by this library 
//                are in reset state. 
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    None
//
//----------------------------------------------------------------------------
// @Date          2007-5-2
//
//****************************************************************************

// USER CODE BEGIN (Init,1)

// USER CODE END

void CAN_vInit(void)
{
ubyte i;

  // USER CODE BEGIN (Init,2)

  // USER CODE END

  ///  -----------------------------------------------------------------------
  ///  Configuration of CAN Node A:
  ///  -----------------------------------------------------------------------

  ///  General Configuration of the Node A:
  ///  - set INIT and CCE
  ///  - enable the CAN analyzer mode; monitoring CAN bus traffic without 
  ///    participating in the CAN bus protocol itself
  ///  - enable interrupt generation when a message transfer is completed
  ///  - transmit / receive OK interrupt node pointer: TwinCAN SRN 0
  ///  - enable interrupt generation on a change of bit BOFF or EWARN
  ///  - error (BusOff and ErrorWarning) interrupt node pointer: TwinCAN SRN 0
  ///  - enable interrupt generation on setting an error code in bit field LEC
  ///  - last error code interrupt node pointer: TwinCAN SRN 0

  CAN_ACR        =  0x00DD;      // load global control register
  CAN_AGINP      =  0x0000;      // load global interrupt node pointer 
                                 // register

  ///  Configuration of the Node A Error Counter:
  ///  - the error warning threshold value (warning level) is 96

  CAN_AECNTH     =  0x0060;      // load error counter register high

  ///  Configuration of the used CAN Port Pins:
  ///  - P9.3 is used for CAN Interface Output (TXDCA)
  ///  - P9.2 is used for CAN Interface Input (RXDCA)

  ALTSEL0P9     |=  0x0008;      // select alternate output function
  ALTSEL1P9     |=  0x0008;      // select alternate output function
  DP9  = (DP9  & ~(uword)0x0008) | 0x0008;    //set direction register

  ///  Configuration of the Node A Baud Rate:
  ///  - required baud rate = 400.000 kbaud
  ///  - real baud rate     = 400.000 kbaud
  ///  - sample point       = 60.00 %
  ///  - there are 5 time quanta before sample point
  ///  - there are 4 time quanta after sample point
  ///  - the (re)synchronization jump width is 2 time quanta

  CAN_ABTRL      =  0x3449;      // load bit timing register low

  CAN_ABTRH      =  0x0000;      // load bit timing register high

  CAN_AFCRL      =  0x0000;      // load frame counter timing register low

  CAN_AFCRH      =  0x0000;      // load frame counter timing register high

  ///  -----------------------------------------------------------------------
  ///  Configuration of CAN Node B:
  ///  -----------------------------------------------------------------------

  ///  General Configuration of the Node B:
  ///  - set INIT and CCE
  ///  - enable the CAN analyzer mode; monitoring CAN bus traffic without 
  ///    participating in the CAN bus protocol itself
  ///  - enable interrupt generation when a message transfer is completed
  ///  - transmit / receive OK interrupt node pointer: TwinCAN SRN 0
  ///  - enable interrupt generation on a change of bit BOFF or EWARN
  ///  - error (BusOff and ErrorWarning) interrupt node pointer: TwinCAN SRN 0
  ///  - enable interrupt generation on setting an error code in bit field LEC
  ///  - last error code interrupt node pointer: TwinCAN SRN 0

  CAN_BCR        =  0x00DD;      // load global control register
  CAN_BGINP      =  0x0000;      // load global interrupt node pointer 
                                 // register

  ///  Configuration of the Node B Error Counter:
  ///  - the error warning threshold value (warning level) is 96

  CAN_BECNTH     =  0x0060;      // load error counter register high

  ///  Configuration of the used CAN Port Pins:
  ///  - P9.0 is used for CAN Interface Input (RXDCB)
  ///  - P9.1 is used for CAN Interface Output (TXDCB)

  ALTSEL0P9     |=  0x0002;      // select alternate output function
  ALTSEL1P9     |=  0x0002;      // select alternate output function
  DP9  = (DP9  & ~(uword)0x0002) | 0x0002;    //set direction register

  ///  Configuration of the Node B Baud Rate:
  ///  - required baud rate = 400.000 kbaud
  ///  - real baud rate     = 400.000 kbaud
  ///  - sample point       = 60.00 %
  ///  - there are 5 time quanta before sample point
  ///  - there are 4 time quanta after sample point
  ///  - the (re)synchronization jump width is 2 time quanta

  CAN_BBTRL      =  0x3449;      // load bit timing register low

  CAN_BBTRH      =  0x0000;      // load bit timing register high

  CAN_BFCRL      =  0x0000;      // load frame counter timing register low

  CAN_BFCRH      =  0x0000;      // load frame counter timing register high

  ///  -----------------------------------------------------------------------
  ///  Configuration of the CAN Message Objects 0 - 31:
  ///  -----------------------------------------------------------------------


  ///  -----------------------------------------------------------------------
  ///  Configuration of Service Request Nodes 0 - 7:
  ///  -----------------------------------------------------------------------

  ///  -----------------------------------------------------------------------
  ///  Initialization of the FIFO Pointer:
  ///  -----------------------------------------------------------------------

  for (i = 0; i < 16; i++)
  {
    aubFIFOWritePtr[i] = i * 2;
    aubFIFOReadPtr[i]  = i * 2;
  }


  // USER CODE BEGIN (Init,3)

  // USER CODE END


  CAN_PISEL      =  0x000B;      // load port input select register

  //   -----------------------------------------------------------------------
  //   Start the CAN Nodes:
  //   -----------------------------------------------------------------------

  CAN_ACR       &= ~(uword)0x0041; // reset INIT and CCE
  CAN_BCR       &= ~(uword)0x0041; // reset INIT and CCE


  // USER CODE BEGIN (Init,4)

  // USER CODE END

} //  End of function CAN_vInit


//****************************************************************************
// @Function      void CAN_vGetMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj) 
//
//----------------------------------------------------------------------------
// @Description   This function fills the forwarded SW message object with 
//                the content of the chosen HW message object.
//                
//                The structure of the SW message object is defined in the 
//                header file CAN.H (see TCAN_SWObj).
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    ubObjNr: 
//                Number of the message object to be read (0-31)
// @Parameters    *pstObj: 
//                Pointer on a message object to be filled by this function
//
//----------------------------------------------------------------------------
// @Date          2007-5-2
//
//****************************************************************************

// USER CODE BEGIN (GetMsgObj,1)

// USER CODE END

void CAN_vGetMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj)
{
  ubyte i;

  for(i = 0; i < (CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x00f0) >> 4; i++)
  {
    pstObj->ubData[i] = CAN_HWOBJ[ubObjNr].ubData[i];