flexcan.c

zigbee 飞思卡尔 音频传输 基于ucos的所有源码

				printf("NO.%d transmit compelet!\n",mb_no);
				//release the mb,read the free-running timer
				i = MCF_CAN_TIMER;
				return;
			}
		}
		
		printf("NO.%d transmit overtime!\n",mb_no);
		printf("MCF_CAN_IFLAG=%x\n",MCF_CAN_IFLAG);
		printf("MCF_CAN_MB_CS(%d)=%x\n",mb_no,MCF_CAN_MB_CS(mb_no));
		printf("MCF_CAN_ERRSTAT=%x\n",MCF_CAN_ERRSTAT);
		printf("MCF_CAN_ERRCNT=%x\n",MCF_CAN_ERRCNT);
		
		
		*err = 1;
		
		MCF_CAN_MB_CS(mb_no) = (0x00000008)<<24;//set transmit inactive 
		
		//release the mb,read the free-running timer
		i = MCF_CAN_TIMER;
		return;
	}
}




/****************************************************************
*function: read data from mb_no 
*err : 0-done right     1-done wrong
**length :return the receive data of length
*******************************************************************/
void read_data(char mb_no,unsigned char *buf,unsigned char *length,char *err)
{
	uint32 i;
	*err = 0;
	MCF_CAN_IFLAG = MCF_CAN_IFLAG;//clear the flag
	//for debug
	#ifdef debug_can
	printf("enter read data function!\n");
	#endif
	if(mb_no > 15 || mb_no < 0)
	{
		printf("\nmb_no = %d is not valid!\n",mb_no);
		*err = 1;
		return;	
	}
	
	printf("receive data form mb%d \n ",mb_no);
	
	while( MCF_CAN_MB_CS(mb_no) & 0x01000000 );//wait for no busy
	i = MCF_CAN_MB_CS(mb_no);//read C/S, to lock the mb
	*length = (char)( (i & MCF_CAN_MB_LEN_MASK)>>16 );//get the length of mb

	
	if( (MCF_CAN_MB_CS(mb_no) & MCF_CAN_MB_IDE_MASK) == 0)//if use standard frame
	{
		/*
		if( (MCF_CAN_MB_ID(mb_no) & 0x1FFC0000) != id<< 18)//id not march
		{
			printf("standard ID don't match!\n");
			//release the mb,read the free-running timer
			i = MCF_CAN_TIMER;
			return;
		}
		*/
		printf("match standard format!\n");
		//printf("the marched standard id = %x(16 format)\n",(MCF_CAN_MB_ID(mb_no) & 0x1FFC0000)>>18);
		printf("the marched standard id = %x(16 format)\n",(MCF_CAN_MB_ID(mb_no) & 0x1FFC0000));
	
	}
	else//use extended frame format
	{
		/*
		if( (MCF_CAN_MB_ID(mb_no) & 0x1FFFFFFF) != id )
		{
			printf("extended ID don't match!\n");
			//release the mb,read the free-running timer
			i = MCF_CAN_TIMER;
			return;
		}
		*/
		printf("match extend format!\n");
		printf("the marched extend id = %x(16 format)\n",(MCF_CAN_MB_ID(mb_no) & 0x1FFC0000));
	}
	
	//release the mb,read the free-running timer
	//i = MCF_CAN_TIMER;
	//for debug
	#ifdef debug_can
	printf("begin to read the NO.%d mb of datafield\n",mb_no);
	#endif
	//id matched
	for (i = 0;i<*length;i++)
	{
		*(buf+i) = MCF_CAN_MB_DATAFIELDS(mb_no,i);//copy the bytes from mb to buf
		//for debug
		#ifdef debug_can
		printf("buf[%d]=%d\n",i,*(buf+i));
		#endif
	}
	//for debug
	#ifdef debug_can
	printf("end of read datafield!\n");
	#endif
	MCF_CAN_IFLAG = 1<< mb_no;//receive compelet
	
	//release the mb,read the free-running timer
	i = MCF_CAN_TIMER;
	
	return;
}

/****************************************************************
*function: change id 
*
*******************************************************************/
void change_id(char mb_no,uint32 id)
{
	MCF_CAN_CANMCR |= MCF_CAN_CANMCR_FRZ;//freeze mode enable
	
	MCF_CAN_CANMCR |= MCF_CAN_CANMCR_HALT;//enter freeze mode
	
	while( (MCF_CAN_CANMCR & MCF_CAN_CANMCR_FRZACK) == 0);//wait until have enter freeze mode

	
	MCF_CAN_MB_ID(mb_no) = id;
	
    MCF_CAN_CANMCR &= ~MCF_CAN_CANMCR_HALT;//exit freeze mode

}



/****************************************************************
*function: change C/S od mb_no 
*
*******************************************************************/
void change_mb_cs(char mb_no,char code,char srr,char ide,char rtr)
{
	uint32 i = 0;
	
	//if mb is active ,we should disable the module before we change the C/S 
	if( ( (MCF_CAN_MB_CS(mb_no) & 0x0F000000) != MCF_CAN_MB_CODE_RX_INACTIVE) 
	&& ( (MCF_CAN_MB_CS(mb_no) & 0x0F000000) != MCF_CAN_MB_CODE_TX_INACTIVE))
	{
		
		if( (MCF_CAN_MB_CS(mb_no) & 0x0F700000) == (0 | code<<24 | srr<<22 | ide <<21 | rtr<<20))
		{
			printf("without change C/S \n");
				//release the mb,read the free-running timer
			i = MCF_CAN_TIMER;
			return;//without change
		}
		else//change
		{
			
			MCF_CAN_CANMCR |= MCF_CAN_CANMCR_FRZ;//freeze mode enable
	
			MCF_CAN_CANMCR |= MCF_CAN_CANMCR_HALT;//enter freeze mode
	
			while( (MCF_CAN_CANMCR & MCF_CAN_CANMCR_FRZACK) == 0);//wait until have enter freeze mode
			
			//change the C/S
			MCF_CAN_MB_CS(mb_no) &= (~0x0FF0000);
			MCF_CAN_MB_CS(mb_no) |= ( (code<<24) | (srr<<22) | (ide<<21) | (rtr<<20));
			
			MCF_CAN_CANMCR &= ~MCF_CAN_CANMCR_HALT;//exit freeze mode 
			
				//release the mb,read the free-running timer
			i = MCF_CAN_TIMER;
			return;
	
		}
	}
	else//is inactive ,so we can change it directly
	{
		//change the C/S
		MCF_CAN_MB_CS(mb_no) &= ~0x0FF0000;
		MCF_CAN_MB_CS(mb_no) |= ( (code<<24) | (srr<<22) | (ide<<21) | (rtr<<20));
		
		//release the mb,read the free-running timer
		i = MCF_CAN_TIMER;
		return;	
	}
		
	
}




/*****************************************************************
*ucos-ii test task for FlexCAN
*******************************************************************/
OS_STK	AppTaskFlexCANStk[256];
 
static unsigned char can_buf_data[10]=" 1 2 a b \0";
static unsigned char *can_buf = can_buf_data;
static unsigned char buf_rec[10]={0};
static unsigned char *rec_buf = buf_rec;
static char err = 0;
static unsigned char length = 0;

void  AppTaskFlexCAN (void * pdata)
{
	uint16 i=0;
	uint16 flag = 0;	
	length = 8;
	
	FlexCAN_init();
	
	
	button_value_current = 0;
transmit_again:	
	printf("\nPlease select the TX and RX: ");
	printf("SW2--- TX data; SW3---  RX data.\n");
	while(button_value_current == 0);
	

	
	switch(button_value_current)
	{
		case 2 ://pressed sw2 ,into transmit data
			printf("the data length is= %d\n",length); 
			printf("the transmit data is :");
			for(i=0; i<8; i++)
			{
				printf("%d    ",can_buf[i]);
			}
			printf("END\n\n");
			//void	transmit_data(char mb_no,uint32 id,char *databuf,char data_length,char transmit_code,char rtr,char *err)
			transmit_data(1,0b10101010101<<18,can_buf,length,0b1100,0,0,&err);//transmit 8bytes from mb1 to mb7 ,then into inactive
			
			if(err == 1)
			{
				printf("transmit wrong!\n");
				button_value_current = 0;
				goto transmit_again;
				break;
			}
			
			//for debug
			printf("waiting for receiving data!\n\n\n");
			#ifdef debug_can
			printf("MCF_CAN_IFLAG=%x\n",MCF_CAN_IFLAG);
			printf("MCF_CAN_CANCTRL=%x\n",MCF_CAN_CANCTRL);
			printf("MCF_CAN_CANMCR=%x\n",MCF_CAN_CANMCR);
			printf("MCF_CAN_MB_CS(1)=%x\n",MCF_CAN_MB_CS(1));
			printf("MCF_CAN_MB_CS(7)=%x\n",MCF_CAN_MB_CS(7));
			#endif
			
			
			while( !MCF_CAN_IFLAG);//wait for receive 
			
			//get the flag number
			for(flag = 0; (MCF_CAN_IFLAG>>flag) != 1;flag++);
			
			err = 0;
			
			printf("begin receive the data from MB%d!\n",flag);
			//void read_data(char mb_no,uint32 id,char *buf,char *err)
			read_data(flag,buf_rec,&length,&err);//receive mb7
			printf("the data length is= %d\n",length);
			printf("the received data is :");//printf the received mb
			for(i = 0;i < 8 ;i++)
				printf("%d    ",buf_rec[i]);
			printf("END\n");
			
			button_value_current = 0;
			goto transmit_again;
			
			
			
		case 3://pressed sw3,into receive data 
			while(1)
			{

				printf("waiting for receiving data!\n");
				while( MCF_CAN_IFLAG == 0)
				{

				}//wait for receive 
			
				//get the flag number
				for(flag = 0; (MCF_CAN_IFLAG>>flag) != 1;flag++);
						
				err = 0;
				//void read_data(char mb_no,uint32 id,char *buf,char *err)
				read_data(flag,rec_buf,&length,&err);//receive mb7
				printf("the data length is= %d\n",length);
				printf("\nthe received data is :");//printf the received mb
				for(i = 0;i < 8 ;i++)
					printf("%d   ",*(rec_buf+i) );
				printf("END\n\n");
			
				printf("begin to transmit data!\n");
				printf("the data length is= %d\n",length); 
				printf("the transmit data is :");
				for(i=0; i<8; i++)
				{
					printf("%d    ",can_buf[i]);
				}
				printf("END\n\n");
				//void	transmit_data(char mb_no,uint32 id,char *databuf,char data_length,char transmit_code,char rtr,char *err)
				transmit_data(1,7<<18,can_buf,8,0b1100,0,0,&err);//transmit 8bytes from mb1 to mb7 ,then into inactive
				
				if(err == 1)
				{
					printf("transmit wrong!\n");
					button_value_current = 0;

					goto transmit_again;
					break;
				}
			}
			
		default:
			printf("pressed the wrong number!\n");
			break;
	}
	
	while(1)
	{
		OSTimeDly(60);
	}
	return;
}