can_net.c

最新版IAR FOR ARM（EWARM）5.11中的代码例子

    //
    // If a flash was requested then set the flag.
    //
    if(bFlash == true)
    {
        g_ucLEDLevel |= LED_FLASH_ONCE;
    }

    //
    // A transmit request is about to be pending.
    //
    g_ulFlags |= FLAG_LED_TX_PEND;

    //
    // Send the button update request.
    //
    CANMessageSet(CAN0_BASE, MSGOBJ_NUM_LED, &g_MsgObjectLED,
                  MSG_OBJ_TYPE_TX);
}

//*****************************************************************************
//
// This function configures the message objects used by this application.
// The following four message objects used by this application:
// MSGOBJ_ID_BUTTON, MSGOBJ_ID_LED, MSGOBJ_ID_DATA_TX, and MSGOBJ_ID_DATA_RX.
//
//*****************************************************************************
void
CANConfigureNetwork(void)
{
    //
    // Set the identifier and mask for the button object.
    //
    g_MsgObjectButton.ulMsgID = MSGOBJ_ID_BUTTON;
    g_MsgObjectButton.ulMsgIDMask = 0;

    //
    // This enables interrupts for received messages.
    //
    g_MsgObjectButton.ulFlags = MSG_OBJ_RX_INT_ENABLE;

    //
    // Set the size of the message and the data buffer used.
    //
    g_MsgObjectButton.ulMsgLen = 2;
    g_MsgObjectButton.pucMsgData = g_pucButtonMsg;

    //
    // Configure the Button receive message object.
    //
    CANMessageSet(CAN0_BASE, MSGOBJ_NUM_BUTTON, &g_MsgObjectButton,
                  MSG_OBJ_TYPE_RX);

    //
    // This message object will receive updates to the LED.
    //
    g_MsgObjectLED.ulMsgID = MSGOBJ_ID_LED;
    g_MsgObjectLED.ulMsgIDMask = 0;

    //
    // This enables interrupts for received messages.
    //
    g_MsgObjectLED.ulFlags = MSG_OBJ_TX_INT_ENABLE;

    //
    // Set the length of the message and the data buffer used.
    //
    g_MsgObjectLED.ulMsgLen = 1;
    g_MsgObjectLED.pucMsgData = &g_ucLEDLevel;

    //
    // This message object will transmit commands.
    //
    g_MsgObjectTx.ulMsgID = MSGOBJ_ID_DATA_TX;
    g_MsgObjectTx.ulMsgIDMask = 0;

    //
    // This enables interrupts for received messages.
    //
    g_MsgObjectTx.ulFlags = MSG_OBJ_TX_INT_ENABLE;

    //
    // The length of the message, which should only be one byte.  Don't set
    // the pointer until it is used.
    //
    g_MsgObjectTx.ulMsgLen = 1;
    g_MsgObjectTx.pucMsgData = (unsigned char *)0xffffffff;

    //
    // This message object will received data from commands.
    //
    g_MsgObjectRx.ulMsgID = MSGOBJ_ID_DATA_RX;
    g_MsgObjectRx.ulMsgIDMask = 0;

    //
    // This enables interrupts for received messages.
    //
    g_MsgObjectRx.ulFlags = MSG_OBJ_RX_INT_ENABLE;

    //
    // The length of the message, which should only be one byte.  Don't set
    // the pointer until it is used.
    //
    g_MsgObjectRx.ulMsgLen = 1;
    g_MsgObjectRx.pucMsgData = (unsigned char *)0xffffffff;

    //
    // Configure the data receive message object.
    //
    CANMessageSet(CAN0_BASE, MSGOBJ_NUM_DATA_RX, &g_MsgObjectRx,
                  MSG_OBJ_TYPE_RX);
}

//*****************************************************************************
//
// The CAN controller Interrupt handler.
//
//*****************************************************************************
void
CANHandler(void)
{
    unsigned long ulStatus;

    //
    // Find the cause of the interrupt, if it is a status interrupt then just
    // acknowledge the interrupt by reading the status register.
    //
    ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);

    switch(ulStatus)
    {
        //
        // Let the forground loop handle sending this, just set a flag to
        // indicate that the data should be sent.
        //
        case MSGOBJ_NUM_BUTTON:
        {
            //
            // Read the Button Message.
            //
            CANMessageGet(CAN0_BASE, MSGOBJ_NUM_BUTTON,
                &g_MsgObjectButton, 1);

            //
            // Only respond to buttons being release.
            //
            if(g_MsgObjectButton.pucMsgData[0] == EVENT_BUTTON_RELEASED)
            {
                //
                // Check if the up button was released.
                //
                if(g_MsgObjectButton.pucMsgData[1] == TARGET_BUTTON_UP)
                {
                    //
                    // Adjust the volume up by 10.
                    //
                    AudioVolumeUp(10);
                }

                //
                // Check if the down button was released.
                //
                if(g_MsgObjectButton.pucMsgData[1] == TARGET_BUTTON_DN)
                {
                    //
                    // Adjust the volume down by 10.
                    //
                    AudioVolumeDown(10);
                }
            }
            break;
        }

        //
        // When the LED message object interrupts, just clear the flag so that
        // more LED messages are allowed to transfer.
        //
        case MSGOBJ_NUM_LED:
        {
            g_ulFlags &= (~FLAG_LED_TX_PEND);
            break;
        }

        //
        // When the transmit data message object interrupts, clear the
        // flag so that more data can be trasferred.
        //
        case MSGOBJ_NUM_DATA_TX:
        {
            g_ulFlags &= (~FLAG_DATA_TX_PEND);
            break;
        }

        //
        // When a receive data message object interrupts, set the flag to
        // indicate that new data is ready.
        //
        case MSGOBJ_NUM_DATA_RX:
        {
            g_ulFlags |= FLAG_DATA_RECV;
            break;
        }

        //
        // This was a status interrupt so read the current status to
        // clear the interrupt and return.
        //
        default:
        {
            //
            // Read the controller status to acknowledge this interrupt.
            //
            CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);

            //
            // If there was a LED transmission pending, then stop it and
            // clear the flag.
            //
            if(g_ulFlags & FLAG_LED_TX_PEND)
            {
                //
                // Disable this message object until we retry it later.
                //
                CANMessageClear(CAN0_BASE, MSGOBJ_NUM_LED);

                //
                // Clear the transmit pending flag.
                //
                g_ulFlags &= (~FLAG_LED_TX_PEND);
            }

            //
            // If there was a Data transmission pending, then stop it and
            // clear the flag.
            //
            if(g_ulFlags & FLAG_DATA_TX_PEND)
            {
                //
                // Disable this message object until we retry it later.
                //
                CANMessageClear(CAN0_BASE, MSGOBJ_NUM_DATA_TX);

                //
                // Clear the transmit pending flag.
                //
                g_ulFlags &= (~FLAG_DATA_TX_PEND);
            }
            return;
        }
    }

    //
    // Acknowledge the CAN controller interrupt has been handled.
    //
    CANIntClear(CAN0_BASE, ulStatus);
}

//*****************************************************************************
//
// This function configures the CAN hardware and the message objects so that
// they are ready to use once the application returns from this function.
//
//*****************************************************************************
void
CANConfigure(void)
{
    //
    // Configure CAN Pins
    //
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    //
    // Enable the CAN controllers.
    //
    SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);

    //
    // Reset the state of all the message object and the state of the CAN
    // module to a known state.
    //
    CANInit(CAN0_BASE);

    //
    // Configure the bit clock parameters for the CAN device.
    //
    CANSetBitTiming(CAN0_BASE,
        (tCANBitClkParms *)&CANBitClkSettings[CANBAUD_250K]);

    //
    // Take the CAN1 device out of INIT state.
    //
    CANEnable(CAN0_BASE);

    //
    // Enable interrups from CAN controller.
    //
    CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR);

    //
    // Set up the message object that will receive all messages on the CAN
    // bus.
    //
    CANConfigureNetwork();

    //
    // Enable interrupts for the CAN in the NVIC.
    //
    IntEnable(INT_CAN0);
}