can.lst
来自「本程序是针对Infineon公司的XC167CI处理器而编写的CAN网络程序。C」· LST 代码 · 共 1,247 行 · 第 1/4 页
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296 1 /// - identifier 11-bit: 0x124
297 1
298 1 CAN_MSGAMRL2 = 0xFFFF; // load acceptance mask register low
299 1 CAN_MSGAMRH2 = 0xFFFF; // load acceptance mask register high
300 1 CAN_MSGARL2 = 0x0000; // load arbitration register low
301 1 CAN_MSGARH2 = 0x0490; // load arbitration register high
302 1 CAN_MSGDRL20 = 0x0000; // load data register 0 low
303 1 CAN_MSGDRH20 = 0x0000; // load data register 0 high
C166 COMPILER V6.04, CAN 04/27/2008 18:41:45 PAGE 6
304 1 CAN_MSGDRL24 = 0x0000; // load data register 4 low
305 1 CAN_MSGDRH24 = 0x0000; // load data register 4 high
306 1
307 1 /// - functionality of standard message object
308 1
309 1 CAN_MSGFGCRL2 = 0x0000; // load FIFO/gateway control register low
310 1 CAN_MSGFGCRH2 = 0x0002; // load FIFO/gateway control register high
311 1
312 1 CAN_MSGCTRH2 = 0x0000; // load message control register high
313 1 CAN_MSGCTRL2 = 0x55A5; // load message control register low
314 1
315 1 /// -----------------------------------------------------------------------
316 1 /// Configuration of Message Object 3:
317 1 /// -----------------------------------------------------------------------
318 1 /// - message object 3 is valid
319 1 /// - enable receive interrupt; bit INTPND is set after successfull
320 1 /// reception of a frame
321 1
322 1 /// - message object is used as receive object
323 1 /// - standard 11-bit identifier
324 1 /// - 8 valid data bytes
325 1 /// - this message object works with CAN node B
326 1 /// - remote monitoring is disabled
327 1 /// - receive interrupt node pointer: TwinCAN SRN 4
328 1
329 1 CAN_MSGCFGL3 = 0x0082; // load message configuration register low
330 1 CAN_MSGCFGH3 = 0x0004; // load message configuration register high
331 1
332 1 /// - acceptance mask 11-bit: 0x700
333 1 /// - identifier 11-bit: 0x100
334 1
335 1 CAN_MSGAMRL3 = 0x0000; // load acceptance mask register low
336 1 CAN_MSGAMRH3 = 0xFC00; // load acceptance mask register high
337 1 CAN_MSGARL3 = 0x0000; // load arbitration register low
338 1 CAN_MSGARH3 = 0x0400; // load arbitration register high
339 1 CAN_MSGDRL30 = 0x0000; // load data register 0 low
340 1 CAN_MSGDRH30 = 0x0000; // load data register 0 high
341 1 CAN_MSGDRL34 = 0x0000; // load data register 4 low
342 1 CAN_MSGDRH34 = 0x0000; // load data register 4 high
343 1
344 1 /// - functionality of standard message object
345 1
346 1 CAN_MSGFGCRL3 = 0x0000; // load FIFO/gateway control register low
347 1 CAN_MSGFGCRH3 = 0x0003; // load FIFO/gateway control register high
348 1
349 1 CAN_MSGCTRH3 = 0x0000; // load message control register high
350 1 CAN_MSGCTRL3 = 0x5599; // load message control register low
351 1
352 1
353 1 /// -----------------------------------------------------------------------
354 1 /// Configuration of Service Request Nodes 0 - 7:
355 1 /// -----------------------------------------------------------------------
356 1 /// SRN0 service request node configuration:
357 1 /// - SRN0 interrupt priority level (ILVL) = 11
358 1 /// - SRN0 interrupt group level (GLVL) = 0
359 1 /// - SRN0 group priority extension (GPX) = 0
360 1
361 1 CAN_0IC = 0x006C;
362 1
363 1 /// SRN1 service request node configuration:
364 1 /// - SRN1 interrupt priority level (ILVL) = 14
365 1 /// - SRN1 interrupt group level (GLVL) = 1
C166 COMPILER V6.04, CAN 04/27/2008 18:41:45 PAGE 7
366 1 /// - SRN1 group priority extension (GPX) = 0
367 1
368 1 CAN_1IC = 0x0079;
369 1
370 1 /// Use PEC channel 1 for CAN INT 1:
371 1 /// - normal interrupt
372 1 /// - pointers are not modified
373 1 /// - transfer a word
374 1 /// - service End of PEC interrrupt by a EOP interrupt node is disabled
375 1
376 1 PECC1 = 0x0000; // load PECC1 control register
377 1
378 1
379 1 /// SRN2 service request node configuration:
380 1 /// - SRN2 interrupt priority level (ILVL) = 15
381 1 /// - SRN2 interrupt group level (GLVL) = 2
382 1 /// - SRN2 group priority extension (GPX) = 0
383 1
384 1 CAN_2IC = 0x007E;
385 1
386 1 /// Use PEC channel 6 for CAN INT 2:
387 1 /// - normal interrupt
388 1 /// - pointers are not modified
389 1 /// - transfer a word
390 1 /// - service End of PEC interrrupt by a EOP interrupt node is disabled
391 1
392 1 PECC6 = 0x0000; // load PECC6 control register
393 1
394 1
395 1 /// SRN3 service request node configuration:
396 1 /// - SRN3 interrupt priority level (ILVL) = 13
397 1 /// - SRN3 interrupt group level (GLVL) = 0
398 1 /// - SRN3 group priority extension (GPX) = 0
399 1
400 1 CAN_3IC = 0x0074;
401 1
402 1 /// SRN4 service request node configuration:
403 1 /// - SRN4 interrupt priority level (ILVL) = 12
404 1 /// - SRN4 interrupt group level (GLVL) = 3
405 1 /// - SRN4 group priority extension (GPX) = 0
406 1
407 1 CAN_4IC = 0x0073;
408 1
409 1
410 1
411 1 // USER CODE BEGIN (Init,3)
412 1
413 1 // USER CODE END
414 1
415 1
416 1 CAN_PISEL = 0x0008; // load port input select register
417 1
418 1 // -----------------------------------------------------------------------
419 1 // Start the CAN Nodes:
420 1 // -----------------------------------------------------------------------
421 1
422 1 CAN_BCR &= ~(uword)0x0041; // reset INIT and CCE
423 1
424 1
425 1 // USER CODE BEGIN (Init,4)
426 1
427 1 // USER CODE END
C166 COMPILER V6.04, CAN 04/27/2008 18:41:45 PAGE 8
428 1
429 1 } // End of function CAN_vInit
430
431
432 //****************************************************************************
433 // @Function void CAN_vGetMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj)
434 //
435 //----------------------------------------------------------------------------
436 // @Description This function fills the forwarded SW message object with
437 // the content of the chosen HW message object.
438 //
439 // The structure of the SW message object is defined in the
440 // header file CAN.H (see TCAN_SWObj).
441 //
442 //----------------------------------------------------------------------------
443 // @Returnvalue None
444 //
445 //----------------------------------------------------------------------------
446 // @Parameters ubObjNr:
447 // Number of the message object to be read (0-31)
448 // @Parameters *pstObj:
449 // Pointer on a message object to be filled by this function
450 //
451 //----------------------------------------------------------------------------
452 // @Date 2006-12-9
453 //
454 //****************************************************************************
455
456 // USER CODE BEGIN (GetMsgObj,1)
457
458 // USER CODE END
459
460 void CAN_vGetMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj)
461 {
462 1 ubyte i;
463 1
464 1 for(i = 0; i < (CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x00f0) >> 4; i++)
465 1 {
466 2 pstObj->ubData[i] = CAN_HWOBJ[ubObjNr].ubData[i];
467 2 }
468 1
469 1 if(CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x04) // extended identifier
470 1 {
471 2 pstObj->ulID = CAN_HWOBJ[ubObjNr].ulCANAR;
472 2 pstObj->ulMask = CAN_HWOBJ[ubObjNr].ulCANAMR;
473 2 }
474 1 else // standard identifier
475 1 {
476 2 pstObj->ulID = CAN_HWOBJ[ubObjNr].ulCANAR >> 18;
477 2 pstObj->ulMask = CAN_HWOBJ[ubObjNr].ulCANAMR >> 18;
478 2 }
479 1
480 1 pstObj->uwCounter = CAN_HWOBJ[ubObjNr].uwCounter;
481 1 pstObj->uwMsgCfg = CAN_HWOBJ[ubObjNr].uwMSGCFG;
482 1
483 1 } // End of function CAN_vGetMsgObj
484
485
486 //****************************************************************************
487 // @Function ubyte CAN_ubRequestMsgObj(ubyte ubObjNr)
488 //
489 //----------------------------------------------------------------------------
C166 COMPILER V6.04, CAN 04/27/2008 18:41:45 PAGE 9
490 // @Description If a TRANSMIT OBJECT is to be reconfigured it must first be
491 // accessed. The access to the transmit object is exclusive.
492 // This function checks whether the choosen message object is
493 // still executing a transmit request, or if the object can be
494 // accessed exclusively.
495 // After the message object is reserved, it can be
496 // reconfigured by using the function CAN_vConfigMsgObj or
497 // CAN_vLoadData.
498 // Both functions enable access to the object for the CAN
499 // controller.
500 // By calling the function CAN_vTransmit transfering of data
501 // is started.
502 //
503 //----------------------------------------------------------------------------
504 // @Returnvalue 0 message object is busy (a transfer is active), else 1
505 //
506 //----------------------------------------------------------------------------
507 // @Parameters ubObjNr:
508 // Number of the message object (0-31)
509 //
510 //----------------------------------------------------------------------------
511 // @Date 2006-12-9
512 //
513 //****************************************************************************
514
515 // USER CODE BEGIN (RequestMsgObj,1)
516
517 // USER CODE END
518
519 ubyte CAN_ubRequestMsgObj(ubyte ubObjNr)
520 {
521 1 ubyte ubReturn;
522 1
523 1 ubReturn = 0;
524 1 if((CAN_HWOBJ[ubObjNr].uwMSGCTR & 0x3000) == 0x1000) // if reset TXRQ
525 1 {
526 2 CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xfbff; // set CPUUPD
527 2 ubReturn = 1;
528 2 }
529 1 return(ubReturn);
530 1
531 1 } // End of function CAN_ubRequestMsgObj
532
533
534 //****************************************************************************
535 // @Function ubyte CAN_ubNewData(ubyte ubObjNr)
536 //
537 //----------------------------------------------------------------------------
538 // @Description This function checks whether the selected RECEIVE OBJECT
539 // has received a new message. If so the function returns the
540 // value '1'.
541 //
542 //----------------------------------------------------------------------------
543 // @Returnvalue 1 the message object has received a new message, else 0
544 //
545 //----------------------------------------------------------------------------
546 // @Parameters ubObjNr:
547 // Number of the message object (0-31)
548 //
549 //----------------------------------------------------------------------------
550 // @Date 2006-12-9
551 //
C166 COMPILER V6.04, CAN 04/27/2008 18:41:45 PAGE 10
552 //****************************************************************************
553
554 // USER CODE BEGIN (NewData,1)
555
556 // USER CODE END
557
558 ubyte CAN_ubNewData(ubyte ubObjNr)
559 {
560 1 ubyte ubReturn;
561 1
562 1 ubReturn = 0;
563 1 if((CAN_HWOBJ[ubObjNr].uwMSGCTR & 0x0300) == 0x0200) // if NEWDAT
564 1 {
565 2 ubReturn = 1;
566 2 }
567 1 return(ubReturn);
568 1
569 1 } // End of function CAN_ubNewData
570
571
572 //****************************************************************************
573 // @Function void CAN_vTransmit(ubyte ubObjNr)
574 //
575 //----------------------------------------------------------------------------
576 // @Description This function triggers the CAN controller to send the
577 // selected message.
578 // If the selected message object is a TRANSMIT OBJECT then
579 // this function triggers the sending of a data frame. If
580 // however the selected message object is a RECEIVE OBJECT
581 // this function triggers the sending of a remote frame.
582 //
583 //----------------------------------------------------------------------------
584 // @Returnvalue None
585 //
586 //----------------------------------------------------------------------------
587 // @Parameters ubObjNr:
588 // Number of the message object (0-31)
589 //
590 //----------------------------------------------------------------------------
591 // @Date 2006-12-9
592 //
593 //****************************************************************************
594
595 // USER CODE BEGIN (Transmit,1)
596
597 // USER CODE END
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