bsp.c

这是用IAR开发的AT91SAM7X256的CAN测试代码

//-----------------------------------------------------
//--函数名:Dbgu.c
//--功  能:使用目标板的Dbgu口的输入和输出
//--公  司:深圳市百特电子
//--设  计:陈斌
//--时  间:2005.11.11
//-----------------------------------------------------
#include "includes.h"
/*
*********************************************************************************************************
*                                               DATA TYPES
*********************************************************************************************************
*/

typedef  void (*BSP_PFNCT)(void);


/*
*********************************************************************************************************
*                                              PROTOTYPES
*********************************************************************************************************
*/

static  void  BSP_DummyISR_Handler(void);

static  void  BSP_IntCtrlInit(void);

static  void  Tmr_TickInit(void);
static  void  Tmr_TickISR_Handler(void);

static  void  CAN_Init();

extern void AT91F_CAN_Handler(void);

/*
*********************************************************************************************************
*                                           DUMMY IRQ HANDLER
*
* Description : This function is called to handle invalid IRQs
*
* Arguments   : none
*********************************************************************************************************
*/


static  void  BSP_DummyISR_Handler (void)
{
    AT91C_BASE_AIC->AIC_IVR = 0;              /* Debug variant of vector read (protect mode is used)   */
}


/*
*********************************************************************************************************
*                                          BSP INITIALIZATION
*
* Description : This function should be called by your application code before you make use of any of the
*               functions found in this module.
*
* Arguments   : none
*********************************************************************************************************
*/

void  BSP_Init (void)
{
	//BSP_IntCtrlInit();                               /* Initialize the Interrupt Controller            */
	Tmr_TickInit();                                  /* Initialize uC/OS-II's Tick Rate                */
	LED_Init();
        CAN_Init();
}

//================================================================================================

static  void  BSP_IntCtrlInit (void)
{
    INT16U  i;

    AT91C_BASE_AIC->AIC_EOICR         =  0x00000000;               /* End-of-interrupt command         */

    for (i = 0; i < 32; i++)
    {                                     /* Disable all ISRs                 */
        AT91C_BASE_AIC->AIC_SVR[i] = (INT32U)BSP_DummyISR_Handler;
        AT91C_BASE_AIC->AIC_SMR[i] = 0;
    }
}

/*
*********************************************************************************************************
*                                          DISABLE ALL INTERRUPTS
*
* Description : This function is called to disable ALL interrupts.
*
* Arguments   : none
*********************************************************************************************************
*/

void  BSP_IntDisAll (void)
{
    AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF-3;                         /* Disable all interrupts           */
}

/*
*********************************************************************************************************
*                                         BSP INITIALIZATION
*
* Description : This function should be called by your application code before you make use of any of the
*               functions found in this module.
*
* Arguments   : none
*********************************************************************************************************
*/

void  LED_Init (void)
{

    // First, enable the clock of the PIO
       AT91F_PMC_EnablePeriphClock ( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA ) ;

    // then, we configure the PIO Lines corresponding to LED1 to LED4
    // to be outputs. No need to set these pins to be driven by the PIO because it is GPIO pins only.
       AT91F_PIO_CfgOutput( AT91D_BASE_PIO_LED, AT91B_LED_MASK ) ;

    // Clear the LED's. On the EB55 we must apply a "1" to turn off LEDs
       AT91F_PIO_SetOutput( AT91D_BASE_PIO_LED, AT91B_LED_MASK ) ;
    // Clear the LED's. On the EB55 we must apply a "1" to turn off LEDs
    //    AT91F_PIO_ClearOutput( AT91D_BASE_PIO_LED, AT91B_LED_MASK ) ;

    // Loop forever
 //   LED_Off(AT91B_LED_MASK);                                                  /* Turn OFF all the LEDs    */
}

/*
*********************************************************************************************************
*                                             LED ON
*
* Description : This function is used to control any or all the LEDs on the board.
*
* Arguments   : led    is the number of the LED to control
*                      0    indicates that you want ALL the LEDs to be ON
*                      1    turns ON LED1 on the board
*                      .
*                      .
*                      4    turns ON LED4 on the board
*********************************************************************************************************
*/

void  LED_On (INT8U led)
{

}

/*
*********************************************************************************************************
*                                             LED OFF
*
* Description : This function is used to control any or all the LEDs on the board.
*
* Arguments   : led    is the number of the LED to turn OFF
*                      0    indicates that you want ALL the LEDs to be OFF
*                      1    turns OFF LED1 on the board
*                      .
*                      .
*                      4    turns OFF LED4 on the board
*********************************************************************************************************
*/

void  LED_Off (INT8U led)
{

}

/*
*********************************************************************************************************
*                                             LED TOGGLE
*
* Description : This function is used to toggle any or all the LEDs on the board.
*
* Arguments   : led    is the number of the LED to toggle
*                      0    indicates that you want ALL the LEDs to be toggle
*                      1    toggles LED1 on the board
*                      .
*                      .
*                      4    toggles LED4 on the board
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*                                           IRQ ISR HANDLER
*
* Description : This function is called by OS_CPU_IRQ_ISR() to determine the source of the interrupt
*               and process it accordingly.
*
* Arguments   : none
*********************************************************************************************************
*/
void  OS_CPU_IRQ_ISR_Handler (void)
{
    BSP_PFNCT  pfnct;

#if 1
    pfnct = (BSP_PFNCT)AT91C_BASE_AIC->AIC_IVR;     /* Read the interrupt vector from the VIC          */
    if (pfnct != (BSP_PFNCT)0) {                    /* Make sure we don't have a NULL pointer          */