can.c

iar 安装使用的方法。其中包括一些工程模板

        else
        {
            //
            // Lower 16 bit are unused so set them to zero.
            //
            usMaskReg[0] = 0;

            //
            // Put the 11 bit Mask Identifier into the upper bits of the field
            // in the register.
            //
            usMaskReg[1] = ((pMsgObject->ulMsgIDMask << 2) &
                            CAN_IF1MSK2_IDMSK_M);
        }
    }

    //
    // If the caller wants to filter on the extended ID bit then set it.
    //
    if((pMsgObject->ulFlags & MSG_OBJ_USE_EXT_FILTER) ==
       MSG_OBJ_USE_EXT_FILTER)
    {
        usMaskReg[1] |= CAN_IF1MSK2_MXTD;
    }

    //
    // The caller wants to filter on the message direction field.
    //
    if((pMsgObject->ulFlags & MSG_OBJ_USE_DIR_FILTER) ==
       MSG_OBJ_USE_DIR_FILTER)
    {
        usMaskReg[1] |= CAN_IF1MSK2_MDIR;
    }

    if(pMsgObject->ulFlags & (MSG_OBJ_USE_ID_FILTER | MSG_OBJ_USE_DIR_FILTER |
                              MSG_OBJ_USE_EXT_FILTER))
    {
        //
        // Set the UMASK bit to enable using the mask register.
        //
        usMsgCtrl |= CAN_IF1MCTL_UMASK;

        //
        // Set the MASK bit so that this gets trasferred to the Message Object.
        //
        usCmdMaskReg |= CAN_IF1CMSK_MASK;
    }

    //
    // Set the Arb bit so that this gets transferred to the Message object.
    //
    usCmdMaskReg |= CAN_IF1CMSK_ARB;

    //
    // Configure the Arbitration registers.
    //
    if(bUseExtendedID)
    {
        //
        // Set the 29 bit version of the Identifier for this message object.
        //
        usArbReg[0] |= pMsgObject->ulMsgID & CAN_IF1ARB1_ID_M;
        usArbReg[1] |= (pMsgObject->ulMsgID >> 16) & CAN_IF1ARB2_ID_M;

        //
        // Mark the message as valid and set the extended ID bit.
        //
        usArbReg[1] |= CAN_IF1ARB2_MSGVAL | CAN_IF1ARB2_XTD;
    }
    else
    {
        //
        // Set the 11 bit version of the Identifier for this message object.
        // The lower 18 bits are set to zero.
        //
        usArbReg[1] |= (pMsgObject->ulMsgID << 2) & CAN_IF1ARB2_ID_M;

        //
        // Mark the message as valid.
        //
        usArbReg[1] |= CAN_IF1ARB2_MSGVAL;
    }

    //
    // Set the data length since this is set for all transfers.  This is also a
    // single transfer and not a FIFO transfer so set EOB bit.
    //
    usMsgCtrl |= (pMsgObject->ulMsgLen & CAN_IF1MCTL_DLC_M) | CAN_IF1MCTL_EOB;

    //
    // Enable transmit interrupts if they should be enabled.
    //
    if(pMsgObject->ulFlags & MSG_OBJ_TX_INT_ENABLE)
    {
        usMsgCtrl |= CAN_IF1MCTL_TXIE;
    }

    //
    // Enable receive interrupts if they should be enabled.
    //
    if(pMsgObject->ulFlags & MSG_OBJ_RX_INT_ENABLE)
    {
        usMsgCtrl |= CAN_IF1MCTL_RXIE;
    }

    //
    // Write the data out to the CAN Data registers if needed.
    //
    if(bTransferData)
    {
        CANDataRegWrite(pMsgObject->pucMsgData,
                        (unsigned long *)(ulBase + CAN_O_IF1DA1),
                        pMsgObject->ulMsgLen);
    }

    //
    // Write out the registers to program the message object.
    //
    CANRegWrite(ulBase + CAN_O_IF1CMSK, usCmdMaskReg);
    CANRegWrite(ulBase + CAN_O_IF1MSK1, usMaskReg[0]);
    CANRegWrite(ulBase + CAN_O_IF1MSK2, usMaskReg[1]);
    CANRegWrite(ulBase + CAN_O_IF1ARB1, usArbReg[0]);
    CANRegWrite(ulBase + CAN_O_IF1ARB2, usArbReg[1]);
    CANRegWrite(ulBase + CAN_O_IF1MCTL, usMsgCtrl);

    //
    // Transfer the message object to the message object specifiec by ulObjID.
    //
    CANRegWrite(ulBase + CAN_O_IF1CRQ, ulObjID & CAN_IF1CRQ_MNUM_M);

    return;
}

//*****************************************************************************
//
//! Reads a CAN message from one of the message object buffers.
//!
//! \param ulBase is the base address of the CAN controller.
//! \param ulObjID is the object number to read (1-32).
//! \param pMsgObject points to a structure containing message object fields.
//! \param bClrPendingInt indicates whether an associated interrupt should be
//! cleared.
//!
//! This function is used to read the contents of one of the 32 message objects
//! in the CAN controller, and return it to the caller.  The data returned is
//! stored in the fields of the caller-supplied structure pointed to by
//! \e pMsgObject.  The data consists of all of the parts of a CAN message,
//! plus some control and status information.
//!
//! Normally this is used to read a message object that has received and stored
//! a CAN message with a certain identifier.  However, this could also be used
//! to read the contents of a message object in order to load the fields of the
//! structure in case only part of the structure needs to be changed from a
//! previous setting.
//!
//! When using CANMessageGet, all of the same fields of the structure are
//! populated in the same way as when the CANMessageSet() function is used,
//! with the following exceptions:
//!
//! \e pMsgObject->ulFlags:
//!
//! - \b MSG_OBJ_NEW_DATA indicates if this is new data since the last time it
//! was read
//! - \b MSG_OBJ_DATA_LOST indicates that at least one message was received on
//! this message object, and not read by the host before being overwritten.
//!
//! \return None.
//
//*****************************************************************************
void
CANMessageGet(unsigned long ulBase, unsigned long ulObjID,
              tCANMsgObject *pMsgObject, tBoolean bClrPendingInt)
{
    unsigned short usCmdMaskReg;
    unsigned short usMaskReg[2];
    unsigned short usArbReg[2];
    unsigned short usMsgCtrl;

    //
    // Check the arguments.
    //
    ASSERT((ulBase == CAN0_BASE) ||
           (ulBase == CAN1_BASE) ||
           (ulBase == CAN2_BASE));
    ASSERT((ulObjID <= 32) && (ulObjID != 0));

    //
    // This is always a read to the Message object as this call is setting a
    // message object.
    //
    usCmdMaskReg = (CAN_IF1CMSK_DATAA | CAN_IF1CMSK_DATAB |
                    CAN_IF1CMSK_CONTROL | CAN_IF1CMSK_MASK | CAN_IF1CMSK_ARB);

    //
    // Clear a pending interrupt and new data in a message object.
    //
    if(bClrPendingInt)
    {
        usCmdMaskReg |= CAN_IF1CMSK_CLRINTPND;
    }

    //
    // Set up the request for data from the message object.
    //
    CANRegWrite(ulBase + CAN_O_IF2CMSK, usCmdMaskReg);

    //
    // Transfer the message object to the message object specifiec by ulObjID.
    //
    CANRegWrite(ulBase + CAN_O_IF2CRQ, ulObjID & CAN_IF1CRQ_MNUM_M);

    //
    // Wait for busy bit to clear
    //
    while(CANRegRead(ulBase + CAN_O_IF2CRQ) & CAN_IF1CRQ_BUSY)
    {
    }

    //
    // Read out the IF Registers.
    //
    usMaskReg[0] = CANRegRead(ulBase + CAN_O_IF2MSK1);
    usMaskReg[1] = CANRegRead(ulBase + CAN_O_IF2MSK2);
    usArbReg[0] = CANRegRead(ulBase + CAN_O_IF2ARB1);
    usArbReg[1] = CANRegRead(ulBase + CAN_O_IF2ARB2);
    usMsgCtrl = CANRegRead(ulBase + CAN_O_IF2MCTL);

    pMsgObject->ulFlags = MSG_OBJ_NO_FLAGS;

    //
    // Determine if this is a remote frame by checking the TXRQST and DIR bits.
    //
    if((!(usMsgCtrl & CAN_IF1MCTL_TXRQST) &&
        (usArbReg[1] & CAN_IF1ARB2_DIR)) ||
       ((usMsgCtrl & CAN_IF1MCTL_TXRQST) &&
        (!(usArbReg[1] & CAN_IF1ARB2_DIR))))
    {
        pMsgObject->ulFlags |= MSG_OBJ_REMOTE_FRAME;
    }

    //
    // Get the identifier out of the register, the format depends on size of
    // the mask.
    //
    if(usArbReg[1] & CAN_IF1ARB2_XTD)
    {
        //
        // Set the 29 bit version of the Identifier for this message object.
        //
        pMsgObject->ulMsgID = ((usArbReg[1] & CAN_IF1ARB2_ID_M) << 16) |
            usArbReg[0];

        pMsgObject->ulFlags |= MSG_OBJ_EXTENDED_ID;
    }
    else
    {
        //
        // The Identifier is an 11 bit value.
        //
        pMsgObject->ulMsgID = (usArbReg[1] & CAN_IF1ARB2_ID_M) >> 2;
    }

    //
    // Indicate that we lost some data.
    //
    if(usMsgCtrl & CAN_IF1MCTL_MSGLST)
    {
        pMsgObject->ulFlags |= MSG_OBJ_DATA_LOST;
    }

    //
    // Set the flag to indicate if ID masking was used.
    //
    if(usMsgCtrl & CAN_IF1MCTL_UMASK)
    {
        if(usArbReg[1] & CAN_IF1ARB2_XTD)
        {
            //
            // The Identifier Mask is assumed to also be a 29 bit value.
            //
            pMsgObject->ulMsgIDMask =
                ((usMaskReg[1] & CAN_IF1MSK2_IDMSK_M) << 16) | usMaskReg[0];
            //
            // If this is a fully specified Mask and a remote frame then don't
            // set the MSG_OBJ_USE_ID_FILTER because the ID was not really
            // filtered.
            //
            if((pMsgObject->ulMsgIDMask != 0x1fffffff) ||
               ((pMsgObject->ulFlags & MSG_OBJ_REMOTE_FRAME) == 0))
            {
                pMsgObject->ulFlags |= MSG_OBJ_USE_ID_FILTER;
            }
        }
        else
        {
            //
            // The Identifier Mask is assumed to also be an 11 bit value.
            //
            pMsgObject->ulMsgIDMask = ((usMaskReg[1] & CAN_IF1MSK2_IDMSK_M) >>
                                       2);

            //
            // If this is a fully specified Mask and a remote frame then don't
            // set the MSG_OBJ_USE_ID_FILTER because the ID was not really
            // filtered.
            //
            if((pMsgObject->ulMsgIDMask != 0x7ff) ||
               ((pMsgObject->ulFlags & MSG_OBJ_REMOTE_FRAME) == 0))
            {
                pMsgObject->ulFlags |= MSG_OBJ_USE_ID_FILTER;
            }
        }

        //
        // Indicate if the extended bit was used in filtering.
        //
        if(usMaskReg[1] & CAN_IF1MSK2_MXTD)
        {
            pMsgObject->ulFlags |= MSG_OBJ_USE_EXT_FILTER;
        }

        //
        // Indicate if direction filtering was enabled.
        //
        if(usMaskReg[1] & CAN_IF1MSK2_MDIR)
        {
            pMsgObject->ulFlags |= MSG_OBJ_USE_DIR_FILTER;
        }
    }

    //
    // Set the interupt flags.
    //
    if(usMsgCtrl & CAN_IF1MCTL_TXIE)
    {
        pMsgObject->ulFlags |= MSG_OBJ_TX_INT_ENABLE;
    }
    if(usMsgCtrl & CAN_IF1MCTL_RXIE)
    {
        pMsgObject->ulFlags |= MSG_OBJ_RX_INT_ENABLE;
    }

    //
    // See if there is new data available.
    //
    if(usMsgCtrl & CAN_IF1MCTL_NEWDAT)
    {
        //
        // Get the amount of data needed to be read.
        //
        pMsgObject->ulMsgLen = (usMsgCtrl & CAN_IF1MCTL_DLC_M);

        //
        // Don't read any data for a remote frame, there is nothing valid in
        // that buffer anyway.
        //
        if((pMsgObject->ulFlags & MSG_OBJ_REMOTE_FRAME) == 0)
        {
            //
            // Read out the data from the CAN registers.
            //
            CANDataRegRead(pMsgObject->pucMsgData,
                           (unsigned long *)(ulBase + CAN_O_IF2DA1),
                           pMsgObject->ulMsgLen);
        }

        //
        // Now clear out the new data flag.
        //
        CANRegWrite(ulBase + CAN_O_IF2CMSK, CAN_IF1CMSK_NEWDAT);

        //
        // Transfer the message object to the message object specifiec by
        // ulObjID.
        //
        CANRegWrite(ulBase + CAN_O_IF2CRQ, ulObjID & CAN_IF1CRQ_MNUM_M);

        //
        // Wait for busy bit to clear
        //
        while(CANRegRead(ulBase + CAN_O_IF2CRQ) & CAN_IF1CRQ_BUSY)
        {
        }

        //
        // Indicate that there is new data in this message.
        //
        pMsgObject->ulFlags |= MSG_OBJ_NEW_DATA;
    }
    else
    {
        //
        // Along with the MSG_OBJ_NEW_DATA not being set the amount of data