slave.c

LINKit for dz60 freescale code warrior

/******************************************************************************
*                                                                     
*       Copyright (C) 2007 Freescale Semiconductor, Inc.              
*       All Rights Reserved								              
*														              
* Filename:     slave.c                
*														              
* Revision:      										              
*														              
* Functions:    LIN slave sample application for LIN S08DZ60 Driver.
*         
* Description:  Receive message $17 from master and display contents on LEDs.
*
* Notes:        Sample code that may be modified by the user.
*
******************************************************************************/

#include <MC9S08DZ60.h>
#include <linapi.h>
#include "slave.h"
#include "main_h.h"

unsigned char MsgRcvd [2]; /* received data */
unsigned int  Time;				 /* time from real time counter */

unsigned char Lin_data [2];     // send data
unsigned char data=1;   
unsigned char ErrorCount;      // errorcount

/*****************************************************************************
 * Function:        LIN_Command
 *
 * Description:     User call-back.
 *                  Called by the driver after successful transmission or receiving 
 * 	                of the Master Request Command Frame (ID Field value '0x3C').
 *
 * Returns:         never return 
 *
 * Notes:
 *
 *****************************************************************************/
void LIN_Command()
{
  /* endless loop */
  while(1);
}

/*****************************************************************************
 * Function:        Delay
 *
 * Description:     Initialise RTC for use in Delay() function
 *
 *
 * Returns:         none
 *
 * Notes:			busfreq indicates the bus operating frequency in KHz
 *
 *
 *****************************************************************************/
void InitDelay(void)
{
	/* Initialise RTC */
	RTCSC  = 0x98;	  /* ???internal clock source;1ms RTC tick; enable interrupt */
  RTCMOD = 1;       /* period of 1 ms */
}

/*****************************************************************************
 * Function:        RTC_ISR
 *
 * Description:     Handle RTC ISR
 *					Add one tick to time
 *
 * Returns:         none
 *
 * Notes:			
 *
 *
 *****************************************************************************/
interrupt void RTC_ISR( void )
{
	Time++;

	/* Clear RTC flag */
	RTCSC |= 0x80;
}


/*****************************************************************************
 * Function:        Delay
 *
 * Description:     Simple delay routine.
 *                  Delay for n ms 
 *
 * Returns:         after n ms
 *
 * Notes:		       	Uses real time interrupt function - must be initialised
 *					        elsewhere to give 1ms timeouts
 *
 *****************************************************************************/
void Delay(unsigned int n)
{
	unsigned int stopTime;
	
	stopTime = Time+n;
	
	while (stopTime != Time);
}



 /*****************************************************************************
 * Function:        void PeriphInit(void);
 *
 * Description:     
 *                  
 *
 * Returns:         
 *
 * Notes:		       	
 *					       
 *
 *****************************************************************************/
 void PeriphInit(void)
 {
    LED1 = OFF;				// Turn Off LEDs
    LED2 = OFF;
    
    			

    PTCDD_PTCDD5 = 1;			// Port C_5 Port B_3 output
    PTBDD_PTBDD3 = 1;
    PTBDD_PTBDD6 = 0;			// Clears Port B_6 and B_7
    PTBDD_PTBDD7 = 0;
    
  
 }
 
 


/*****************************************************************************
 * Function:        main
 *
 * Description:     Sends and receives 2 bytes responses periodically
 *
 * Returns:         never return
 *
 * Notes:
 *
 *****************************************************************************/
void main( void )
{
    int i;
    
    LINStatusType   ret;
    
    Time = 0;

    /* disable COP */
    SOPT1 = 0x20;     /* disable COP, enable stop mode */

    /* Configure MCG to produce a 16MHz bus clock from a 8MHz external crystal via PLL */
    /* Select High Range, High Gain, Bus divided by 1, Oscillator, ERCLK enabled */
    MCGC2 = 0x36; 
    while (!MCGSC_OSCINIT);
    
    /* Select External Clock as bus clock source, Reference divided by 128, Reference = external */
    MCGC1 = 0xB8; 
    
    /* wait for Reference Status bit to update */
    while (!MCGSC_IREFST);       

    /* Wait for clock status bits to update */
    while (MCGSC_CLKST != 0b10);           
    
    /* NOW IN FBE MODE */        

    MCGC2 = 0x3E;
    
    /* NOW IN BLPE MODE */

    /* Change RDIV for PLL reference */
    MCGC1 = 0x98;
    
    /* Select the VCO divider and PLL */
    MCGC3 = 0x48;

     /* Wait for PLL status to update */
    while (!MCGSC_PLLST);
   
    /* Clear LP bit */
    MCGC2 = 0x36;
    
    /* NOW IN PBE MODE */
   
    /* Wait for LOCK bit to set */
    while (!MCGSC_LOCK);
    
    /* Enter PEE mode */
    MCGC1 = 0x18;
    
    /* Wait for Clock status to indicate PLL output */
    while (MCGSC_CLKST != 0b11);   


   //enable LED1
	  PTCDD_PTCDD5 = 1;




    /* Initialize driver */
    LIN_Init();   
    
    /* Enable LIN transceiver */                                         //
    //PTEDD_PTEDD4  = 1;                                                 //
	 // PTED_PTED4    = 1;
	  
	  PTADD_PTADD7  = 1;                                                //TJA1020 IRQ PTA7
	  PTAD_PTAD7    = 1;
        
    /* Enable LED display */                                   //
   // PTDDD  = 0xFF;                                            //
	//  PTDD   = 0xFF;
	  
	 

  	/* Initialise RTC */
	  InitDelay();

    /* Enable interrupt */
    asm cli; 
    
    
    PeriphInit();                        //initial led1,led2,sw1,sw2  
    LED2=~LED2;                              //
    
    
    Lin_data[0] = data;                     //initial Lin_data
    Lin_data[1] = 0;    

    /* Main Loop */
    while( 1 )
    {
        /* Wait for a message */
	//	ret = LIN_MsgStatus( 0x17 );
  //  if(( ret == LIN_OK ) || ( ret & LIN_MSG_OVERRUN ))
  //    {
      /* Read message */
  //    ret = LIN_GetMsg( 0x17, MsgRcvd );
      
  //    LED1=~LED1;
  //    Delay(500);                                    //led1 indicates msg17 has been received
      
          
  
  	//	}
  		
  		
  	                                               	//DZ60 send a message LIN_MSG_11 to Lin_data
  //	  if(SW2==0) 
  //	  {
      for(i=0;i<20;i++) 
      {
        
  	  ret = LIN_PutMsg( 0x11,Lin_data) ;
  	  
  	  LED1=~LED1;
  	  Delay(500);
      }
  	  
  //	  do 
  //	  {
  //	  ret = LIN_DriverStatus();
   //   }while( ret & LIN_STATUS_PENDING );
      
 // 	  ret = LIN_MsgStatus( 0x11 );
  	 
  	  
  //	  } 
   
  


  //	  }
  	  
  //	  }
  	  //}
  		
  		
  		 
		
  }   /* while (1) */

}       /* main */