init.c

瑞萨CAN通讯单片机程序

/*""FILE COMMENT""*****************************************************
 *	M32R C Programming		Rev. 1.00
 *		 < Sample Program for CAN init >
 *
 *	Copyright (c) 2003 Renesas Technology Corporation
 *			   And Renesas Solutions Corporation
 *			   All Rights Reserved
 *********************************************************************/

/************************************************************************/
/*		Include file						*/
/************************************************************************/

#include		"..\inc\sfr32170_pragma.h"

/************************************************************************/
/*		Function prototype declaration				*/
/************************************************************************/

	void		can_init(void);

/*""FUNC COMMENT""*******************************************************
 * Function name: void can_init(void)
 *-----------------------------------------------------------------------
 * Description	: Initializes CAN module
 *-----------------------------------------------------------------------
 * Argument	: -
 *-----------------------------------------------------------------------
 * Returns	: -
 *-----------------------------------------------------------------------
 * Notes	:
 *""FUNC COMMENT END""***************************************************/
void can_init(void)
{
	/* Setting input/output port operation mode register (CRX pin does not need to be set) */
	P22MOD |= 0x80;				/* P220 used as CTX */


	/* Setting interrupt controller */
	ICAN0CR = 0x07;				/* CAN0 interrupt priority level 7 (interrupt disabled) */


	/* Setting CAN0 related interrupt mask register */
	CAN0SLIST = 0x0000;			/* Clear CAN0 slot transmit/receive-finished interrupt request */
	CAN0ERIST = 0x00;			/* Clear CAN0 error interrupt request */
	CAN0SLIMK = 0x0000;			/* Disable CAN0 slot transmit/receive-finished interrupt */
	CAN0ERIMK = 0x00;			/* Disable CAN0 error interrupt */


	/* Setting CAN configuration register */
	CAN0CONF = 0x3680;			/* SJW=1, Sync(1)+Prop(5)+PH1(7)+PH2(7), sampling count = 1 */
	CAN0BRP = (16 - 1);			/* Baud rate: 40 MHz / divided by 16 / 20 Tq -> 125 Kbps */

	/* Setting ID mask register */
	C0GMSKS0 = 0xff;			/* Global mask register */
	C0GMSKS1 = 0xff;
	C0GMSKE0 = 0xff;
	C0GMSKE1 = 0xff;
	C0GMSKE2 = 0xff;
	C0LMSKAS0 = 0xff;			/* Local mask register A */
	C0LMSKAS1 = 0xff;
	C0LMSKAE0 = 0xff;
	C0LMSKAE1 = 0xff;
	C0LMSKAE2 = 0xff;
	C0LMSKBS0 = 0xff;			/* Local mask register B */
	C0LMSKBS1 = 0xff;
	C0LMSKBE0 = 0xff;
	C0LMSKBE1 = 0xff;
	C0LMSKBE2 = 0xff;

	/* To use in BasicCAN mode, set it up here. */
	/*
	 *	- Set IDE14/15 of CAN0EXTID
	 *	- Set ID of slots 14/15
	 *	- Set local mask registers A/B
	 *	- Set slots 14/15 for data frame reception
	 */

	/* Setting CAN operation mode */
	CAN0EXTID = 0x0000;			/* Select standard format frame */

	/* Negating CAN reset */
	CAN0CNT = 0x0000;			/* Clear FRST and RST bits and disable BasicCAN function */
						/* Disable loopback function and select timestamp divide-by-1 */
}