📄 lpc2000_can_sys.c
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install_irq(UART0_INT, (void *)IRQ_UART0 , 2 );
install_irq(CAN_INT, (void *)IRQ_CAN , 3 );
}
/****************************************************************************
* Name: Delay()
* Function: Delay
* Input(s): delaytime 30 about 0.5s
* Returns : none
****************************************************************************/
void delay(UInt32 delaytime)
{ UInt32 i;
for(; delaytime>0; delaytime--)
for(i=0; i<50000; i++);
}
/****************************************************************************
* Name: uart0_config(UInt32,UART0MODE)
* Function: UART0 config
* Input(s): Baudrate
* U0_config
* Returns : none
****************************************************************************/
void uart0_config(UInt32 Baudrate,UART0MODE U0_config)
{
UInt32 temp_uart0;
//-------------------------
// UART0 Baudrate config
//-------------------------
U0LCR = 0x80; // DLAB=1, Can use U0DLM, U0DLL
temp_uart0 = (Fpclk/16)/Baudrate;
U0DLM = temp_uart0>>8;
U0DLL = temp_uart0&0xFF;
//-------------------------
// UART0 mode config
//-------------------------
temp_uart0 = U0_config.Datalength - 5; // Data Length prepare
if( U0_config.Stopbit == 2 ) temp_uart0 |= 0x04; // Data Stop bit prepare
if( U0_config.Paritybit != 0 ) // Data Parity bit prepare
{
U0_config.Paritybit = U0_config.Paritybit - 1;
temp_uart0 |= 0x08;
}
temp_uart0 |= U0_config.Paritybit<<4;
U0LCR = temp_uart0; // Data Length, Stop bit, Parity bit setup
U0FCR = 0x07; /* Enable and reset TX and RX FIFO. */
U0IER = IER_RBR | IER_RLS;
}
/****************************************************************************
* Name: IRQ_Timer1()
* Function: Timer1 interrupt function, inverse LED4(P0.25)
* Input(s): none
* Returns : none
****************************************************************************/
void __irq IRQ_Timer1(void)
{
LED_Counter++;
if( LED_Counter == 50) // 10ms*50=0.5s led inverse
{
if( LED_Flag == 0) LED_Flag = 1;
else LED_Flag = 0;
LED_Counter = 0;
}
T1IR = 0x01; // CLR Timer1 interrupt flag
VICVectAddr = 0x00; // Inform VIC interrupt is end
}
/****************************************************************************
* Name: IRQ_UART0()
* Function: UART0 interrupt
* Input(s): none
* Returns : none
****************************************************************************/
void __irq IRQ_UART0(void)
{
UInt32 Temp_UART0_IRQ;
if( (U0IIR & 0x0F) == 0x04 )
{
Temp_UART0_IRQ = U0RBR - 48;
switch( Temp_UART0_IRQ )
{
case 1:
System_Status = 1; // indicate CAN simple communication
break;
case 2:
System_Status = 2; // indicate CAN communication with ACC
break;
case 3:
System_Status = 3; // indicate CAN communication with FullCAN
case 41: // receive "Y"
case 73: // receive "y"
if( System_Status == 4) System_Status = 5;
break;
case 30: // receive "N"
case 62: // receive "n"
if( System_Status == 4 ) System_Status = 7;
break;
case 49: // when receive "a", reverse LED2
Temp_UART0_IRQ = IOSET1;
if( (Temp_UART0_IRQ & LED1CON) == 0 )
{
// FIO2SET = LED1CON;
}
else
{
// FIO2CLR = LED1CON;
}
break;
case 50: // when receive "b", reverse LED1
Temp_UART0_IRQ = IOSET1;
if( (Temp_UART0_IRQ & LED2CON) == 0 )
{
// FIO2SET = LED2CON;
}
else
{
// FIO2CLR = LED2CON;
}
break;
default:
break;
}
}
Temp_UART0_IRQ = U0RBR; //clear UART0-Rx interrupt flag, when U0IIR != 04,
VICVectAddr = 0x00;
}
/****************************************************************************
* Name: IRQ_CAN()
* Function: IRQ_CANinterrupt
中断处理：主要接受数据，处理传输中的错误（统计错误数）
* Input(s): none
* Returns : none
****************************************************************************/
void __irq IRQ_CAN(void) //
{
Print_Chars_to_Screen( LiuJiaju_IRQ );
//Check the FullCAN (FCANIC0) bits
#ifdef LPC2000_CANDRIVER_STD_FULLCAN
if(FCANIC0 !=0 || (FCANIC1 !=0)){//有中断，AF中
CAN2_FULLCANRxCount++;
Print_Chars_to_Screen(LiuJiaju_FULLCAN_Rec);
CAN_FULLCAN_Rx2();
}
#endif
CANStatus = CAN_RX_SR; //非FuLLCAN的形式
if ( CANStatus & (1 << 8) )
{
CAN1RxCount++;
// CAN_Rx1();
}
if ( CANStatus & (1 << 9) )
{
CAN2RxCount++;
Print_Chars_to_Screen( LiuJiaju_AF_Rec );
CAN_Rx2();
}
if ( CAN1GSR & (1 << 6 ) ) //ES,Error Status
{
/* The error count includes both TX and RX */
CAN1ErrCount = (CAN1GSR >> 16 ); //RXERR,the current value of the RX error counter
}
if ( CAN2GSR & (1 << 6 ) )
{
/* The error count includes both TX and RX */
CAN2ErrCount = (CAN2GSR >> 16 );
}
VICVectAddr = 0; /* Acknowledge Interrupt */
}
/****************************************************************************
* Name: CAN_FULLCAN_Rx2()
* Function: CAN_FULLCAN_Rx2
FULLCAN模式下，接收数据，好像有问题，深究
* Input(s): none
* Returns : none
****************************************************************************/
#ifdef LPC2000_CANDRIVER_STD_FULLCAN
void CAN_FULLCAN_Rx2( void ){
//Print_Chars_to_Screen(LiuJiaju_FULLCAN_Rec);
plpc2000CANdriver_RXObj_t pCAN1_Rcv_Data_IRQ;
FULLCAN_MSG *FULLCAN_msgs;
unsigned int Dat1,DatA,DatB;
unsigned int msg_index = 0;
unsigned char test_bit =0;
int i =0,j=0;
unsigned int interrut_word = FCANIC0;//interrupt 判别位
for(j=0 ; j <2; j++){ //选择判别位
if((j==0x0) && (FCANIC0 !=0) ){
interrut_word = FCANIC0;
}
else if( (j==1) && (FCANIC1 !=0) ) {
interrut_word = FCANIC1;
}
else{
continue;
}
if(interrut_word !=0){
for(i=0; i<=31;i++){
test_bit = interrut_word & 0x1; //？？？？
interrut_word = interrut_word >>1;
if(test_bit){
msg_index=i;
FULLCAN_msgs= (FULLCAN_MSG *)(CAN_EOT + 0xE0038000 + msg_index*12);
//0xE0038000:CAFMEM,AF RAM的起始地址，CAN_EOT:table的长度
//CAN_EOT+0xE0038000就是ID's table的结束地址，即ENDofTable
Dat1=FULLCAN_msgs->Dat1;
do{
if((Dat1 & 0x3000000) != 0x1000000){ //sem=01?AF is updateing the content?
if((Dat1 & 0x3000000) == 0x3000000){//sem=11?AF has finished the update content
FULLCAN_msgs->Dat1 = Dat1 & 0xFCFFFFFF;//sem=00,cpu is in process of reading
DatA = FULLCAN_msgs->DatA;
DatB = FULLCAN_msgs->DatB;
Dat1=FULLCAN_msgs->Dat1;
if((Dat1 & 0x3000000) == 0x0000){
break;
}
}
}
Dat1=FULLCAN_msgs->Dat1;
}while (((Dat1 & 0x3000000) != 0x0));
CAN2Rx_Return_Message_Flag[0] = 1; //indicate one Rx interrupt happened
// put Rcv data to Rcv-Buffer, must assign value to pointer before used
pCAN1_Rcv_Data_IRQ = CAN_Rcv_Data + CAN_Rcv_Data_Counter;
pCAN1_Rcv_Data_IRQ -> FULLCALmsg = 1;
pCAN1_Rcv_Data_IRQ -> RFS = Dat1;
pCAN1_Rcv_Data_IRQ -> ID = Dat1 & 0x7FF; //0....10bit ID
pCAN1_Rcv_Data_IRQ -> DataField[0] = DatA;
pCAN1_Rcv_Data_IRQ -> DataField[1] = DatB;
// Return_Value = lpc2000CANdriver_ReceiveMessageCh1 (pCAN1_Rcv_Data_IRQ);
CAN_Rcv_Data_Counter++;
CAN_Rcv_Status = 1; // communication successful
//main中用它来判断是否打印，接受信息
Print_Chars_to_Screen( LiuJiaju_FULLCAN_Rec_complete );
} //if testbit
} //for 0..31
} //if interrut_word
}//for j 0..2
}
#endif
/******************************************************************************
** Function name: CAN_Rx2
**
** Descriptions: CAN Rx2 interrupt handler
**接受错误在main中处理，在这里只在CAN2Rx_Return_Message_Flag[i]置位，
**表示是何种错误
** parameters: None
** Returned value: None
**
******************************************************************************/
void CAN_Rx2( void )
{
// Print_Chars_to_Screen( LiuJiaju_AF_Rec );
UInt32 Temp_CAN2Rx_IRQ=0;
UInt8 i=0;
plpc2000CANdriver_RXObj_t pCAN2_Rcv_Data_IRQ;
i = 0;
CAN2Rx_Return_Message_Flag[i] = 1; //indicate one Rx interrupt happened
i++;
Temp_CAN2Rx_IRQ = CAN2ICR;
if( (Temp_CAN2Rx_IRQ & 0x00000001) == 0x00000001 ) //RI 接收中断
{
// put Rcv data to Rcv-Buffer, must assign value to pointer before used
pCAN2_Rcv_Data_IRQ = CAN_Rcv_Data + CAN_Rcv_Data_Counter;
Return_Value = lpc2000CANdriver_ReceiveMessageCh2 (pCAN2_Rcv_Data_IRQ);
CAN_Rcv_Data_Counter++;
CAN_Rcv_Status = 1; // communication successful
}
if( ((Temp_CAN2Rx_IRQ>>2) & 0x00000001) == 0x00000001 ) //error warning interrupt
{
CAN2Rx_Return_Message_Flag[i] = 1;
//Add code for "Error Warning Interrupt-EI"
}
i++;
if( ((Temp_CAN2Rx_IRQ>>3) & 0x00000001) == 0x00000001 ) //data overrun interrupt
{
CAN2Rx_Return_Message_Flag[i] = 1;
//Add code for "Data Overrun Interrupt-DOI"
}
i++;
if( ((Temp_CAN2Rx_IRQ>>4) & 0x00000001) == 0x00000001 ) //Wake up interrupt
{
CAN2Rx_Return_Message_Flag[i] = 1;
//Add code for "Wake-Up Interrupt-WUI"
}
i++;
if( ((Temp_CAN2Rx_IRQ>>5) & 0x00000001) == 0x00000001 ) //error passive interrupt
{ //at least one error counter exceed the CAN protocol defined level of 127
CAN2Rx_Return_Message_Flag[i] = 1;
//Add code for "Error Passive Interrupt-EPI"
}
i++;
if( ((Temp_CAN2Rx_IRQ>>6) & 0x00000001) == 0x00000001 ) //Arbitrition lost interrupt
{
CAN2Rx_Return_Message_Flag[i] = 1;
//Add code for "Arbitration Lost Interrupt-ALI"
}
i++;
if( ((Temp_CAN2Rx_IRQ>>7) & 0x00000001) == 0x00000001 )//BUS error interrupt
{
CAN2Rx_Return_Message_Flag[i] = 1;
//Add code for "Bus Error Interrupt-BEI"
}
i++;
if( ((Temp_CAN2Rx_IRQ>>8) & 0x00000001) == 0x00000001 )//ID ready interrupt
{
//Add code for "ID Ready Interrupt-IDI"
}
Print_Chars_to_Screen( LiuJiaju_AF_Rec_complete );
}
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