can.c

NXP LPC系列AMR7的开发程序源码（LCD

/*****************************************************************************
 *  can.c:  CAN module API file for NXP LPC23xx/24xx Family Microprocessors
 *
 *   Copyright(C) 2006, NXP Semiconductor
 *   All rights reserved.
 *
 *   History
 *   2006.09.13  ver 1.00    Prelimnary version, first Release
 *
*****************************************************************************/
#include <nxp/iolpc2378.h>
#include "type.h"
#include "irq.h"
#include "can.h"

#include <intrinsics.h>

// Receive Queue: one queue for each CAN port
extern CAN_MSG MsgBuf_RX1, MsgBuf_RX2;
extern volatile DWORD CAN1RxDone, CAN2RxDone;

DWORD CANStatus;
DWORD CAN1RxCount = 0, CAN2RxCount = 0;
DWORD CAN1ErrCount = 0, CAN2ErrCount = 0;

/******************************************************************************
** Function name:   CAN_ISR_Rx1
**
** Descriptions:    CAN Rx1 interrupt handler
**
** parameters:      None
** Returned value:    None
**
******************************************************************************/
void CAN_ISR_Rx1( void )
{
  DWORD * pDest;

  // initialize destination pointer
  pDest = (DWORD *)&MsgBuf_RX1;
  *pDest = CAN1RFS;  // Frame

  pDest++;
  *pDest = CAN1RID; // ID   //change by gongjun

  pDest++;
  *pDest = CAN1RDA; // Data A

  pDest++;
  *pDest = CAN1RDB; // Data B
  
  CAN1RxDone = TRUE;
  CAN1CMR = 0x04; // release receive buffer
  return;
}

/******************************************************************************
** Function name:   CAN_ISR_Rx2
**
** Descriptions:    CAN Rx2 interrupt handler
**
** parameters:      None
** Returned value:    None
**
******************************************************************************/
void CAN_ISR_Rx2( void )
{
  DWORD *pDest;

  // initialize destination pointer
  pDest = (DWORD *)&MsgBuf_RX2;
  *pDest = CAN2RFS;  // Frame

  pDest++;
  *pDest = CAN2RID; // ID

  pDest++;
  *pDest = CAN2RDA; // Data A

  pDest++;
  *pDest = CAN2RDB; // Data B

  CAN2RxDone = TRUE;
  CAN2CMR = 0x04; // release receive buffer
  return;
}

/*****************************************************************************
** Function name:   CAN_Handler
**
** Descriptions:    CAN interrupt handler
**
** parameters:      None
** Returned value:    None
**
*****************************************************************************/
__irq __nested __arm void CAN_Handler (void)
{   
        __enable_interrupt(); /* handles nested interrupt */

  CANStatus = CANRXSR;
  if ( CANStatus & (1 << 8) )
  {
    CAN1RxCount++;
    CAN_ISR_Rx1();
  }
  if ( CANStatus & (1 << 9) )
  {
    CAN2RxCount++;
    CAN_ISR_Rx2();
  }
  if ( CAN1GSR & (1 << 6 ) )
  {
    /* The error count includes both TX and RX */
    CAN1ErrCount = (CAN1GSR >> 16 );
  }
  if ( CAN2GSR & (1 << 6 ) )
  {
    /* The error count includes both TX and RX */
    CAN2ErrCount = (CAN2GSR >> 16 );
  }

  VICADDRESS = 0; /* Acknowledge Interrupt */
}

/******************************************************************************
** Function name:   CAN_Init
**
** Descriptions:    Initialize CAN, install CAN interrupt handler
**
** parameters:      bitrate
** Returned value:    true or false, false if initialization failed.
**
******************************************************************************/
DWORD CAN_Init( DWORD can_btr )
{
  CAN1RxDone = CAN2RxDone = FALSE;

  PCONP |= (1 << 13) | (1 << 14); // Enable clock to the peripheral

    PINSEL0 &= ~0x00000F0F;
  PINSEL0 |= 0x0000A05; // port0.0~1, function 0x01, port0.4~5, function 0x10

  CAN1MOD = CAN2MOD = 1;  // Reset CAN
  CAN1IER = CAN2IER = 0;  // Disable Receive Interrupt
  CAN1GSR = CAN2GSR = 0;  // Reset error counter when CANxMOD is in reset

  CAN1BTR = CAN2BTR = can_btr;
  CAN1MOD = CAN2MOD = 0x0;  // CAN in normal operation mode

  // Install CAN interrupt handler
  install_irq( 23, (void *)CAN_Handler, HIGHEST_PRIORITY );
  CAN1IER = CAN2IER = 0x01;   // Enable receive interrupts
  return( TRUE );
}

/******************************************************************************
** Function name:   CAN_SetACCF_Lookup
**
** Descriptions:    Initialize CAN, install CAN interrupt handler
**
** parameters:      bitrate
** Returned value:    true or false, false if initialization failed.
**
******************************************************************************/
void CAN_SetACCF_Lookup( void )
{
  DWORD address = 0;
  DWORD i;
  DWORD ID_high, ID_low;

  // Set explicit standard Frame
  SFF_SA = address;
  for ( i = 0; i < ACCF_IDEN_NUM; i += 2 )
  {
    ID_low = (i << 29) | (EXP_STD_ID << 16);
    ID_high = ((i+1) << 13) | (EXP_STD_ID << 0);
    *((volatile DWORD *)(CAN_MEM_BASE + address)) = ID_low | ID_high;
    address += 4;
  }
    
  // Set group standard Frame
  SFF_GRP_SA = address;
    for ( i = 0; i < ACCF_IDEN_NUM; i += 2 )
  {
    ID_low = (i << 29) | (GRP_STD_ID << 16);
    ID_high = ((i+1) << 13) | (GRP_STD_ID << 0);
    *((volatile DWORD *)(CAN_MEM_BASE + address)) = ID_low | ID_high;
    address += 4;
  }

  // Set explicit extended Frame
  EFF_SA = address;
  for ( i = 0; i < ACCF_IDEN_NUM; i++  )
  {
    ID_low = (i << 29) | (EXP_EXT_ID << 0);
    *((volatile DWORD *)(CAN_MEM_BASE + address)) = ID_low;
    address += 4;
  }

  // Set group extended Frame
  EFF_GRP_SA = address;
    for ( i = 0; i < ACCF_IDEN_NUM; i++  )
  {
    ID_low = (i << 29) | (GRP_EXT_ID << 0);
    *((volatile DWORD *)(CAN_MEM_BASE + address)) = ID_low;
    address += 4;
  }

  // Set End of Table
  ENDOFTABLE = address;
  return;
}

/******************************************************************************
** Function name:   CAN_SetACCF
**
** Descriptions:    Set acceptance filter and SRAM associated with  
**
** parameters:      ACMF mode
** Returned value:    None
**
**
******************************************************************************/
void CAN_SetACCF( DWORD ACCFMode )
{
  switch ( ACCFMode )
  {
    case ACCF_OFF:
    AFMR = ACCFMode;
    CAN1MOD = CAN2MOD = 1;  // Reset CAN
    CAN1IER = CAN2IER = 0;  // Disable Receive Interrupt
    CAN1GSR = CAN2GSR = 0;  // Reset error counter when CANxMOD is in reset
    break;

    case ACCF_BYPASS:
    AFMR = ACCFMode;
    break;

    case ACCF_ON:
    case ACCF_FULLCAN:
    AFMR = ACCF_OFF;
    CAN_SetACCF_Lookup();
    AFMR = ACCFMode;
    break;

    default:
    break;
  }
  return;
}

/******************************************************************************
** Function name:   CAN1_SendMessage
**
** Descriptions:    Send message block to CAN1  
**
** parameters:      pointer to the CAN message
** Returned value:    true or false, if message buffer is available,
**            message can be sent successfully, return TRUE,
**            otherwise, return FALSE.
**
******************************************************************************/
DWORD CAN1_SendMessage( CAN_MSG *pTxBuf )
{
    DWORD CANStatus;

  CANStatus = CAN1SR;
  if ( CANStatus & 0x00000004 )
  {
    CAN1TFI1 = pTxBuf->Frame & 0xC00F0000;
    CAN1TID1 = pTxBuf->MsgID;
    CAN1TDA1 = pTxBuf->DataA;
    CAN1TDB1 = pTxBuf->DataB;
    CAN1CMR = 0x21;
    return ( TRUE );
  }
  else if ( CANStatus & 0x00000400 )
  {
    CAN1TFI2 = pTxBuf->Frame & 0xC00F0000;
    CAN1TID2 = pTxBuf->MsgID;
    CAN1TDA2 = pTxBuf->DataA;
    CAN1TDB2 = pTxBuf->DataB;
    CAN1CMR = 0x41;
    return ( TRUE );
  }
  else if ( CANStatus & 0x00040000 )
  { 
    CAN1TFI3 = pTxBuf->Frame & 0xC00F0000;
    CAN1TID3 = pTxBuf->MsgID;
    CAN1TDA3 = pTxBuf->DataA;
    CAN1TDB3 = pTxBuf->DataB;
    CAN1CMR = 0x81;
    return ( TRUE );
  }
  else
  {
    return ( FALSE );
  }
}

/******************************************************************************
**                            End Of File
******************************************************************************/