#include "can/can.h"
-/// Baud rates
-#if SJA1000_CLK==(24000000)
- /* Bus speed, Precaler, SJW, TSEG1, TSEG2
- * For SJW setting we assume 1% xtal accuracy
+inline void can_data_pins_dir_output(void)
+{
+ IO1DIR|=P1_SJA1000_DATA_PINS; // Port as output to send data
+}
+
+inline void can_data_pins_dir_input(void)
+{
+ IO1DIR&=~P1_SJA1000_DATA_PINS; // Sets port as input
+}
+
+inline void can_data_pins_set_value(uint8_t data)
+{
+ uint32_t val = __val2mfld(P1_SJA1000_DATA_PINS,data);
+ /*
+ * Clear only that pins, which need that, lower transition
+ * frequency and eliminate spikes
*/
- const long sja1000_freqs[3][5]=
- {{1000, 0x00, 0xC0, 0x08, 0x10}
- ,{250, 0x02, 0xC0, 0x0A, 0x30}
- ,{100, 0x07, 0xC0, 0x09, 0x30}};
- const int sja1000_freq_cnt=3;
-#endif
+ IO1CLR= val ^ P1_SJA1000_DATA_PINS;
+ IO1SET= val;
+}
+
+inline uint8_t can_data_pins_get_value(void)
+{
+ return __mfld2val(P1_SJA1000_DATA_PINS,IO1PIN);
+}
-struct can_baudparams_t canbaud;
void can_comm_init()
{
+ //CANMSG("Start can_comm_init\n");
+ IO1DIR |= P1_OUT_PORT_CS_PIN|P1_SJA1000_RST_PIN;
// Due to change in design there is CS_PIN connected with ALE_PIN and ALE_PIN connection to LPC is interrupted
// We don't use ALE_PIN
//IO0DIR|=P0_SJA1000_ALE_PIN|P0_SJA1000_CS_PIN|P0_SJA1000_RD_PIN|P0_SJA1000_WR_PIN;
SJA1000_INIT_DELAY();
}
-int can_write(uint8_t address,uint8_t* data)
+void can_write(uint8_t data, uint8_t address)
{
- IO1DIR|=0x00FF0000; // Port as output to send data
- IO1CLR=0x00FF0000; // Clear all data on port
+ can_data_pins_dir_output();
+ // Set memory address
+ can_data_pins_set_value(address);
// Init
SET_OUT_PIN(IO0,P0_SJA1000_RD_PIN); // Stays high on write
SET_OUT_PIN(IO0,P0_SJA1000_WR_PIN); // Stays high on address write
SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN); // Sets output buffers to third state
- SJA1000_DELAY();
+ //SJA1000_DELAY();
//SET_OUT_PIN(IO0,P0_SJA1000_ALE_PIN); // Start command
- // Set memory address
- IO1SET=__val2mfld(0x00FF0000,address); // Shift data to SJA pins and output them
- SJA1000_DELAY();
+ //SJA1000_DELAY();
//CLR_OUT_PIN(IO0,P0_SJA1000_ALE_PIN); // Makes address active
CLR_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
- SJA1000_DELAY();
+ //SJA1000_DELAY();
// Setting data
- CLR_OUT_PIN(IO0,P0_SJA1000_WR_PIN);
+ can_data_pins_set_value(data);
- IO1CLR=0x00FF0000;
- IO1SET=__val2mfld(0x00FF0000,*data);
- SJA1000_DELAY();
+ CLR_OUT_PIN(IO0,P0_SJA1000_WR_PIN);
+ CLR_OUT_PIN(IO0,P0_SJA1000_WR_PIN);
+ //SJA1000_DELAY();
SET_OUT_PIN(IO0,P0_SJA1000_WR_PIN); // Data should be accepted by now
SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
- SJA1000_DELAY();
- return 0;
+ //SJA1000_DELAY();
}
-int can_read(const uint8_t address,uint8_t* data)
+uint8_t can_read(const uint8_t address)
{
- IO1DIR|=0x00FF0000; // Port as output to set address
- IO1CLR=0x00FF0000; // Clear all data
+ uint8_t data;
+
+ can_data_pins_dir_output();
+ // Set memory address
+ can_data_pins_set_value(address);
// Init
SET_OUT_PIN(IO0,P0_SJA1000_WR_PIN); // Stays high on read
SET_OUT_PIN(IO0,P0_SJA1000_RD_PIN); // Stays high while entering address
SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
- SJA1000_DELAY();
+ //SJA1000_DELAY();
//SET_OUT_PIN(IO0,P0_SJA1000_ALE_PIN);
- // Request memory address
- IO1SET=__val2mfld(0x00FF0000,address);
- SJA1000_DELAY();
+ //SJA1000_DELAY();
//CLR_OUT_PIN(IO0,P0_SJA1000_ALE_PIN);
CLR_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
// Get data
- IO1DIR&=~0x00FF0000; // Sets port as input
+ can_data_pins_dir_input();
+ CLR_OUT_PIN(IO0,P0_SJA1000_RD_PIN);
CLR_OUT_PIN(IO0,P0_SJA1000_RD_PIN);
- SJA1000_DELAY();
- *data=__mfld2val(0x00FF0000,IO1PIN);
+ //SJA1000_DELAY();
+ data = can_data_pins_get_value();
SET_OUT_PIN(IO0,P0_SJA1000_RD_PIN);
SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
- SJA1000_DELAY();
- return 0;
+ //SJA1000_DELAY();
+
+ return data;
}
int can_init(){
uint8_t data=0,count=0;
do {
can_comm_init();
- can_read(SJAMOD,&data);
+ data = can_read(SJAMOD);
if (count++ > 50)
return -1;
} while (!(data&sjaMOD_RM));
data=sjaCDR_CLKOUT_DIV1|sjaCDR_CLK_OFF|sjaCDR_CBP|sjaCDR_PELICAN;
- can_write((uint8_t)SJACDR,(uint8_t*)&data);
+ can_write(data, SJACDR);
// Single acceptance filter, reset mode
data=sjaMOD_AFM|sjaMOD_RM;
- can_write((uint8_t)SJAMOD,(uint8_t*)&data);
+ can_write(data, SJAMOD);
// Enabling all interrupt sources
data=sjaENABLE_INTERRUPTS;
- can_write((uint8_t)SJAIER,(uint8_t*)&data);
+ can_write(data, SJAIER);
// Accept all messages
data=0xFF;
- can_write((uint8_t)SJAAMR0,(uint8_t*)&data);
- can_write((uint8_t)SJAAMR0+1,(uint8_t*)&data);
- can_write((uint8_t)SJAAMR0+2,(uint8_t*)&data);
- can_write((uint8_t)SJAAMR0+3,(uint8_t*)&data);
+ can_write(data, SJAAMR0);
+ can_write(data, SJAAMR0+1);
+ can_write(data, SJAAMR0+2);
+ can_write(data, SJAAMR0+3);
data=sjaCMR_CDO;
- can_write((uint8_t)SJACMR,(uint8_t*)&data);
+ can_write(data, SJACMR);
return 0;
}
projects / lincan.git / blobdiff