#include "can/lpc17xx_can.h"
static void CAN_configPin();
-static void CAN_setBusTiming(uint32_t baudrate);
+static void CAN_setBusTiming(struct canchip_t *chip);
extern struct canhardware_t *hardware_p;
-extern volatile uint32_t cnt;
//---------------------------------------------------------------------------------
//---------------------------------------------------------------------------------
+
+static inline void can_write_register(struct canchip_t *chip, uint32_t data, uint32_t reg_offs){
+
+ uint32_t address = chip->chip_base_addr + reg_offs;
+ (*(volatile uint32_t*)(address)) = data;
+
+}
+
+static inline uint32_t can_read_register(struct canchip_t *chip, uint32_t reg_offs){
+
+ uint32_t address = chip->chip_base_addr + reg_offs;
+ return (*(volatile uint32_t*)(address));
+
+}
+
+//---------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------
+
+
// interrupt handler
// for transmitting - irq when one message was transmitted (for check if another message is pending in can msg queue)
// for receiving - irq when message was received and is available in Receive buffer
uint32_t i;
- i = CAN1ICR;
-
+ struct canchip_t *chip;
+ chip = hardware_p->candevice[0]->chip[0];
- if(i & (CAN_ICR_TI1 | CAN_ICR_RI)){
+ i = can_read_register(chip, CAN_ICR_o);
- struct canchip_t *chip;
- chip = hardware_p->candevice[0]->chip[0];
-
+ if(i & (CAN_ICR_TI1 | CAN_ICR_RI))
lpc17xx_irq_handler(0, chip);
- }
- if(i & CAN_ICR_DOI){
- printf("Data overrun\n");
- CAN1CMR = CAN_CMR_CDO;
- }
-
+ if(i & CAN_ICR_DOI)
+ can_write_register(chip, CAN_CMR_CDO, CAN_CMR_o);
}
candev->chip[chipnr]->flags|= CHIP_IRQ_CUSTOM;
+ //debug
+ candev->chip[chipnr]->chip_base_addr = CAN1_REGS_BASE;
+
candev->chip[chipnr]->chip_data=(void *)malloc(sizeof(struct can_lmc1_chip_data));
if (candev->chip[chipnr]->chip_data==NULL)
return -ENOMEM;
int can_lmc1_init_obj_data(struct canchip_t *chip, int objnr){
- //chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
-
return 0;
}
void can_lmc1_write_register(unsigned data, unsigned long address){
printf("UNSUPPORTED NOW\n");
-
}
unsigned can_lmc1_read_register(unsigned long address){
printf("UNSUPPORTED NOW\n");
+ return 0;
}
int lpc17xx_chip_config(struct canchip_t *chip){
- CAN_init( (uint32_t) chip->baudrate);
+ CAN_init(chip);
return 0;
}
struct canmsg_t *msg)
{
- CAN_send(msg);
+ CAN_send(chip, msg);
return 0;
}
{
// write transmission request
- CAN1CMR = (CAN_CMR_TR | CAN_CMR_STB1);
+ can_write_register(chip, (CAN_CMR_TR | CAN_CMR_STB1), CAN_CMR_o);
return 0;
}
while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
can_msgobj_clear_fl(obj,TX_REQUEST);
-
- if (CAN1SR & CAN_SR_TBS1){
+ if (can_read_register(chip, CAN_SR_o) & CAN_SR_TBS1){
obj->tx_retry_cnt=0;
lpc17xx_irq_write_handler(chip, obj);
}
struct msgobj_t *obj;
obj = chip->msgobj[0];
-
- if(CAN1SR & CAN_SR_RBS) {
+ if(can_read_register(chip, CAN_SR_o) & CAN_SR_RBS) {
lpc17xx_read(chip,obj);
obj->ret = 0;
}
obj->ret=0;
can_msgobj_clear_fl(obj,TX_REQUEST);
- if (CAN1SR & CAN_SR_TBS1){
+ if (can_read_register(chip, CAN_SR_o) & CAN_SR_TBS1){
obj->tx_retry_cnt=0;
lpc17xx_irq_write_handler(chip, obj);
}
void lpc17xx_read(struct canchip_t *chip, struct msgobj_t *obj) {
- CAN_recv(&obj->rx_msg);
+ CAN_recv(chip, &obj->rx_msg);
// fill CAN message timestamp
can_filltimestamp(&obj->rx_msg.timestamp);
canque_filter_msg2edges(obj->qends, &obj->rx_msg);
// release Receive buffer
- CAN1CMR = CAN_CMR_RRB;
+ can_write_register(chip, CAN_CMR_RRB, CAN_CMR_o);
}
int lpc17xx_fill_chipspecops(struct canchip_t *chip){
chip->max_objects=1;
- chip->baudrate=1000000;
-
+
lpc17xx_register(chip->chipspecops);
+
return 0;
}
uint8_t pinmode_od0_val = 0;
- pinsel0 = PINSEL0;
+ pinsel0 = PINCON->PINSEL0;
pinsel0 &= ~CAN1_RX_MASK;
pinsel0 &= ~CAN1_TX_MASK;
pinsel0 |= __val2mfld(CAN1_RX_MASK, pinsel0_val);
pinsel0 |= __val2mfld(CAN1_TX_MASK, pinsel0_val);
- PINSEL0 = pinsel0;
+ PINCON->PINSEL0 = pinsel0;
- pinmode0 = PINMODE0;
+ pinmode0 = PINCON->PINMODE0;
pinmode0 &= ~CAN1_RX_MASK;
pinmode0 &= ~CAN1_TX_MASK;
pinmode0 |= __val2mfld(CAN1_RX_MASK, pinmode0_val);
pinmode0 |= __val2mfld(CAN1_TX_MASK, pinmode0_val);
- PINMODE0 = pinmode0;
+ PINCON->PINMODE0 = pinmode0;
- pinmode_od0 = PINMODE_OD0;
+ pinmode_od0 = PINCON->PINMODE_OD0;
if (pinmode_od0_val){
pinmode_od0 |= CAN1_RX_BIT;
pinmode_od0 |= CAN1_TX_BIT;
pinmode_od0 &= ~CAN1_RX_BIT;
pinmode_od0 &= ~CAN1_TX_BIT;
}
- PINMODE_OD0 = pinmode_od0;
+ PINCON->PINMODE_OD0 = pinmode_od0;
}
-void CAN_recv(canmsg_t* msg){
-
-/*
- msg->id = ++cnt;
- msg->data[0] = 0xAA;
- msg->data[1] = 0xBB;
- msg->length = 2;
-*/
-
+void CAN_recv(struct canchip_t *chip, canmsg_t* msg){
- uint32_t data;
+ volatile uint32_t data;
uint32_t i;
- // only for debug
- cnt++;
-
// read data lenght
- msg->length = ((CAN1RFS)>>16) & 0xF;
+ msg->length = (can_read_register(chip, CAN_RFS_o)>>16) & 0xF;
// read identifier
- msg->id = CAN1RID;
+ msg->id = can_read_register(chip, CAN_RID_o);
// EXT frame
- if(CAN1RFS & CAN_RFS_EXT)
+ if(can_read_register(chip, CAN_RFS_o) & CAN_RFS_EXT)
msg->flags |= MSG_EXT;
else
msg->flags &= ~MSG_EXT;
// RTR frame
- if(CAN1RFS & CAN_RFS_RTR)
+ if(can_read_register(chip, CAN_RFS_o) & CAN_RFS_RTR)
msg->flags |= MSG_RTR;
else
msg->flags &= ~MSG_RTR;
- // read data
- data = CAN1RDA;
+ // read data
+ data = can_read_register(chip, CAN_RDA_o);
for(i=0; i<4; i++)
msg->data[i] = (data>>(i*8)) & 0xFF;
- data = CAN1RDB;
+ data = can_read_register(chip, CAN_RDB_o);
for(i=4; i<8; i++)
msg->data[i] = (data>>((i-4)*8)) & 0xFF;
}
-void CAN_send(canmsg_t* msg){
+void CAN_send(struct canchip_t *chip, canmsg_t* msg){
- uint32_t data;
+ volatile uint32_t data;
+ volatile uint32_t can_tfi1;
uint32_t i;
// check status of TB1
- while (!(CAN1SR & CAN_SR_TBS1)){}
-
- CAN1TFI1 &= ~0x000F0000;
- CAN1TFI1 |= (msg->length)<<16;
+ while (!(can_read_register(chip, CAN_SR_o) & CAN_SR_TBS1)){}
+
+ can_tfi1 = can_read_register(chip, CAN_TFI1_o);
+
+ can_tfi1 &= ~0x000F0000;
+ can_tfi1 |= (msg->length)<<16;
// EXT frame
if(msg->flags & MSG_EXT)
- CAN1TFI1 |= CAN_TFI1_EXT;
+ can_tfi1 |= CAN_TFI1_EXT;
else
- CAN1TFI1 &= ~CAN_TFI1_EXT;
+ can_tfi1 &= ~CAN_TFI1_EXT;
// RTR frame
if(msg->flags & MSG_RTR)
- CAN1TFI1 |= CAN_TFI1_RTR;
+ can_tfi1 |= CAN_TFI1_RTR;
else
- CAN1TFI1 &= ~CAN_TFI1_RTR;
+ can_tfi1 &= ~CAN_TFI1_RTR;
+
+ can_write_register(chip, can_tfi1, CAN_TFI1_o);
+
// write CAN ID
- CAN1TID1 = msg->id;
+ can_write_register(chip, msg->id, CAN_TID1_o);
- // write first 4 data bytes
+ // write first 4 data bytes
data=0;
for(i=0; i<4; i++)
data |= (msg->data[i])<<(i*8);
- CAN1TDA1 = data;
+ can_write_register(chip, data, CAN_TDA1_o);
// write second 4 data bytes
-
data=0;
for(i=4; i<8; i++)
data |= (msg->data[i])<<((i-4)*8);
- CAN1TDB1 = data;
-
- // write transmission request
- //CAN1CMR = 0x21;
+
+ can_write_register(chip, data, CAN_TDB1_o);
}
-void CAN_setBusTiming(uint32_t baudrate){
+void CAN_setBusTiming(struct canchip_t *chip){
uint32_t PCLK_CAN;
uint32_t res;
SJW = 3;
// get clock divide for CAN1
- div = __mfld2val(PCLK_CAN1_MASK, PCLKSEL0);
+ div = __mfld2val(PCLK_CAN1_MASK, SC->PCLKSEL0);
switch(div){
case 0:
div = 4;
PCLK_CAN = system_frequency / div;
- res = PCLK_CAN / baudrate;
+ res = PCLK_CAN / (chip->baudrate);
// calculation of tq_numb - number of time quantum (must be in <8,25>)
}
}
- CAN1BTR = ((SAM<<23)|(TSEG2<<20)|(TSEG1<<16)|(SJW<<14)|(BRP<<0));
+ can_write_register(chip, ((SAM<<23)|(TSEG2<<20)|(TSEG1<<16)|(SJW<<14)|(BRP<<0)), CAN_BTR_o);
}
-void CAN_init(uint32_t baudrate)
-{
+void CAN_init(struct canchip_t *chip){
+
uint32_t tmp;
uint32_t pclksel0;
uint32_t val;
uint32_t i;
- printf("CAN INIT, baudrate: %d\n", baudrate);
+ printf("CAN INIT, baudrate: %d\n", chip->baudrate);
// configure CAN1 pins
CAN_configPin();
// turn on power and clock for CAN1
- PCONP |= PCCAN1;
+ SC->PCONP |= PCCAN1;
// set clock divide for CAN1
val = 0x00; // 00 PCLK_peripheral = CCLK/4
- pclksel0 = PCLKSEL0;
+ pclksel0 = SC->PCLKSEL0;
pclksel0 &= ~PCLK_CAN1_MASK;
pclksel0 &= ~PCLK_CAN2_MASK;
pclksel0 &= ~PCLK_ACF_MASK;
pclksel0 |= __val2mfld(PCLK_CAN1_MASK, val);
pclksel0 |= __val2mfld(PCLK_CAN2_MASK, val);
pclksel0 |= __val2mfld(PCLK_ACF_MASK, val);
- PCLKSEL0 = pclksel0;
+ SC->PCLKSEL0 = pclksel0;
// enter reset mode
- CAN1MOD = 1;
+ can_write_register(chip, 1, CAN_MOD_o);
// disable all CAN interrupts
- CAN1IER = 0;
+ can_write_register(chip, 0, CAN_IER_o);
// reset value of Global Status Register (global controller status and error counters)
- CAN1GSR = 0x3C;
+ can_write_register(chip, 0x3C, CAN_GSR_o);
// request command to release Rx, Tx buffer and clear data overrun
- CAN1CMR = (CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO);
+ can_write_register(chip, (CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO), CAN_CMR_o);
// read to clear interrupt pending in Interrupt Capture Register
- tmp = CAN1ICR;
+ tmp = can_read_register(chip, CAN_ICR_o);
// set bus timing
- CAN_setBusTiming(baudrate);
+ CAN_setBusTiming(chip);
// return to normal operating
- CAN1MOD = 0;
+ can_write_register(chip, 0, CAN_MOD_o);
+
//--------------------------
CANAF_EFF_GRP_sa = 0x00;
CANAF_ENDofTable = 0x00;
-
// Acceptance Filter Bypass Mode - all messages accepted
CANAF_AFMR = 0x02;
//--------------------------
+
// enable interrupt after transmit
- CAN1IER |= CAN_IER_TIE1;
// enable receive interrupt
- CAN1IER |= CAN_IER_RIE;
// enable data overrun interrupt
- CAN1IER |= CAN_IER_DOIE;
+ can_write_register(chip, (CAN_IER_TIE1 | CAN_IER_RIE | CAN_IER_DOIE), CAN_IER_o);
// enable CAN interrupt
NVIC_EnableIRQ(CAN_IRQn);
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