From b96de6bf60c6fa77ba5b26197374d2e63f165a8a Mon Sep 17 00:00:00 2001 From: peter Date: Wed, 22 Oct 2008 19:05:33 +0000 Subject: [PATCH] V0.8 --- drivers/AT91/can_AT91.c | 185 ++++++++++++++++++++++++++++++++++++++ drivers/AT91/timer_AT91.c | 119 ++++++++++++++++++++++++ 2 files changed, 304 insertions(+) create mode 100644 drivers/AT91/can_AT91.c create mode 100644 drivers/AT91/timer_AT91.c diff --git a/drivers/AT91/can_AT91.c b/drivers/AT91/can_AT91.c new file mode 100644 index 0000000..bc136a0 --- /dev/null +++ b/drivers/AT91/can_AT91.c @@ -0,0 +1,185 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN +AT91 Port: Peter CHRISTEN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +//#define DEBUG_WAR_CONSOLE_ON +//#define DEBUG_ERR_CONSOLE_ON + +#include "can_AT91.h" +#include "canfestival.h" + +void can_irq_handler(void); + +unsigned char canInit(unsigned int bitrate) +/****************************************************************************** +Initialize the hardware to receive CAN messages and start the timer for the +CANopen stack. +INPUT +OUTPUT +******************************************************************************/ +{ + unsigned char i; + AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0; + + // Enable CAN PIOs + AT91F_CAN_CfgPIO(); + // Enable CAN Clock + AT91F_CAN_CfgPMC(); + + // Enable CAN Transceiver + AT91F_PIOA_CfgPMC(); + + // Init CAN Interrupt Source Level + AT91F_AIC_ConfigureIt(AT91C_BASE_AIC, // CAN base address + AT91C_ID_CAN, // CAN ID + AT91C_AIC_PRIOR_HIGHEST, // Max priority + AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL, // Level sensitive + can_irq_handler); // C Handler + + AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_CAN); + + if (bitrate <= 500) + { + // CANopen 10..500 kbit with 16 tq, sample point is at 14 tq + // all values are added to 1 by hardware + // Resynchronisation jump width (SJW) = 1 tq + // Propagation Time Segment (PRS) = 5 tq + // Phase Segment 1 (PHS1) = 8 tq + // Phase Segment 2 (PHS2) = 2 tq + // Total = 16 tq + AT91F_CAN_CfgBaudrateReg(AT91C_BASE_CAN, + (AT91C_MASTER_CLOCK/16/1000/bitrate - 1) << 16 | 0x0471); + } + else + return 0; + + // Enable CAN and Wait for WakeUp Interrupt +// AT91F_CAN_EnableIt(AT91C_BASE_CAN, AT91C_CAN_WAKEUP); + AT91F_CAN_CfgModeReg(AT91C_BASE_CAN, AT91C_CAN_CANEN); + + // Reset all mailsboxes (MBs), filters are zero (accept all) by clear all MB + // Set the lower MBs as rx buffer + for (i = 0; i < NB_RX_MB; i++, mb_ptr++) + // Configure receive MBs as receive buffer, last as receive overwrite + AT91F_InitMailboxRegisters(mb_ptr, + ((i < (NB_RX_MB - 1)) ? AT91C_CAN_MOT_RX : AT91C_CAN_MOT_RXOVERWRITE) + | AT91C_CAN_PRIOR, // Mailbox Mode Reg + 0x00000000, // Mailbox Acceptance Mask Reg + 0x00000000, // Mailbox ID Reg + 0x00000000, // Mailbox Data Low Reg + 0x00000000, // Mailbox Data High Reg + 0x00000000); // Mailbox Control Reg + for ( ; i < NB_MB; i++, mb_ptr++) + // Configure transmit MBs + AT91F_InitMailboxRegisters(mb_ptr, + AT91C_CAN_MOT_TX + | AT91C_CAN_PRIOR, // Mailbox Mode Reg + 0x00000000, // Mailbox Acceptance Mask Reg + 0x00000000, // Mailbox ID Reg + 0x00000000, // Mailbox Data Low Reg + 0x00000000, // Mailbox Data High Reg + 0x00000000); // Mailbox Control Reg + // Enable Reception on all receive Mailboxes + AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, RX_INT_MSK); + // Enable all receive interrupts + AT91F_CAN_EnableIt(AT91C_BASE_CAN, RX_INT_MSK); + return 1; +} + +unsigned char canSend(CAN_PORT notused, Message *m) +/****************************************************************************** +The driver send a CAN message passed from the CANopen stack +INPUT CAN_PORT is not used (only 1 avaiable) + Message *m pointer to message to send +OUTPUT 1 if hardware -> CAN frame +******************************************************************************/ +{ + unsigned int mask; + AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0 + START_TX_MB; + + if ((AT91F_CAN_GetStatus(AT91C_BASE_CAN) & TX_INT_MSK) == 0) + return 0; // No free MB for sending + + for (mask = 1 << START_TX_MB; + (mask & TX_INT_MSK) && !(AT91F_CAN_GetStatus(AT91C_BASE_CAN) & mask); + mask <<= 1, mb_ptr++) // Search the first free MB + { + } + AT91F_CAN_CfgMessageIDReg(mb_ptr, m->cob_id, 0); // Set cob id + // Mailbox Control Register, set remote transmission request and data lenght code + AT91F_CAN_CfgMessageCtrlReg(mb_ptr, m->rtr ? AT91C_CAN_MRTR : 0 | (m->len << 16)); + AT91F_CAN_CfgMessageDataLow(mb_ptr, *(UNS32*)(&m->data[0]));// Mailbox Data Low Reg + AT91F_CAN_CfgMessageDataHigh(mb_ptr, *(UNS32*)(&m->data[4]));// Mailbox Data High Reg + // Start sending by writing the MB configuration register to transmit + AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, mask); + return 1; // successful +} + +unsigned char canReceive(Message *m) +/****************************************************************************** +The driver passes a received CAN message to the stack +INPUT Message *m pointer to received CAN message +OUTPUT 1 if a message received +******************************************************************************/ +{ + unsigned int mask; + AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0; + + if ((AT91F_CAN_GetStatus(AT91C_BASE_CAN) & RX_INT_MSK) == 0) + return 0; // Nothing received + + for (mask = 1; + (mask & RX_INT_MSK) && !(AT91F_CAN_GetStatus(AT91C_BASE_CAN) & mask); + mask <<= 1, mb_ptr++) // Search the first MB received + { + } + m->cob_id = AT91F_CAN_GetFamilyID(mb_ptr); + m->len = (AT91F_CAN_GetMessageStatus(mb_ptr) & AT91C_CAN_MDLC) >> 16; + m->rtr = (AT91F_CAN_GetMessageStatus(mb_ptr) & AT91C_CAN_MRTR) ? 1 : 0; + *(UNS32*)(&m->data[0]) = AT91F_CAN_GetMessageDataLow(mb_ptr); + *(UNS32*)(&m->data[4]) = AT91F_CAN_GetMessageDataHigh(mb_ptr); + // Enable Reception on Mailbox + AT91F_CAN_CfgMessageModeReg(mb_ptr, AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR); + AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, mask); + return 1; // message received +} + +/****************************************************************************** + + ******************************* CAN INTERRUPT *******************************/ + +void can_irq_handler(void) +/****************************************************************************** +CAN Interrupt +******************************************************************************/ +{ + volatile unsigned int status; + static Message m = Message_Initializer; // contain a CAN message + + status = AT91F_CAN_GetStatus(AT91C_BASE_CAN) & AT91F_CAN_GetInterruptMaskStatus(AT91C_BASE_CAN); + + if(status & RX_INT_MSK) + { // Rx Interrupt + if (canReceive(&m)) // a message received + canDispatch(&ObjDict_Data, &m); // process it + } +} diff --git a/drivers/AT91/timer_AT91.c b/drivers/AT91/timer_AT91.c new file mode 100644 index 0000000..09fce4a --- /dev/null +++ b/drivers/AT91/timer_AT91.c @@ -0,0 +1,119 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN +AT91 Port: Peter CHRISTEN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +// Includes for the Canfestival driver +#include "canfestival.h" +#include "timer.h" + +// Define the timer registers +#define AT91C_BASE_TC AT91C_BASE_TC2 +#define AT91C_ID_TC AT91C_ID_TC2 +#define TimerAlarm AT91C_BASE_TC2->TC_RC +#define TimerCounter AT91C_BASE_TC2->TC_CV + +#define TIMER_INTERRUPT_LEVEL 1 + +void timer_can_irq_handler(void); + + +/************************** Modul variables **********************************/ +// Store the last timer value to calculate the elapsed time +static TIMEVAL last_time_set = TIMEVAL_MAX; + +void initTimer(void) +/****************************************************************************** +Initializes the timer, turn on the interrupt and put the interrupt time to zero +INPUT void +OUTPUT void +******************************************************************************/ +{ + unsigned int dummy; + + // First, enable the clock of the TIMER + AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_TC); + // Disable the clock and the interrupts + AT91C_BASE_TC->TC_CCR = AT91C_TC_CLKDIS ; + AT91C_BASE_TC->TC_IDR = 0xFFFFFFFF ; + // Clear status bit + dummy = AT91C_BASE_TC->TC_SR; + // Suppress warning variable "dummy" was set but never used + dummy = dummy; + + // Set the Mode of the Timer Counter (MCK / 128) + AT91C_BASE_TC->TC_CMR = AT91C_TC_CLKS_TIMER_DIV4_CLOCK; + + // Enable the clock + AT91C_BASE_TC->TC_CCR = AT91C_TC_CLKEN ; + + // Open Timer interrupt + AT91F_AIC_ConfigureIt (AT91C_BASE_AIC, AT91C_ID_TC, TIMER_INTERRUPT_LEVEL, + AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE, timer_can_irq_handler); + + AT91C_BASE_TC->TC_IER = AT91C_TC_CPCS; // IRQ enable CPC + AT91F_AIC_EnableIt (AT91C_BASE_AIC, AT91C_ID_TC2); + + // Start Timer + AT91C_BASE_TC->TC_CCR = AT91C_TC_SWTRG ; +} + +void setTimer(TIMEVAL value) +/****************************************************************************** +Set the timer for the next alarm. +INPUT value TIMEVAL (unsigned long) +OUTPUT void +******************************************************************************/ +{ + TimerAlarm += value; // Add the desired time to timer interrupt time +} + +TIMEVAL getElapsedTime(void) +/****************************************************************************** +Return the elapsed time to tell the stack how much time is spent since last call. +INPUT void +OUTPUT value TIMEVAL (unsigned long) the elapsed time +******************************************************************************/ +{ + unsigned int timer = TimerCounter; // Copy the value of the running timer + // Calculate the time difference + return timer > last_time_set ? timer - last_time_set : last_time_set - timer; +} + + +//*---------------------------------------------------------------------------- +//* Function Name : timer_can_irq_handler +//* Object : C handler interrupt function by the interrupts +//* assembling routine +//* Output Parameters : calls TimeDispatch +//*---------------------------------------------------------------------------- +void timer_can_irq_handler(void) +{ + AT91PS_TC TC_pt = AT91C_BASE_TC; + unsigned int dummy; + // AcknowAT91B_LEDge interrupt status + dummy = TC_pt->TC_SR; + // Suppress warning variable "dummy" was set but never used + dummy = dummy; + last_time_set = TimerCounter; + TimeDispatch(); // Call the time handler of the stack to adapt the elapsed time +} + -- 2.39.2