uint32_t CAN::getMailbox(CANListener* listener, uint32_t src,
uint32_t srcMask) {
ASSERT(_tableIdx<32);
_table[_tableIdx].listener = listener;
_table[_tableIdx].src = src;
_table[_tableIdx].mode = RECV;
_table[_tableIdx].srcMask = srcMask;
_table[_tableIdx].msgObject = (tCANMsgObject*) Sys::malloc(
sizeof(tCANMsgObject));
_table[_tableIdx].msgObject->pucMsgData = (unsigned char*) Sys::malloc(8);
_table[_tableIdx].msgObject->ulMsgID = src;
_table[_tableIdx].msgObject->ulMsgIDMask = srcMask;
_table[_tableIdx].msgObject->ulMsgLen = 8;
_table[_tableIdx].msgObject->ulFlags = MSG_OBJ_RX_INT_ENABLE
| MSG_OBJ_USE_ID_FILTER;
CANMessageSet(_CAN_BASE, _tableIdx + 1, _table[_tableIdx].msgObject,
MSG_OBJ_TYPE_RX);
// CANIntEnable(_CAN_BASE, _tableIdx + 1);
_tableIdx++;
_table[_tableIdx].msgObject = (tCANMsgObject*) Sys::malloc(
sizeof(tCANMsgObject));
_table[_tableIdx].listener = listener;
_table[_tableIdx].mode = SEND;
_tableIdx++;
return _tableIdx - 2;
}
void platform_can_send( unsigned id, u32 canid, u8 idtype, u8 len, const u8 *data )
{
tCANMsgObject msg_tx;
const char *s = ( char * )data;
char *d;
// Wait for outgoing messages to clear
while( can_tx_flag == 1 );
msg_tx.ulFlags = MSG_OBJ_TX_INT_ENABLE;
if( idtype == ELUA_CAN_ID_EXT )
msg_tx.ulFlags |= MSG_OBJ_EXTENDED_ID;
msg_tx.ulMsgIDMask = 0;
msg_tx.ulMsgID = canid;
msg_tx.ulMsgLen = len;
msg_tx.pucMsgData = ( u8 * )can_tx_buf;
d = can_tx_buf;
DUFF_DEVICE_8( len, *d++ = *s++ );
can_tx_flag = 1;
CANMessageSet(CAN0_BASE, 2, &msg_tx, MSG_OBJ_TYPE_TX);
}
int getFormMachine(char* id)
{
int value = -999; // error code
int rc = 0;
g_MsgObjectRx.ulMsgID = (0x400);
g_MsgObjectRx.ulMsgIDMask = 0x7f8;
g_MsgObjectRx.ulFlags = MSG_OBJ_USE_ID_FILTER;
g_MsgObjectRx.ulMsgLen = snprintf(ucBufferIn, BUFFER_LEN, "%s", id, value);
g_MsgObjectRx.pucMsgData = ucBufferIn;
CANMessageSet(CAN0_BASE, 1, &g_MsgObjectRx, MSG_OBJ_TYPE_RX);
printf("getFormMachine Message: %s\n", g_MsgObjectRx.pucMsgData);
while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT)) & 1 == 0)
{
}
CANMessageGet(CAN0_BASE, 1, &g_MsgObjectRx, true);
value = atoi(strstr(g_MsgObjectRx.pucMsgData) + 1);
printf("getFromMachine GetMessage: %s\n", g_MsgObjectRx.pucMsgData);
return rc;
return value;
}
void BCAN_init(unsigned long bitRate)
{
tCANMsgObject sCANMessage;
//unsigned char ucMsgData[8];
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CAN_RX_FIFOFifo_Init();
OS_InitSemaphore(&CANmessagesReceived,0);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, 250000);
//CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS); //these are enabled later with a seperate call
//IntEnable(INT_CAN0); //since the filesystem can't seem to initialize while the ECU is shooting out CAN messages
//CANEnable(CAN0_BASE);
sCANMessage.ulMsgID = 0; // CAN msg ID - 0 for any
sCANMessage.ulMsgIDMask = 0; // mask is 0 for any ID
sCANMessage.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ulMsgLen = 8; // allow up to 8 bytes
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
}
//*******************************************************************************
// app_can_SetupMultipleMsg
//*******************************************************************************
void app_can_SendMultipleMsg(const uint64_t* pui64_msg, const uint16_t msg_length) //msg_length is in Byte (max. is 256 Byte)
{
const uint8_t CAN8BytePacketsNo = msg_length/8; // CAN 8-byte Packets number to transmit
uint8_t CANByteOnLastPacket = msg_length%8; // Byte to transmit with last CAN frame (last frame could have length = 8 Bytes)
uint8_t notExistShortCANPacket;
uint8_t MsgVectorLastIndex;
if(CANByteOnLastPacket) { // If you need to transmit a CAN frame with n < 8 bytes of data
notExistShortCANPacket = 0; // exist a CAN frame which data length is < 8 bytes
MsgVectorLastIndex = CAN8BytePacketsNo; // thus last index of the CAN messages vector is "CAN8BytePacketsNo".
} // Note that ther's some 8 bytes packets and further (shorter) packet
// if all CAN frame which data length is < 8 bytes
else { // If all CAN frame are 8 Bytes lenght
notExistShortCANPacket = 1; // not exist a CAN frame which data length is < 8 bytes,
MsgVectorLastIndex = CAN8BytePacketsNo - 1; // thus last index of the CAN messages vector is "CAN8BytePacketsNo - 1".
}
tCANMsgObject sCANMsgObject[CAN8BytePacketsNo]; // Declaration of "msg_lenght" CANMSGObject structure
if(CANByteOnLastPacket==0) CANByteOnLastPacket=8; // Impossible to have CANByteOnLastPacket=0. If it's =0, means
// the last packet is an 8-bytes packet.
// It occurs when msg_length is an integer multiple of 8: (8,16,24,...).
/*____________________initialize and set all but the last CAN Message Objects_________________________*/
volatile uint8_t i;
for(i=0; i<=(CAN8BytePacketsNo - notExistShortCANPacket - 1); i++) {
sCANMsgObject[i].ui32MsgID = CANMSG_ID;
sCANMsgObject[i].ui32MsgIDMask = 0;
sCANMsgObject[i].ui32Flags = MSG_OBJ_TX_INT_ENABLE | MSG_OBJ_FIFO; // frame put into CAN message FIFO queue.
sCANMsgObject[i].ui32MsgLen = 8; // 8 byte each frame
sCANMsgObject[i].pui8MsgData = (uint8_t*) &pui64_msg[i];
CANMessageSet(CAN0_BASE,i+1,&sCANMsgObject[i], MSG_OBJ_TYPE_TX); // ObjId is in the range [1-32], not [0-31].
}
/*________________________initialize and set the last CAN Message Objects____________________________*/
// if exist a CAN frame which data length is < 8 bytes, then vector index of last CAN frame is "CAN8BytePacketsNo + 1"
// if NOT exist a CAN frame which data length is < 8 bytes, then vector index of last CAN frame is "CAN8BytePacketsNo"
sCANMsgObject[MsgVectorLastIndex].ui32MsgID = CANMSG_ID;
sCANMsgObject[MsgVectorLastIndex].ui32MsgIDMask = 0;
sCANMsgObject[MsgVectorLastIndex].ui32Flags = MSG_OBJ_TX_INT_ENABLE; // On last frame must no exist flag MSG_OBJ_FIFO
sCANMsgObject[MsgVectorLastIndex].ui32MsgLen = CANByteOnLastPacket;
sCANMsgObject[MsgVectorLastIndex].pui8MsgData = (uint8_t*) &pui64_msg[MsgVectorLastIndex];
CANMessageSet(CAN0_BASE,MsgVectorLastIndex+1,&sCANMsgObject[MsgVectorLastIndex], MSG_OBJ_TYPE_TX); // ObjId is in the range [1-32], not [0-31].
}
void setup(){
Serial.begin(9600);
Serial.println("DEBUG1");
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
SysCtlPeripheralEnable(GPIO_PORTE_BASE);
GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
GPIOPinConfigure(GPIO_PE4_CAN0RX);
GPIOPinConfigure(GPIO_PE5_CAN0TX);
tCANMsgObject sCANMessage;
uint8_t ucMsgData[8];
Serial.println("DEBUG2");
uint8_t pui8BufferIn[8];
uint8_t pui8BufferOut[8];
Serial.println("DEBUG3");
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
CANEnable(CAN0_BASE);
sCANMessage.ui32MsgID = 0; // CAN msg ID - 0 for any
sCANMessage.ui32MsgIDMask = 0; // mask is 0 for any ID
sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ui32MsgLen = 8; // allow up to 8 bytes
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object 1 for receiving messages (this is not the same as
// the CAN ID which can be any value in this example).
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
Serial.println("DEBUG5");
while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT) & 1) == 0)
{
//
// Read the message out of the message object.
//
CANMessageGet(CAN0_BASE, 1, &sCANMessage, true);
Serial.println(sCANMessage.ui32MsgLen);
}
Serial.println(sCANMessage.ui32MsgLen);
Serial.println(sCANMessage.ui32MsgID);
}
//Set up a message object. Can be a TX object or an RX object.
void static CAN0_Setup_Message_Object( unsigned long MessageID, \
unsigned long MessageFlags, \
unsigned long MessageLength, \
unsigned char * MessageData, \
unsigned long ObjectID, \
tMsgObjType eMsgType){
tCANMsgObject xTempObject;
xTempObject.ulMsgID = MessageID; // 11 or 29 bit ID
xTempObject.ulMsgLen = MessageLength;
xTempObject.pucMsgData = MessageData;
xTempObject.ulFlags = MessageFlags;
CANMessageSet(CAN0_BASE, ObjectID, &xTempObject, eMsgType);
}
void NetworkMsgInit(void)
{
g_MsgRx.ulMsgID = MSG_ID_RX;
g_MsgRx.ulMsgIDMask = 0;
g_MsgRx.ulFlags = MSG_OBJ_RX_INT_ENABLE;
g_MsgRx.ulMsgLen = 4;
g_MsgRx.pucMsgData = (unsigned char *)&g_ulRxData;
CANMessageSet(CAN0_BASE, MSG_NUM_RX, &g_MsgRx, MSG_OBJ_TYPE_RX);
g_MsgTx.ulMsgID = MSG_ID_TX;
g_MsgTx.ulMsgIDMask = 0;
g_MsgTx.ulFlags = 0;
g_MsgTx.ulMsgLen = 4;
}
//*****************************************************************************
//
// This function handles connection with the other CAN device and also
// handles incoming commands.
//
// /return None.
//
//*****************************************************************************
void
CANMain(void)
{
unsigned char pucData[8];
//
// The data has been received.
//
if((g_ulFlags & FLAG_DATA_RECV) == 0)
{
return;
}
//
// Read the data from the message object.
//
g_MsgObjectRx.pucMsgData = pucData;
g_MsgObjectRx.ulMsgLen = 8;
CANMessageGet(CAN0_BASE, MSGOBJ_NUM_DATA_RX, &g_MsgObjectRx, 1);
//
// Indicate that the data has been read.
//
g_ulFlags &= (~FLAG_DATA_RECV);
switch(g_MsgObjectRx.pucMsgData[0])
{
case CMD_GET_VERSION:
{
//
// Send the Version.
//
g_ulFlags |= FLAG_DATA_TX_PEND;
g_MsgObjectTx.pucMsgData = (unsigned char *)&g_ulVersion;
g_MsgObjectTx.ulMsgLen = 4;
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_DATA_TX, &g_MsgObjectTx,
MSG_OBJ_TYPE_TX);
}
}
//
// Clear the flag.
//
g_ulFlags &= ~(FLAG_DATA_RECV);
}
//*****************************************************************************
//
// This functions sends out a button update message.
//
//*****************************************************************************
void SendMessage(unsigned char *data,volatile unsigned long count)
{
tx_msg_object.ulFlags = MSG_OBJ_EXTENDED_ID;
tx_msg_object.ulMsgID = 0x10;
tx_msg_object.ulMsgIDMask = 0;
tx_msg_object.ulMsgLen = 8;
tx_msg_object.pucMsgData = data; //allocate memory for TX buffer
tx_msg_object.pucMsgData[0] = 1 + count;
tx_msg_object.pucMsgData[1] = 2 + count;
tx_msg_object.pucMsgData[2] = 3 + count;
tx_msg_object.pucMsgData[3] = 4 + count;
tx_msg_object.pucMsgData[4] = 5 + count;
tx_msg_object.pucMsgData[5] = 6 + count;
tx_msg_object.pucMsgData[6] = 7 + count;
tx_msg_object.pucMsgData[7] = 8 + count;
CANMessageSet(CAN0_BASE, 1, &tx_msg_object, MSG_OBJ_TYPE_TX);
}
//*****************************************************************************
//
// This functions sends out a button update message.
//
//*****************************************************************************
void
SendButtonMsg(unsigned char ucEvent, unsigned char ucButton)
{
//
// Set the flag to indicate that a button status is being sent.
//
g_ulFlags |= FLAG_BUTTON_PEND;
//
// Send the button status.
//
g_MsgObjectButton.pucMsgData[0] = ucEvent;
g_MsgObjectButton.pucMsgData[1] = ucButton;
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_BUTTON, &g_MsgObjectButton,
MSG_OBJ_TYPE_TX);
}
//*****************************************************************************
//
// This function handles incoming commands.
//
//*****************************************************************************
void
ProcessCmd(void)
{
unsigned char pucData[8];
//
// If no data has been received, then there is nothing to do.
//
if((g_ulFlags & FLAG_DATA_RECV) == 0)
{
return;
}
//
// Receive the command.
//
g_MsgObjectRx.pucMsgData = pucData;
g_MsgObjectRx.ulMsgLen = 8;
CANMessageGet(CAN0_BASE, MSGOBJ_NUM_DATA_RX, &g_MsgObjectRx, 1);
//
// Clear the flag to indicate that the data has been read.
//
g_ulFlags &= (~FLAG_DATA_RECV);
switch(g_MsgObjectRx.pucMsgData[0])
{
//
// This is a request for the firmware version for this application.
//
case CMD_GET_VERSION:
{
//
// Send the Version.
//
g_ulFlags |= FLAG_DATA_TX_PEND;
g_MsgObjectTx.pucMsgData = (unsigned char *)&g_ulVersion;
g_MsgObjectTx.ulMsgLen = 4;
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_DATA_TX,
&g_MsgObjectTx, MSG_OBJ_TYPE_TX);
break;
}
}
}
//*****************************************************************************
//
// This function sends a message to retrieve the firmware version from the
// target board.
//
//*****************************************************************************
int
CANGetTargetVersion(unsigned long *pulVersion)
{
static unsigned char ucVerCmd = CMD_GET_VERSION;
//
// If there was already a previous message being transmitted then just
// return.
//
if(g_ulFlags & FLAG_DATA_TX_PEND)
{
return(-1);
}
//
// A transmit request is about to be pending.
//
g_ulFlags |= FLAG_DATA_TX_PEND;
//
// Send the button update request.
//
g_MsgObjectTx.pucMsgData = &ucVerCmd;
g_MsgObjectTx.ulMsgLen = 1;
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_DATA_TX, &g_MsgObjectTx,
MSG_OBJ_TYPE_TX);
//
// Wait for some data back from the target.
//
while ((g_ulFlags & FLAG_DATA_RECV) == 0)
{
}
//
// Read the data from the message object.
//
g_MsgObjectRx.pucMsgData = (unsigned char *)pulVersion;
g_MsgObjectRx.ulMsgLen = 4;
CANMessageGet(CAN0_BASE, MSGOBJ_NUM_DATA_RX, &g_MsgObjectRx, 1);
return(0);
}
int sendToMachine(char* id, int value)
{
int rc = 0;
g_MsgObjectRx.ulMsgID = (0x400);
g_MsgObjectRx.ulMsgIDMask = 0x7f8;
g_MsgObjectRx.ulFlags = MSG_OBJ_USE_ID_FILTER;
g_MsgObjectRx.ulMsgLen = snprintf(ucBufferIn, BUFFER_LEN, "%s:%d", id, value);
g_MsgObjectRx.pucMsgData = ucBufferIn;
CANMessageSet(CAN0_BASE, 1, &g_MsgObjectRx, MSG_OBJ_TYPE_RX);
printf("setToMachine SetMessage: %s\n", g_MsgObjectRx.pucMsgData);
while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT)) & 1 == 0)
{}
CANMessageGet(CAN0_BASE, 1, &g_MsgObjectRx, true);
printf("setToMachine Message: %s\n", g_MsgObjectRx.pucMsgData);
return rc;
}
static int can_init(const can_cfg_t *cfg)
{
tCANMsgObject MsgObjectRx;
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
CANInit(CAN0_BASE);
//PLLclock is 400M, and can module clock is 8M(400/50)
if (CANBitRateSet(CAN0_BASE, 8000000, cfg->baud) == 0)
return 1;
//can receive setting,set MsgIDMask value to zero, receive all!
MsgObjectRx.ulFlags = MSG_OBJ_NO_FLAGS | MSG_OBJ_USE_ID_FILTER;
MsgObjectRx.ulMsgIDMask = 0;
CANMessageSet(CAN0_BASE, LM3S_RxMsgObjNr, &MsgObjectRx, MSG_OBJ_TYPE_RX);
CANEnable(CAN0_BASE);
return 0;
}
/*
nonblocked send, success return 0, else return -1
*/
int can_send(const can_msg_t *msg)
{
unsigned long status;
tCANMsgObject MsgObjectTx;
status = CANStatusGet(CAN0_BASE, CAN_STS_TXREQUEST);
if(status & (unsigned long)(1 << (LM3S_TxMsgObjNr - 1)))
return 1;
MsgObjectTx.ulMsgID = msg->id;
MsgObjectTx.ulMsgLen = msg->dlc;
MsgObjectTx.pucMsgData = (unsigned char *)msg->data;
if (msg->flag) {
MsgObjectTx.ulFlags = MSG_OBJ_EXTENDED_ID;
} else {
MsgObjectTx.ulFlags = MSG_OBJ_NO_FLAGS;
}
CANRetrySet(CAN0_BASE, LM3S_TxMsgObjNr); //set retry send
CANMessageSet(CAN0_BASE, LM3S_TxMsgObjNr, &MsgObjectTx, MSG_OBJ_TYPE_TX);
return 0;
}
void send(){
// Bounds-check each pwm signal
if(pwm0 > MAX_WIDTH_0)
pwm0= MAX_WIDTH_0;
else if(pwm0 < MIN_WIDTH_0)
pwm0= MIN_WIDTH_0;
if(pwm1 > MAX_WIDTH_1)
pwm1= MAX_WIDTH_1;
else if(pwm1 < MIN_WIDTH_1)
pwm1= MIN_WIDTH_1;
// Write both unsigned longs to the 8-byte space and send it
msg[0]= (pwm0 & 0xFF000000) >> 24;
msg[1]= (pwm0 & 0x00FF0000) >> 16;
msg[2]= (pwm0 & 0x0000FF00) >> 8;
msg[3]= pwm0 & 0x000000FF;
msg[4]= (pwm1 & 0xFF000000) >> 24;
msg[5]= (pwm1 & 0x00FF0000) >> 16;
msg[6]= (pwm1 & 0x0000FF00) >> 8;
msg[7]= pwm1 & 0x000000FF;
transmit.pucMsgData= msg;
CANMessageSet(CAN0_BASE, 1, &transmit, MSG_OBJ_TYPE_TX);
}
//*****************************************************************************
//
// This function sends a message to set the current brightness for the LED on
// the target board.
//
//*****************************************************************************
void
CANUpdateTargetLED(unsigned char ucLevel, tBoolean bFlash)
{
//
// If there was already a previous message being transmitted then just
// return.
//
if(g_ulFlags & FLAG_LED_TX_PEND)
{
return;
}
//
// Set the global LED level.
//
g_ucLEDLevel = ucLevel;
//
// If a flash was requested then set the flag.
//
if(bFlash == true)
{
g_ucLEDLevel |= LED_FLASH_ONCE;
}
//
// A transmit request is about to be pending.
//
g_ulFlags |= FLAG_LED_TX_PEND;
//
// Send the button update request.
//
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_LED, &g_MsgObjectLED,
MSG_OBJ_TYPE_TX);
}
void CAN::send(uint32_t mailbox, uint32_t dstAddress, uint8_t* data,
uint32_t length) {
ASSERT(length<9);
uint32_t idx = mailbox + 1; // +1 for transmission
tCANMsgObject* mo = _table[idx].msgObject;
_table[idx].mode = SEND;
mo->ulMsgID = dstAddress; // CAN message ID
mo->ulMsgIDMask = 0; // no mask needed for TX
mo->ulFlags = MSG_OBJ_TX_INT_ENABLE + MSG_OBJ_FIFO; // enable interrupt on TX
mo->ulMsgLen = length; // size of message is length
mo->pucMsgData = data; // ptr to message content
CANIntEnable(_CAN_BASE, idx + 1);
CANMessageSet(_CAN_BASE, idx + 1, mo, MSG_OBJ_TYPE_TX);
/* uint32_t st;
while ((st = CANStatusGet(_CAN_BASE, CAN_STS_TXREQUEST)) == 0) {
}
CANMessageGet(_CAN_BASE, st, mo, true);
while (CANStatusGet(_CAN_BASE, CAN_STS_TXREQUEST) == 0) {
}
st = CANStatusGet(_CAN_BASE, CAN_STS_TXREQUEST);*/
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to receive CAN messages.
//
//*****************************************************************************
int
main(void)
{
tCANMsgObject sCANMessage;
uint8_t pui8MsgData[8];
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal used on your board.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CAN0_IRQHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize a message object to receive CAN messages with ID 0x1001.
// The expected ID must be set along with the mask to indicate that all
// bits in the ID must match.
//
sCANMessage.ui32MsgID = 0x1001;
sCANMessage.ui32MsgIDMask = 0xfffff;
sCANMessage.ui32Flags = (MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER |
MSG_OBJ_EXTENDED_ID);
sCANMessage.ui32MsgLen = 8;
//
// Now load the message object into the CAN peripheral message object 1.
// Once loaded the CAN will receive any messages with this CAN ID into
// this message object, and an interrupt will occur.
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Change the ID to 0x2001, and load into message object 2 which will be
// used for receiving any CAN messages with this ID. Since only the CAN
// ID field changes, we don't need to reload all the other fields.
//
sCANMessage.ui32MsgID = 0x2001;
CANMessageSet(CAN0_BASE, 2, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Change the ID to 0x3001, and load into message object 3 which will be
// used for receiving any CAN messages with this ID. Since only the CAN
// ID field changes, we don't need to reload all the other fields.
//
sCANMessage.ui32MsgID = 0x3001;
CANMessageSet(CAN0_BASE, 3, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Enter loop to process received messages. This loop just checks flags
// for each of the 3 expected messages. The flags are set by the interrupt
// handler, and if set this loop reads out the message and displays the
// contents to the console. This is not a robust method for processing
// incoming CAN data and can only handle one messages at a time per message
// object. If many messages are being received close together using the
// same message object, then some messages may be dropped. In a real
// application, some other method should be used for queuing received
// messages in a way to ensure they are not lost. You can also make use
// of CAN FIFO mode which will allow messages to be buffered before they
// are processed.
//
for(;;)
{
//
// If the flag for message object 1 is set, that means that the RX
// interrupt occurred and there is a message ready to be read from
// this CAN message object.
//
if(g_bRXFlag1)
{
//
// Reuse the same message object that was used earlier to configure
// the CAN for receiving messages. A buffer for storing the
// received data must also be provided, so set the buffer pointer
// within the message object. This same buffer is used for all
// messages in this example, but your application could set a
// different buffer each time a message is read in order to store
// different messages in different buffers.
//
sCANMessage.pui8MsgData = pui8MsgData;
//
// Read the message from the CAN. Message object number 1 is used
// (which is not the same thing as CAN ID). The interrupt clearing
// flag is not set because this interrupt was already cleared in
// the interrupt handler.
//
CANMessageGet(CAN0_BASE, 1, &sCANMessage, 0);
//
// Clear the pending message flag so that the interrupt handler can
// set it again when the next message arrives.
//
g_bRXFlag1 = 0;
//
// Print information about the message just received.
//
PrintCANMessageInfo(&sCANMessage, 1);
}
//
// Check for message received on message object 2. If so then
// read message and print information.
//
if(g_bRXFlag2)
{
sCANMessage.pui8MsgData = pui8MsgData;
CANMessageGet(CAN0_BASE, 2, &sCANMessage, 0);
g_bRXFlag2 = 0;
PrintCANMessageInfo(&sCANMessage, 2);
}
//
// Check for message received on message object 3. If so then
// read message and print information.
//
if(g_bRXFlag3)
{
sCANMessage.pui8MsgData = pui8MsgData;
CANMessageGet(CAN0_BASE, 3, &sCANMessage, 0);
g_bRXFlag3 = 0;
PrintCANMessageInfo(&sCANMessage, 3);
}
}
//
// Return no errors
//
return(0);
}
int main(void) {
char txtBuffer[32];
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
GPIOPinConfigure(GPIO_PE4_CAN0RX);
GPIOPinConfigure(GPIO_PE5_CAN0TX);
GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
IntEnable(INT_CAN0);
CANEnable(CAN0_BASE);
//
// Initialize a message object to be used for receiving CAN messages with
// any CAN ID. In order to receive any CAN ID, the ID and mask must both
// be set to 0, and the ID filter enabled.
//
sCANMessage.ui32MsgIDMask = 0x7ff; // mask is 0 for any ID
sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ui32MsgLen = 16; // allow up to 8 bytes
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object 1 for receiving messages (this is not the same as
// the CAN ID which can be any value in this example).
//
sCANMessage.ui32MsgID = 0x0b0; // wheels A
sCANMessage.pui8MsgData = (uint8_t *)&wheel_a_data;
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
sCANMessage.ui32MsgID = 0x0b2; // wheels B
sCANMessage.pui8MsgData = (uint8_t *)&wheel_b_data;
CANMessageSet(CAN0_BASE, 2, &sCANMessage, MSG_OBJ_TYPE_RX);
sCANMessage.ui32MsgID = 0x2c4; // engine
sCANMessage.pui8MsgData = (uint8_t *)&engine_data;
CANMessageSet(CAN0_BASE, 3, &sCANMessage, MSG_OBJ_TYPE_RX);
sCANMessage.ui32MsgID = 0x398; // fuel
sCANMessage.pui8MsgData = (uint8_t *)&fuel_data;
CANMessageSet(CAN0_BASE, 4, &sCANMessage, MSG_OBJ_TYPE_RX);
lcd_port_setup();
lcd_init();
for (;;) {
unsigned int li, lf, ri, rf, fi, ff; // integral and fractional parts for left, right wheels' speed, and fuel consumption
unsigned long int v = 0; // Average speed
float vf, ef; // Float versions of speed and economy
li = ntohs(wheel_a_data.wheel2);
v += li;
lf = li%100;
li /= 100;
ri = ntohs(wheel_a_data.wheel1);
v += ri;
rf = ri%100;
ri /= 100;
snprintf(txtBuffer, 21, "L %3d.%02d -- R %3d.%02d", li, lf, ri, rf);
lcd_goto(0,0);
lcd_puts(txtBuffer);
li = ntohs(wheel_b_data.wheel2);
v += li;
lf = li%100;
li /= 100;
ri = ntohs(wheel_b_data.wheel1);
v += ri;
rf = ri%100;
ri /= 100;
snprintf(txtBuffer, 21, "L %3d.%02d -- R %3d.%02d", li, lf, ri, rf);
lcd_goto(1,0);
lcd_puts(txtBuffer);
vf = v / 400.0;
snprintf(txtBuffer, 21, "%4d RPM %3d.%02d KM/H", ntohs(engine_data.rpm), (int)vf, ((int)(vf*100))%100);
lcd_goto(2,0);
lcd_puts(txtBuffer);
fi = ntohs(fuel_data.fuel);
ff = fi % 100;
fi /= 100;
if (vf >= .01) {
ef = vf/(fi/100.0);
snprintf(txtBuffer, 21, "%2d.%02d L/H %2d.%02d KM/L", fi, ff, (int)ef, ((int)(ef*100))%100);
} else {
snprintf(txtBuffer, 21, "%2d.%02d L/H --.-- KM/L", fi, ff);
}
lcd_goto(3,0);
lcd_puts(txtBuffer);
}
return (0);
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to transmit periodic CAN messages.
//
//*****************************************************************************
int
main(void)
{
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal on your board.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CANIntHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize the message object that will be used for sending CAN
// messages. The message will be 4 bytes that will contain an incrementing
// value. Initially it will be set to 0.
//
//
// Initialize message object 1 to be able to send CAN message 1. This
// message object is not shared so it only needs to be initialized one
// time, and can be used for repeatedly sending the same message ID.
//
g_sCANMsgObject1.ui32MsgID = 0x1001;
g_sCANMsgObject1.ui32MsgIDMask = 0;
g_sCANMsgObject1.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject1.ui32MsgLen = sizeof(g_pui8Msg1);
g_sCANMsgObject1.pui8MsgData = g_pui8Msg1;
//
// Initialize message object 2 to be able to send CAN message 2. This
// message object is not shared so it only needs to be initialized one
// time, and can be used for repeatedly sending the same message ID.
//
g_sCANMsgObject2.ui32MsgID = 0x2001;
g_sCANMsgObject2.ui32MsgIDMask = 0;
g_sCANMsgObject2.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject2.ui32MsgLen = sizeof(g_pui8Msg2);
g_sCANMsgObject2.pui8MsgData = g_pui8Msg2;
//
// Enter loop to send messages. Four messages will be sent once per
// second. The contents of each message will be changed each time.
//
for(;;)
{
//
// Send message 1 using CAN controller message object 1. This is
// the only message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject1, 1);
CANMessageSet(CAN0_BASE, 1, &g_sCANMsgObject1, MSG_OBJ_TYPE_TX);
//
// Send message 2 using CAN controller message object 2. This is
// the only message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject2, 2);
CANMessageSet(CAN0_BASE, 2, &g_sCANMsgObject2, MSG_OBJ_TYPE_TX);
//
// Load message object 3 with message 3. This is needs to be done each
// time because message object 3 is being shared for two different
// messages.
//
g_sCANMsgObject3.ui32MsgID = 0x3001;
g_sCANMsgObject3.ui32MsgIDMask = 0;
g_sCANMsgObject3.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject3.ui32MsgLen = sizeof(g_pui8Msg3);
g_sCANMsgObject3.pui8MsgData = g_pui8Msg3;
//
// Clear the flag that indicates that message 3 has been sent. This
// flag will be set in the interrupt handler when a message has been
// sent using message object 3.
//
g_bMsgObj3Sent = 0;
//
// Now send message 3 using CAN controller message object 3. This is
// the first message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject3, 3);
CANMessageSet(CAN0_BASE, 3, &g_sCANMsgObject3, MSG_OBJ_TYPE_TX);
//
// Wait for the indication from the interrupt handler that message
// object 3 is done, because we are re-using it for another message.
//
while(!g_bMsgObj3Sent)
{
}
//
// Load message object 3 with message 4. This is needed because
// message object 3 is being shared for two different messages.
//
g_sCANMsgObject3.ui32MsgID = 0x3002;
g_sCANMsgObject3.ui32MsgIDMask = 0;
g_sCANMsgObject3.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject3.ui32MsgLen = sizeof(g_pui8Msg4);
g_sCANMsgObject3.pui8MsgData = g_pui8Msg4;
//
// Now send message 4 using CAN controller message object 3. This is
// the second message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject3, 3);
CANMessageSet(CAN0_BASE, 3, &g_sCANMsgObject3, MSG_OBJ_TYPE_TX);
//
// Wait 1 second before continuing
//
SimpleDelay();
//
// Check the error flag to see if errors occurred
//
if(g_bErrFlag)
{
UARTprintf(" error - cable connected?\n");
}
else
{
//
// If no errors then print the count of message sent
//
UARTprintf(" total count = %u\n",
g_ui32Msg1Count + g_ui32Msg2Count + g_ui32Msg3Count);
}
//
// Change the value in the message data for each of the messages.
//
(*(uint32_t *)g_pui8Msg1)++;
(*(uint32_t *)g_pui8Msg2)++;
(*(uint32_t *)g_pui8Msg3)++;
(*(uint32_t *)&g_pui8Msg4[0])++;
(*(uint32_t *)&g_pui8Msg4[4])--;
}
//
// Return no errors
//
return(0);
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to transmit periodic CAN messages.
//
//*****************************************************************************
int
main(void)
{
tCANMsgObject sCANMessage;
uint32_t ui32MsgData;
uint8_t *pui8MsgData;
pui8MsgData = (uint8_t *)&ui32MsgData;
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal on your board.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CAN0_IRQHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize the message object that will be used for sending CAN
// messages. The message will be 4 bytes that will contain an incrementing
// value. Initially it will be set to 0.
//
ui32MsgData = 0;
sCANMessage.ui32MsgID = 1;
sCANMessage.ui32MsgIDMask = 0;
sCANMessage.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
sCANMessage.ui32MsgLen = sizeof(pui8MsgData);
sCANMessage.pui8MsgData = pui8MsgData;
//
// Enter loop to send messages. A new message will be sent once per
// second. The 4 bytes of message content will be treated as an uint32_t
// and incremented by one each time.
//
while(1)
{
//
// Print a message to the console showing the message count and the
// contents of the message being sent.
//
UARTprintf("Sending msg: 0x%02X %02X %02X %02X",
pui8MsgData[0], pui8MsgData[1], pui8MsgData[2],
pui8MsgData[3]);
//
// Send the CAN message using object number 1 (not the same thing as
// CAN ID, which is also 1 in this example). This function will cause
// the message to be transmitted right away.
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_TX);
//
// Now wait 1 second before continuing
//
SimpleDelay();
//
// Check the error flag to see if errors occurred
//
if(g_bErrFlag)
{
UARTprintf(" error - cable connected?\n");
}
else
{
//
// If no errors then print the count of message sent
//
UARTprintf(" total count = %u\n", g_ui32MsgCount);
}
//
// Increment the value in the message data.
//
ui32MsgData++;
}
//
// Return no errors
//
return(0);
}
void NetworkTx(unsigned long ulData)
{
g_MsgTx.pucMsgData = (unsigned char *)&ulData;
CANMessageSet(CAN0_BASE, MSG_NUM_TX, &g_MsgTx, MSG_OBJ_TYPE_TX);
}
//*****************************************************************************
//
// This function configures the transmit FIFO and copies data into the FIFO.
//
//*****************************************************************************
int
CANTransmitFIFO(unsigned char *pucData, unsigned long ulSize)
{
int iIdx;
//
// This is the message object used to send button updates. This message
// object will not be "set" right now as that would trigger a transmission.
//
g_sCAN.MsgObjectTx.ulMsgID = TRANSMIT_MESSAGE_ID;
g_sCAN.MsgObjectTx.ulMsgIDMask = 0;
//
// This enables interrupts for transmitted messages.
//
g_sCAN.MsgObjectTx.ulFlags = MSG_OBJ_TX_INT_ENABLE;
//
// Return the maximum possible number of bytes that can be sent in a single
// FIFO.
//
if(ulSize > CAN_FIFO_SIZE)
{
return(CAN_FIFO_SIZE);
}
//
// Loop through all eight message objects that are part of the transmit
// FIFO.
//
for(iIdx = 0; iIdx < 8; iIdx++)
{
//
// If there are more than eight bytes remaining then use a full message
// to transfer these 8 bytes.
//
if(ulSize > 8)
{
//
// Set the length of the message, which can only be eight bytes
// in this case as it is all that can be sent with a single message
// object.
//
g_sCAN.MsgObjectTx.ulMsgLen = 8;
g_sCAN.MsgObjectTx.pucMsgData = &pucData[iIdx * 8];
//
// Set the MSG_OBJ_FIFO to indicate that this is not the last
// data in a chain of FIFO entries.
//
g_sCAN.MsgObjectTx.ulFlags |= MSG_OBJ_FIFO;
//
// There are now eight less bytes to transmit.
//
ulSize -= 8;
//
// Write out this message object.
//
CANMessageSet(CAN0_BASE, iIdx + 1, &g_sCAN.MsgObjectTx,
MSG_OBJ_TYPE_TX);
}
//
// If there are less than or exactly eight bytes remaining then use a
// message object to transfer these 8 bytes and do not set the
// MSG_OBJ_FIFO flag to indicate that this is the last of the entries
// in this FIFO.
//
else
{
//
// Set the length to the remaining bytes and transmit the data.
//
g_sCAN.MsgObjectTx.ulMsgLen = ulSize;
g_sCAN.MsgObjectTx.pucMsgData = &pucData[iIdx * 8];
//
// Write out this message object.
//
CANMessageSet(CAN0_BASE, iIdx + 1, &g_sCAN.MsgObjectTx,
MSG_OBJ_TYPE_TX);
}
}
return(0);
}
//*****************************************************************************
//
// This function configures the receive FIFO and should only be called once.
//
//*****************************************************************************
int
CANReceiveFIFO(unsigned char *pucData, unsigned long ulSize)
{
int iIdx;
if(ulSize > CAN_FIFO_SIZE)
{
return(CAN_FIFO_SIZE);
}
//
// Configure the receive message FIFO to accept the transmit message object.
//
g_sCAN.MsgObjectRx.ulMsgID = RECEIVE_MESSAGE_ID;
g_sCAN.MsgObjectRx.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_sCAN.MsgObjectRx.ulFlags = MSG_OBJ_RX_INT_ENABLE;
//
// Remember the beginning of the FIFO location.
//
g_sCAN.MsgObjectRx.pucMsgData = pucData;
//
// Transfer bytes in multiples of eight bytes.
//
for(iIdx=0; iIdx < (CAN_FIFO_SIZE / 8); iIdx++)
{
//
// If there are more than eight remaining to be sent then just queue up
// eight bytes and go on to the next message object(s) for the
// remaining bytes.
//
if(ulSize > 8)
{
//
// The length is always eight as the full buffer is divisible by 8.
//
g_sCAN.MsgObjectRx.ulMsgLen = 8;
//
// There are now eight less bytes to receive.
//
ulSize -=8;
//
// Set the MSG_OBJ_FIFO to indicate that this is not the last
// data in a chain of FIFO entries.
//
g_sCAN.MsgObjectRx.ulFlags |= MSG_OBJ_FIFO;
//
// Make sure that all message objects up to the last indicate that
// they are part of a FIFO.
//
CANMessageSet(CAN0_BASE, iIdx + 9, &g_sCAN.MsgObjectRx,
MSG_OBJ_TYPE_RX);
}
else
{
//
// Get the remaining bytes.
//
g_sCAN.MsgObjectRx.ulMsgLen = ulSize;
//
// This is the last message object in a FIFO so don't set the FIFO
// to indicate that the FIFO ends with this message object.
//
CANMessageSet(CAN0_BASE, iIdx + 9, &g_sCAN.MsgObjectRx,
MSG_OBJ_TYPE_RX);
}
}
return(0);
}
//*****************************************************************************
//
// This function configures the message objects used by this application.
// The following four message objects used by this application:
// MSGOBJ_ID_BUTTON, MSGOBJ_ID_LED, MSGOBJ_ID_DATA_TX, and MSGOBJ_ID_DATA_RX.
//
//*****************************************************************************
void
CANConfigureNetwork(void)
{
//
// Set the identifier and mask for the button object.
//
g_MsgObjectButton.ulMsgID = MSGOBJ_ID_BUTTON;
g_MsgObjectButton.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_MsgObjectButton.ulFlags = MSG_OBJ_RX_INT_ENABLE;
//
// Set the size of the message and the data buffer used.
//
g_MsgObjectButton.ulMsgLen = 2;
g_MsgObjectButton.pucMsgData = g_pucButtonMsg;
//
// Configure the Button receive message object.
//
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_BUTTON, &g_MsgObjectButton,
MSG_OBJ_TYPE_RX);
//
// This message object will receive updates to the LED.
//
g_MsgObjectLED.ulMsgID = MSGOBJ_ID_LED;
g_MsgObjectLED.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_MsgObjectLED.ulFlags = MSG_OBJ_TX_INT_ENABLE;
//
// Set the length of the message and the data buffer used.
//
g_MsgObjectLED.ulMsgLen = 1;
g_MsgObjectLED.pucMsgData = &g_ucLEDLevel;
//
// This message object will transmit commands.
//
g_MsgObjectTx.ulMsgID = MSGOBJ_ID_DATA_TX;
g_MsgObjectTx.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_MsgObjectTx.ulFlags = MSG_OBJ_TX_INT_ENABLE;
//
// The length of the message, which should only be one byte. Don't set
// the pointer until it is used.
//
g_MsgObjectTx.ulMsgLen = 1;
g_MsgObjectTx.pucMsgData = (unsigned char *)0xffffffff;
//
// This message object will received data from commands.
//
g_MsgObjectRx.ulMsgID = MSGOBJ_ID_DATA_RX;
g_MsgObjectRx.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_MsgObjectRx.ulFlags = MSG_OBJ_RX_INT_ENABLE;
//
// The length of the message, which should only be one byte. Don't set
// the pointer until it is used.
//
g_MsgObjectRx.ulMsgLen = 1;
g_MsgObjectRx.pucMsgData = (unsigned char *)0xffffffff;
//
// Configure the data receive message object.
//
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_DATA_RX, &g_MsgObjectRx,
MSG_OBJ_TYPE_RX);
}
//*****************************************************************************
//
// This function is the interrupt handler for the CAN peripheral. It checks
// for the cause of the interrupt, and maintains a count of all messages that
// have been transmitted.
//
//*****************************************************************************
extern "C" void CAN0IntHandler(void) {
unsigned long ulStatus;
// Read the CAN interrupt status to find the cause of the interrupt
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
//
// If the cause is a controller status interrupt, then get the status
//
if (ulStatus == CAN_INT_INTID_STATUS) {
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Error processing
// is not done in this example for simplicity. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt. If the
// CAN peripheral is not connected to a CAN bus with other CAN devices
// present, then errors will occur and will be indicated in the
// controller status.
//
ulStatus = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
if (ulStatus == CAN_STATUS_TXOK) {
} else if (ulStatus == CAN_STATUS_RXOK) {
} else
/*
CAN_STS_CONTROL - the main controller status
CAN_STS_TXREQUEST - bit mask of objects pending transmissio
CAN_STS_NEWDAT - bit mask of objects with new data
CAN_STS_MSGVAL - bit mask of objects with valid configuration
CAN_STATUS_BUS_OFF - controller is in bus-off condition
CAN_STATUS_EWARN - an error counter has reached a limit of at least 96
CAN_STATUS_EPASS - CAN controller is in the error passive state
CAN_STATUS_RXOK - a message was received successfully (independent of any mes-sage filtering).
CAN_STATUS_TXOK - a message was successfully transmitted
CAN_STATUS_LEC_MSK - mask of last error code bits (3 bits)
CAN_STATUS_LEC_NONE - no error
CAN_STATUS_LEC_STUFF - stuffing error detected
CAN_STATUS_LEC_FORM - a format error occurred in the fixed format part of amessage
CAN_STATUS_LEC_ACK - a transmitted message was not acknowledged
CAN_STATUS_LEC_BIT1 - dominant level detected when trying to send in recessive
mode
CAN_STATUS_LEC_BIT0 - recessive level detected when trying to send in dominant
mode
CAN_STATUS_LEC_CRC - CRC error in received message
*/
can0._countErr++;
}
//
// Check if the cause is message object 1, which what we are using for
// sending messages.
//
else if (ulStatus < can0._tableIdx + 1 && ulStatus > 0) {
uint32_t idx = ulStatus - 1;
if (can0._table[idx].mode == CAN::RECV) {
tCANMsgObject* msgObj = (can0._table[idx].msgObject);
CANIntClear(CAN0_BASE, idx + 1);
CANMessageGet(CAN0_BASE, idx + 1, msgObj, true);
can0._countRxd++;
CANListener* listener = can0._table[idx].listener;
listener->recv(msgObj->ulMsgID, msgObj->ulMsgLen,
msgObj->pucMsgData);
CANMessageSet(CAN0_BASE, ulStatus, msgObj, MSG_OBJ_TYPE_RX);
// CANMessageSet(CAN0_BASE, ulStatus, msgObj, MSG_OBJ_TYPE_TX); // reload
} else if (can0._table[idx].mode == CAN::SEND) {
CANListener* listener = can0._table[idx].listener;
tCANMsgObject* msgObj = (can0._table[idx].msgObject);
CANIntClear(CAN0_BASE, idx + 1);
can0._countTxd++;
listener->sendDone(msgObj->ulMsgID, E_OK);
}
}
else {
//
// Spurious interrupt handling can go here.
//
CANIntClear(CAN0_BASE, ulStatus);
}
}
//*****************************************************************************
//
// Configure CAN message objects for the application.
//
// This function configures the message objects used by this application.
// The following four message objects used by this application:
// MSGOBJ_ID_BUTTON, MSGOBJ_ID_LED, MSGOBJ_ID_DATA_TX, and MSGOBJ_ID_DATA_RX.
//
// /return None.
//
//*****************************************************************************
void
CANConfigureNetwork(void)
{
//
// This is the message object used to send button updates. This message
// object will not be "set" right now as that would trigger a transmission.
//
g_MsgObjectButton.ulMsgID = MSGOBJ_ID_BUTTON;
g_MsgObjectButton.ulMsgIDMask = 0;
//
// This enables interrupts for transmitted messages.
//
g_MsgObjectButton.ulFlags = MSG_OBJ_TX_INT_ENABLE;
//
// Set the length of the message, which should only be two bytes and the
// data is always whatever is in g_pucButtonMsg.
//
g_MsgObjectButton.ulMsgLen = 2;
g_MsgObjectButton.pucMsgData = g_pucButtonMsg;
//
// This message object will receive updates for the LED brightness.
//
g_MsgObjectLED.ulMsgID = MSGOBJ_ID_LED;
g_MsgObjectLED.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_MsgObjectLED.ulFlags = MSG_OBJ_RX_INT_ENABLE;
//
// The length of the message, which should only be one byte.
//
g_MsgObjectLED.ulMsgLen = 1;
g_MsgObjectLED.pucMsgData = &g_ucLEDLevel;
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_LED, &g_MsgObjectLED,
MSG_OBJ_TYPE_RX);
//
// This message object will transmit commands and command responses. It
// will not be "set" right now as that would trigger a transmission.
//
g_MsgObjectTx.ulMsgID = MSGOBJ_ID_DATA_TX;
g_MsgObjectTx.ulMsgIDMask = 0;
//
// This enables interrupts for transmitted messages.
//
g_MsgObjectTx.ulFlags = MSG_OBJ_TX_INT_ENABLE;
//
// The length of the message, which should only be one byte. Don't set
// the pointer until it is used.
//
g_MsgObjectTx.ulMsgLen = 1;
g_MsgObjectTx.pucMsgData = (unsigned char *)0xffffffff;
//
// This message object will receive commands or data from commands.
//
g_MsgObjectRx.ulMsgID = MSGOBJ_ID_DATA_RX;
g_MsgObjectRx.ulMsgIDMask = 0;
//
// This enables interrupts for received messages.
//
g_MsgObjectRx.ulFlags = MSG_OBJ_RX_INT_ENABLE;
//
// The length of the message, which should only be one byte. Don't set
// the pointer until it is used.
//
g_MsgObjectRx.ulMsgLen = 1;
g_MsgObjectRx.pucMsgData = (unsigned char *)0xffffffff;
CANMessageSet(CAN0_BASE, MSGOBJ_NUM_DATA_RX, &g_MsgObjectRx,
MSG_OBJ_TYPE_RX);
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to receive CAN messages.
//
//*****************************************************************************
int
main(void)
{
#if defined(TARGET_IS_TM4C129_RA0) || \
defined(TARGET_IS_TM4C129_RA1) || \
defined(TARGET_IS_TM4C129_RA2)
uint32_t ui32SysClock;
#endif
tCANMsgObject sCANMessage;
uint8_t pui8MsgData[8];
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal used on your board.
//
#if defined(TARGET_IS_TM4C129_RA0) || \
defined(TARGET_IS_TM4C129_RA1) || \
defined(TARGET_IS_TM4C129_RA2)
ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_OSC)
25000000);
#else
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
#endif
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() or ui32SysClock is used to determine the
// clock rate that is used for clocking the CAN peripheral. This can be
// replaced with a fixed value if you know the value of the system clock,
// saving the extra function call. For some parts, the CAN peripheral is
// clocked by a fixed 8 MHz regardless of the system clock in which case
// the call to SysCtlClockGet() or ui32SysClock should be replaced with
// 8000000. Consult the data sheet for more information about CAN
// peripheral clocking.
//
#if defined(TARGET_IS_TM4C129_RA0) || \
defined(TARGET_IS_TM4C129_RA1) || \
defined(TARGET_IS_TM4C129_RA2)
CANBitRateSet(CAN0_BASE, ui32SysClock, 500000);
#else
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
#endif
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CANIntHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize a message object to be used for receiving CAN messages with
// any CAN ID. In order to receive any CAN ID, the ID and mask must both
// be set to 0, and the ID filter enabled.
//
sCANMessage.ui32MsgID = 0;
sCANMessage.ui32MsgIDMask = 0;
sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ui32MsgLen = 8;
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object 1 for receiving messages (this is not the same as
// the CAN ID which can be any value in this example).
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Enter loop to process received messages. This loop just checks a flag
// that is set by the interrupt handler, and if set it reads out the
// message and displays the contents. This is not a robust method for
// processing incoming CAN data and can only handle one messages at a time.
// If many messages are being received close together, then some messages
// may be dropped. In a real application, some other method should be used
// for queuing received messages in a way to ensure they are not lost. You
// can also make use of CAN FIFO mode which will allow messages to be
// buffered before they are processed.
//
for(;;)
{
unsigned int uIdx;
//
// If the flag is set, that means that the RX interrupt occurred and
// there is a message ready to be read from the CAN
//
if(g_bRXFlag)
{
//
// Reuse the same message object that was used earlier to configure
// the CAN for receiving messages. A buffer for storing the
// received data must also be provided, so set the buffer pointer
// within the message object.
//
sCANMessage.pui8MsgData = pui8MsgData;
//
// Read the message from the CAN. Message object number 1 is used
// (which is not the same thing as CAN ID). The interrupt clearing
// flag is not set because this interrupt was already cleared in
// the interrupt handler.
//
CANMessageGet(CAN0_BASE, 1, &sCANMessage, 0);
//
// Clear the pending message flag so that the interrupt handler can
// set it again when the next message arrives.
//
g_bRXFlag = 0;
//
// Check to see if there is an indication that some messages were
// lost.
//
if(sCANMessage.ui32Flags & MSG_OBJ_DATA_LOST)
{
UARTprintf("CAN message loss detected\n");
}
//
// Print out the contents of the message that was received.
//
UARTprintf("Msg ID=0x%08X len=%u data=0x",
sCANMessage.ui32MsgID, sCANMessage.ui32MsgLen);
for(uIdx = 0; uIdx < sCANMessage.ui32MsgLen; uIdx++)
{
UARTprintf("%02X ", pui8MsgData[uIdx]);
}
UARTprintf("total count=%u\n", g_ui32MsgCount);
}
}
//
// Return no errors
//
return(0);
}