void USB2CAN_open(u32 speed,u32 flags,CAN_TIMINGS *CanTimings)
{
CAN_ENABLE();
USB2CAN_set_speed(speed,CanTimings);
switch( flags & 0x0003 )
{
case CAN_MODE_NORMAL: // normal mode
CAN_LeaveTestMode();
break;
case CAN_MODE_SILENT: // silent mode
CAN_EnterTestMode( CAN_TESTR_SILENT );
break;
case CAN_MODE_LOOPBACK: // loopback mode
CAN_EnterTestMode( CAN_TESTR_LBACK );
break;
case CAN_MODE_SILENT_LOOPBACK:
CAN_EnterTestMode( CAN_TESTR_LBACK | CAN_TESTR_SILENT );
break;
default:
CAN_LeaveTestMode();
break;
}
// DAR
if( flags & 0x0004 )
CAN->CR |= CAN_CR_DAR; // disable auto retransmitions
else
CAN->CR &= ~CAN_CR_DAR; // enable auto retransmitions
}
/*******************************************************************************
* Function Name : CAN_Init
* Description : Initializes the CAN peripheral according to the specified
* parameters in the CAN_InitStruct.
* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
* contains the configuration information for the CAN peripheral.
* Output : None
* Return : None
*******************************************************************************/
void CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
{
CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters);
CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate);
CAN_LeaveInitMode();
CAN_LeaveTestMode();
}
void CAN_Com_LoopBack_IRQ(void)
{
/* initialize the interrupt controller */
VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1);
/* initialize the CAN at a standard bitrate, interrupts enabled */
CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE;
CAN_InitStructure.CAN_Bitrate=CAN_BITRATE_100K;
CAN_Init(&CAN_InitStructure);
/* switch into Loopback+Silent mode (self-test) */
CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);
/* configure the message objects */
CAN_InvalidateAllMsgObj();
CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_EXT_ID);
CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_EXT_ID, 0, CAN_LAST_EXT_ID, TRUE);
/* enable global interrupt */
VIC_ITCmd(CAN_ITLine, ENABLE);
/* Send the pre-defined frame */
CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[2]);
/* wait until end of transmission */
CAN_WaitEndOfTx();
/* reception and release are done in the interrupt handler */
/* delay to add when the reception occurs */
delay(0x7FF);
/* Test Received Msg */
if((RxCanMsg.IdType == CAN_EXT_ID)&&(RxCanMsg.Id == 0x12345678)&&(RxCanMsg.Dlc == 8)
&&(RxCanMsg.Data[0]==0x10)&&(RxCanMsg.Data[1]==0x11)&&(RxCanMsg.Data[2]==0x12)&&(RxCanMsg.Data[3]==0x13)
&&(RxCanMsg.Data[4]==0x14)&&(RxCanMsg.Data[5]==0x15)&&(RxCanMsg.Data[6]==0x16)&&(RxCanMsg.Data[7]==0x17)){
/*Received Msg OK*/
LED_ON(LD3);
} else {
/*Received Msg KO*/
LED_ON(LD4);
}
/* switch back into Normal mode */
CAN_LeaveTestMode();
/* disable interrupts globally */
VIC_ITCmd(CAN_ITLine, DISABLE);
}
void CAN_Com_LoopBack(void)
{
/* initialize the CAN at a standard bitrate, interrupts disabled */
CAN_InitStructure.CAN_ConfigParameters=0x0;
CAN_InitStructure.CAN_Bitrate=CAN_BITRATE_1M;
CAN_Init(&CAN_InitStructure);
/* switch into Loopback+Silent mode (self-test) */
CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);
/* configure the message objects */
CAN_InvalidateAllMsgObj();
CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID);
CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
/* Send the pre-defined answer */
CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);
/* wait until end of transmission */
CAN_WaitEndOfTx();
/* wait for reception of a data frame */
while (!CAN_ReceiveMessage(CAN_RX_MSGOBJ, FALSE, &RxCanMsg))
{
/*Add Timer*/
}
/* Test Received Msg */
if((RxCanMsg.IdType == CAN_STD_ID)&&(RxCanMsg.Id == 0x321)&&(RxCanMsg.Dlc == 4)
&&(RxCanMsg.Data[0]==0xAA)&&(RxCanMsg.Data[1]==0x55)&&(RxCanMsg.Data[2]==0xAA)&&(RxCanMsg.Data[3]==0x55)){
/*Received Msg OK*/
LED_ON(LD2);
} else {
/*Received Msg KO*/
LED_ON(LD4);
}
/* release the message objects */
CAN_ReleaseTxMessage(CAN_TX_MSGOBJ);
CAN_ReleaseRxMessage(CAN_RX_MSGOBJ);
/* switch back into Normal mode */
CAN_LeaveTestMode();
}
int can_mode(can_t *obj, CanMode mode)
{
CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
int success = 0;
switch (mode)
{
case MODE_RESET:
CAN_LeaveTestMode(can_base);
success = 1;
break;
case MODE_NORMAL:
CAN_EnterTestMode(can_base, CAN_TEST_BASIC_Msk);
success = 1;
break;
case MODE_SILENT:
CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk);
success = 1;
break;
case MODE_TEST_LOCAL:
case MODE_TEST_GLOBAL:
CAN_EnterTestMode(can_base, CAN_TEST_LBACK_Msk);
success = 1;
break;
case MODE_TEST_SILENT:
CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
success = 1;
break;
default:
success = 0;
break;
}
return success;
}
/*----------------------------------------------------------------------------*/
void Test_BasicMode_Tx()
{
int32_t delaycount;
STR_CANMSG_T msg1;
delaycount=1000;
CAN_EnterTestMode(CAN_TESTR_BASIC);
CAN_EnableInt(CAN_CON_IE|CAN_CON_SIE);
/* Send Message No.1 */
msg1.FrameType= DATA_FRAME;
msg1.IdType = CAN_STD_ID;
msg1.Id = 0x001;
msg1.DLC = 2;
msg1.Data[0] = 0x00;
msg1.Data[1] = 0x2;
CAN_BasicSendMsg(&msg1);
printf("Send STD_ID:0x1,Data[0,2]\n");
SYS_SysTickDelay(delaycount);
/* Send Message No.2 */
msg1.FrameType= DATA_FRAME;
msg1.IdType = CAN_STD_ID;
msg1.Id = 0x1AC;
msg1.DLC = 8;
msg1.Data[0] = 0x11;
msg1.Data[1] = 0x12;
msg1.Data[2] = 0x13;
msg1.Data[3] = 0x14;
msg1.Data[4] = 0x15;
msg1.Data[5] = 0x16;
msg1.Data[6] = 0x17;
msg1.Data[7] = 0x18;
CAN_BasicSendMsg(&msg1);
printf("Send STD_ID:0x1AC,Data[11,12,13,14,15,16,17,18]\n");
SYS_SysTickDelay(delaycount);
/* Send Message No.3 */
msg1.FrameType= DATA_FRAME;
msg1.IdType = CAN_STD_ID;
msg1.Id = 0x310;
msg1.DLC = 8;
msg1.Data[0] = 0x21;
msg1.Data[1] = 0x22;
msg1.Data[2] = 0x23;
msg1.Data[3] = 0x24;
msg1.Data[4] = 0x25;
msg1.Data[5] = 0x26;
msg1.Data[6] = 0x27;
msg1.Data[7] = 0x28;
CAN_BasicSendMsg(&msg1);
printf("Send STD_ID:0x310,Data[21,22,23,24,25,26,27,28]\n");
SYS_SysTickDelay(delaycount);
/* Send Message No.4 */
msg1.FrameType= DATA_FRAME;
msg1.IdType = CAN_EXT_ID;
msg1.Id = 0x3377;
msg1.DLC = 8;
msg1.Data[0] = 0x31;
msg1.Data[1] = 0x32;
msg1.Data[2] = 0x33;
msg1.Data[3] = 0x34;
msg1.Data[4] = 0x35;
msg1.Data[5] = 0x36;
msg1.Data[6] = 0x37;
msg1.Data[7] = 0x38;
CAN_BasicSendMsg(&msg1);
printf("Send EXT_ID:0x3377,Data[31,32,33,34,35,36,37,38]\n");
SYS_SysTickDelay(delaycount);
/* Send Message No.5 */
msg1.FrameType= DATA_FRAME;
msg1.IdType = CAN_EXT_ID;
msg1.Id = 0x7755;
msg1.DLC = 8;
msg1.Data[0] = 0x41;
msg1.Data[1] = 0x42;
msg1.Data[2] = 0x43;
msg1.Data[3] = 0x44;
msg1.Data[4] = 0x45;
msg1.Data[5] = 0x46;
msg1.Data[6] = 0x47;
msg1.Data[7] = 0x48;
CAN_BasicSendMsg(&msg1);
printf("Send EXT_ID:0x7755,Data[41,42,43,44,45,46,47,48]\n");
SYS_SysTickDelay(delaycount);
CAN_LeaveTestMode();
}