void can_monitor(can_t *obj, int silent) {
uint32_t mod_mask = can_disable(obj);
if (silent) {
obj->dev->MOD |= (1 << 1);
} else {
obj->dev->MOD &= ~(1 << 1);
}
if (!(mod_mask & 1)) {
can_enable(obj);
}
}
/**
* @brief Enables the interrupt type passed to the desired CAN device.
*
* @param number The CAN device to enable the interrupts.
* @param type The type of interrupt to enable.
*/
static inline void can_enable_interrupt(
const lpc176x_can_number number,
const can_irq_type type
)
{
const can_driver_entry *const driver = &can_driver_table[ number ];
const uint32_t ier = 1 << type;
can_disable( driver );
driver->device->IER |= ier;
can_enable( driver );
}
int can_frequency(can_t *obj, int f) {
int pclk = PeripheralClock;
int btr = can_speed(pclk, (unsigned int)f, 1);
if (btr > 0) {
uint32_t modmask = can_disable(obj);
obj->dev->BTR = btr;
obj->dev->MOD = modmask;
return 1;
} else {
return 0;
}
}
/**
* @brief Configures the desired CAN device with the desired frequency.
*
* @param obj The can device to configure.
* @param f The desired frequency.
*
* @return RTEMS_SUCCESSFUL if could be set, RTEMS_INVALID_NUMBER otherwise.
*/
static rtems_status_code can_frequency(
const can_driver_entry *const obj,
const can_freq freq
)
{
rtems_status_code sc = RTEMS_INVALID_NUMBER;
const uint32_t btr = can_speed( LPC176X_CCLK, LPC176X_PCLKDIV, freq, 1 );
if ( btr != WRONG_BTR_VALUE ) {
sc = RTEMS_SUCCESSFUL;
uint32_t modmask = can_disable( obj );
obj->device->BTR = btr;
obj->device->MOD = modmask;
} /*else couldnt found a good timing for the desired frequency,
return RTEMS_INVALID_NUMBER.*/
return sc;
}
int can_mode(can_t *obj, CanMode mode) {
int success = 0;
switch (mode) {
case MODE_RESET:
LPC_C_CAN0->CANCNTL &=~CANCNTL_TEST;
can_disable(obj);
success = 1;
break;
case MODE_NORMAL:
LPC_C_CAN0->CANCNTL &=~CANCNTL_TEST;
can_enable(obj);
success = 1;
break;
case MODE_SILENT:
LPC_C_CAN0->CANCNTL |= CANCNTL_TEST;
LPC_C_CAN0->CANTEST |= CANTEST_SILENT;
LPC_C_CAN0->CANTEST &=~ CANTEST_LBACK;
success = 1;
break;
case MODE_TEST_LOCAL:
LPC_C_CAN0->CANCNTL |= CANCNTL_TEST;
LPC_C_CAN0->CANTEST &=~CANTEST_SILENT;
LPC_C_CAN0->CANTEST |= CANTEST_LBACK;
success = 1;
break;
case MODE_TEST_SILENT:
LPC_C_CAN0->CANCNTL |= CANCNTL_TEST;
LPC_C_CAN0->CANTEST |= (CANTEST_LBACK | CANTEST_SILENT);
success = 1;
break;
case MODE_TEST_GLOBAL:
default:
success = 0;
break;
}
return success;
}
void can_reset(can_t *obj) {
can_disable(obj);
obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset
}
/**
* @brief Resets the error count.
*
* @param obj which device reset.
*/
static inline void can_reset( const can_driver_entry *const obj )
{
can_disable( obj );
obj->device->GSR = 0; /* Reset error counter when CANxMOD is in reset*/
}
/**
* \brief can_example application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint32_t ul_sysclk;
uint8_t uc_char;
/* Initialize the SAM system. */
sysclk_init();
board_init();
/* Configure UART for debug message output. */
configure_console();
/* Output example information. */
puts(STRING_HEADER);
/* Initialize CAN0 Transceiver. */
sn65hvd234_set_rs(&can0_transceiver, PIN_CAN0_TR_RS_IDX);
sn65hvd234_set_en(&can0_transceiver, PIN_CAN0_TR_EN_IDX);
/* Enable CAN0 Transceiver. */
sn65hvd234_disable_low_power(&can0_transceiver);
sn65hvd234_enable(&can0_transceiver);
/* Initialize CAN1 Transceiver. */
sn65hvd234_set_rs(&can1_transceiver, PIN_CAN1_TR_RS_IDX);
sn65hvd234_set_en(&can1_transceiver, PIN_CAN1_TR_EN_IDX);
/* Enable CAN1 Transceiver. */
sn65hvd234_disable_low_power(&can1_transceiver);
sn65hvd234_enable(&can1_transceiver);
/* Enable CAN0 & CAN1 clock. */
pmc_enable_periph_clk(ID_CAN0);
pmc_enable_periph_clk(ID_CAN1);
ul_sysclk = sysclk_get_cpu_hz();
if (can_init(CAN0, ul_sysclk, CAN_BPS_1000K) &&
can_init(CAN1, ul_sysclk, CAN_BPS_1000K)) {
puts("CAN initialization is completed." STRING_EOL);
/* Disable all CAN0 & CAN1 interrupts. */
can_disable_interrupt(CAN0, CAN_DISABLE_ALL_INTERRUPT_MASK);
can_disable_interrupt(CAN1, CAN_DISABLE_ALL_INTERRUPT_MASK);
/* Configure and enable interrupt of CAN1, as the tests will use receiver interrupt. */
NVIC_EnableIRQ(CAN1_IRQn);
/* Run tests. */
puts("Press any key to start test" STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_1();
g_ul_recv_status = 0;
puts("Press any key to continue..." STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_2();
g_ul_recv_status = 0;
puts("Press any key to continue..." STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_3();
g_ul_recv_status = 0;
puts("Press any key to continue..." STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_4();
g_ul_recv_status = 0;
/* Disable CAN0 Controller */
can_disable(CAN0);
/* Disable CAN0 Transceiver */
sn65hvd234_enable_low_power(&can0_transceiver);
sn65hvd234_disable(&can0_transceiver);
/* Disable CAN1 Controller */
can_disable(CAN1);
/* Disable CAN1 Transceiver */
sn65hvd234_enable_low_power(&can1_transceiver);
sn65hvd234_disable(&can1_transceiver);
puts("End of all tests" STRING_EOL);
} else {
puts("CAN initialization (sync) ERROR" STRING_EOL);
}
while (1) {
}
}
