void CAN1Init(void)
{
CAN_BIT_CONFIG canBitConfig;
UINT baudPrescalar;
CANEnableModule(CAN1, TRUE);
CANSetOperatingMode(CAN1, CAN_CONFIGURATION);
while(CANGetOperatingMode(CAN1) != CAN_CONFIGURATION);
// Standard Values
canBitConfig.phaseSeg2Tq = CAN_BIT_3TQ;
canBitConfig.phaseSeg1Tq = CAN_BIT_5TQ;
canBitConfig.propagationSegTq = CAN_BIT_1TQ;
canBitConfig.phaseSeg2TimeSelect = TRUE;
canBitConfig.sample3Time = TRUE;
canBitConfig.syncJumpWidth = CAN_BIT_1TQ;
// Set speed to 1Mbit/s
CANSetSpeed(CAN1, &canBitConfig, SYSTEM_FREQ, CAN_BUS_SPEED);
// 256 bytes of storage space
CANAssignMemoryBuffer(CAN1, CAN1MessageFifoArea, (2*8*16));
CANConfigureChannelForTx(CAN1, CAN_CHANNEL0, 8, CAN_TX_RTR_DISABLED,
CAN_LOW_MEDIUM_PRIORITY);
CANConfigureChannelForRx(CAN1, CAN_CHANNEL1, 8, CAN_RX_FULL_RECEIVE);
CANConfigureFilter(CAN1, CAN_FILTER0, 0x5F1, CAN_SID);
CANConfigureFilterMask(CAN1, CAN_FILTER_MASK0, 0x7FF, CAN_SID, CAN_FILTER_MASK_IDE_TYPE);
CANLinkFilterToChannel(CAN1, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);
CANEnableFilter(CAN1, CAN_FILTER0, TRUE);
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
CANEnableModuleEvent(CAN1, CAN_RX_EVENT, TRUE);
INTSetVectorPriority(INT_CAN_1_VECTOR, INT_PRIORITY_LEVEL_4);
INTSetVectorSubPriority(INT_CAN_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_CAN1, INT_ENABLED);
CANSetOperatingMode(CAN1, CAN_NORMAL_OPERATION);
while(CANGetOperatingMode(CAN1) != CAN_NORMAL_OPERATION);
}
static ALWAYSINLINE MUST_CHECK s32
nu_switch_module_mode(const struct nu__Can *c, CAN_OP_MODE op_mode, u32 timeout_ms)
{
u32 start = nu__Timer__us();
CANSetOperatingMode(c->module, op_mode);
while (nu__Timer__us() - start < timeout_ms*1000)
if (CANGetOperatingMode(c->module) == op_mode)
return 0;
return -ETIMEOUT;
}
void CAN1Init(void)
{
CAN_BIT_CONFIG canBitConfig;
/* This function will intialize
* CAN1 module. */
/* Step 1: Switch the CAN module
* ON and switch it to Configuration
* mode. Wait till the switch is
* complete */
CANEnableModule(CAN1,TRUE);
CANSetOperatingMode(CAN1, CAN_CONFIGURATION);
while(CANGetOperatingMode(CAN1) != CAN_CONFIGURATION);
/* Step 2: Configure the CAN Module Clock. The
* CAN_BIT_CONFIG data structure is used
* for this purpose. The propagation segment,
* phase segment 1 and phase segment 2
* are configured to have 3TQ. The
* CANSetSpeed function sets the baud.*/
canBitConfig.phaseSeg2Tq = CAN_BIT_3TQ;
canBitConfig.phaseSeg1Tq = CAN_BIT_3TQ;
canBitConfig.propagationSegTq = CAN_BIT_3TQ;
canBitConfig.phaseSeg2TimeSelect = TRUE;
canBitConfig.sample3Time = TRUE;
canBitConfig.syncJumpWidth = CAN_BIT_2TQ;
CANSetSpeed(CAN1,&canBitConfig,SYSTEM_FREQ,CAN_BUS_SPEED);
/* Step 3: Assign the buffer area to the
* CAN module.
*/
CANAssignMemoryBuffer(CAN1,CAN1MessageFifoArea,(2 * 8 * 16));
/* Step 4: Configure channel 0 for TX and size of
* 8 message buffers with RTR disabled and low medium
* priority. Configure channel 1 for RX and size
* of 8 message buffers and receive the full message.
*/
CANConfigureChannelForTx(CAN1, CAN_CHANNEL0, 8, CAN_TX_RTR_DISABLED, CAN_LOW_MEDIUM_PRIORITY);
CANConfigureChannelForRx(CAN1, CAN_CHANNEL1, 8, CAN_RX_FULL_RECEIVE);
/* Step 5: Configure filters and mask. Configure
* filter 0 to accept EID messages with ID 0x0.
* Configure filter mask 0 to compare none of the ID
* bits and to filter by the ID type specified in
* the filter configuration. Messages accepted by
* filter 0 should be stored in channel 1. */
//CANConfigureFilter (CAN1, CAN_FILTER0, 0x201, CAN_SID);
CANConfigureFilter(CAN1, CAN_FILTER0, 0x0, CAN_EID);
//The following Filter mask allows the program to listen for all CAN_EIDs change 0x0
//(the third parameter in CANConfigureFilterMask) to compare bits to mask
CANConfigureFilterMask (CAN1, CAN_FILTER_MASK0, 0x0, CAN_EID, CAN_FILTER_MASK_IDE_TYPE);
CANLinkFilterToChannel (CAN1, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);
CANEnableFilter (CAN1, CAN_FILTER0, TRUE);
/* Step 6: Enable interrupt and events. Enable the receive
* channel not empty event (channel event) and the receive
* channel event (module event).
* The interrrupt peripheral library is used to enable
* the CAN interrupt to the CPU. */
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
CANEnableModuleEvent (CAN1, CAN_RX_EVENT, TRUE);
/* These functions are from interrupt peripheral
* library. */
INTSetVectorPriority(INT_CAN_1_VECTOR, INT_PRIORITY_LEVEL_4);
INTSetVectorSubPriority(INT_CAN_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_CAN1, INT_ENABLED);
/* Step 7: Switch the CAN mode
* to normal mode. */
CANSetOperatingMode(CAN1, CAN_NORMAL_OPERATION);
while(CANGetOperatingMode(CAN1) != CAN_NORMAL_OPERATION);
}