u32 platform_can_setup( unsigned id, u32 clock )
{
LPC_CAN_TypeDef * canx;
uint32_t div;
switch (id)
{
case 0: canx = LPC_CAN1; break;
case 1: canx = LPC_CAN2; break;
default: return 0;
}
CAN_DeInit(canx);
CAN_Init(canx, clock);
CAN_ModeConfig(canx, CAN_OPERATING_MODE, ENABLE);
CAN_IRQCmd(canx, CANINT_RIE, ENABLE); // Receive IRQ
CAN_IRQCmd(canx, CANINT_EIE, ENABLE); // Error IRQ
CAN_IRQCmd(canx, CANINT_BEIE, ENABLE); // Bus error IRQ
LPC_CANAF->AFMR = 2; // Filter bypass (receive all messages)
NVIC_EnableIRQ(CAN_IRQn); // Enable IRQs
// Fix clock
LPC_SC->PCLKSEL0 &= ~(3<<26 | 3<<28 | 3<<30); // PCLK / 2
LPC_SC->PCLKSEL0 |= (2<<26 | 2<<28 | 2<<30);
div = (SystemCoreClock / 20) / clock;
div --;
canx->MOD = 0x01; // Enter reset mode
canx->BTR = (div & 0x3FF) | (3<<14) | (5<<16) | (2<<20) ; // Set bit timing
canx->MOD = 0; // Return to normal operating
// Change pin function (for now using the MBED ones)
// And read clock divider
if (id == 0)
{
// Pin function
LPC_PINCON->PINSEL0 &= ~(3<<0 | 3<<2);
LPC_PINCON->PINSEL0 |= (1<<0 | 1<<2);
// No pull up / pull down
LPC_PINCON->PINMODE0 &= ~(3<<0 | 3<<2);
LPC_PINCON->PINMODE0 |= (2<<0 | 2<<2);
// NOT open drain
LPC_PINCON->PINMODE_OD0 &= ~(1<<0 | 1<<1);
}
else
{
LPC_PINCON->PINSEL0 &= ~(3<<8 | 3<<10);
LPC_PINCON->PINSEL0 |= (2<<8 | 2<<10);
// No pull up / pull down
LPC_PINCON->PINMODE0 &= ~(3<<8 | 3<<10);
LPC_PINCON->PINMODE0 |= (2<<8 | 2<<10);
// NOT open drain
LPC_PINCON->PINMODE_OD0 &= ~(1<<4 | 1<<5);
}
return (SystemCoreClock / 20) / ((div & 0x3FF)+1);
}
/*********************************************************************//**
* @brief c_entry: Main CAN program body
* @param[in] none
* @return none
**********************************************************************/
void c_entry(void)
{
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
print_menu();
/* Initialize CAN1 peripheral
* Note: Self-test mode doesn't require pin selection
*/
CAN_Init(_USING_CAN_NO, 125000);
//Enable self-test mode
CAN_ModeConfig(_USING_CAN_NO, CAN_SELFTEST_MODE, ENABLE);
//Enable Interrupt
CAN_IRQCmd(_USING_CAN_NO, CANINT_RIE, ENABLE);
CAN_IRQCmd(_USING_CAN_NO, CANINT_TIE1, ENABLE);
//Enable CAN Interrupt
NVIC_EnableIRQ(CAN_IRQn);
CAN_SetAFMode(CAN_ACC_BP);
CAN_InitMessage();
_DBG_("Transmitted buffer:");
PrintMessage(&TXMsg);
/** To test Bypass Mode: we send infinite messages to CAN2 and check
* receive process via COM1
*/
CAN_SendMsg(_USING_CAN_NO, &TXMsg);
#if (_USING_CAN_NO == CAN_1)
LPC_CAN1->CMR |=(1<<4); //Self Reception Request
#else
LPC_CAN2->CMR |=(1<<4);
#endif
while (1);
}
/*********************************************************************//**
* @brief c_entry: Main CAN program body
* @param[in] none
* @return int
**********************************************************************/
int c_entry(void) { /* Main Program */
PINSEL_CFG_Type PinCfg;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
print_menu();
/* Pin configuration
* CAN1: select P0.0 as RD1. P0.1 as TD1
* CAN2: select P2.7 as RD2, P2.8 as RD2
*/
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 0;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 1;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 7;
PinCfg.Portnum = 2;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 8;
PINSEL_ConfigPin(&PinCfg);
//Initialize CAN1 & CAN2
CAN_Init(LPC_CAN1, 125000);
CAN_Init(LPC_CAN2, 125000);
//Enable Interrupt
CAN_IRQCmd(LPC_CAN2, CANINT_RIE, ENABLE);
//Enable CAN Interrupt
NVIC_EnableIRQ(CAN_IRQn);
_DBG_("CAN test Bypass Mode function...");
_DBG_("Press '1' to initialize CAN message...");_DBG_("");
while(_DG !='1');
CAN_SetAFMode(LPC_CANAF,CAN_AccBP);
CAN_InitMessage();
PrintMessage(&TXMsg);
_DBG_("Message ID and data will be increased continuously...");
_DBG_("Press '2' to start CAN operation...");
while(_DG !='2');
/** To test Bypass Mode: we send infinite messages to CAN2 and check
* receive process via COM1
*/
CAN_SendMsg(LPC_CAN1, &TXMsg);
while (1);
}
/*********************************************************************//**
* @brief c_entry: Main CAN program body
* @param[in] none
* @return int
**********************************************************************/
int c_entry(void) { /* Main Program */
uint32_t i;
uint32_t cnt;
CAN_ERROR error;
PINSEL_CFG_Type PinCfg;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
print_menu();
/* Pin configuration
* CAN1: select P0.0 as RD1. P0.1 as TD1
* CAN2: select P2.7 as RD2, P2.8 as RD2
*/
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 0;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 1;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 7;
PinCfg.Portnum = 2;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 8;
PINSEL_ConfigPin(&PinCfg);
//Initialize CAN1 & CAN2
CAN_Init(LPC_CAN1, 125000);
CAN_Init(LPC_CAN2, 125000);
//Enable Receive Interrupt
CAN_IRQCmd(LPC_CAN2, CANINT_FCE, ENABLE);
CAN_IRQCmd(LPC_CAN2, CANINT_RIE, ENABLE);
//Enable CAN Interrupt
NVIC_EnableIRQ(CAN_IRQn);
/* First, we send 10 messages:
* - message 0,2,4,6,8 have id in AFLUT >>> will be received
* - message 1,3,5,7,9 don't have id in AFLUT >>> will be ignored
* Then, we change AFLUT by load/remove entries in AFLUT and re-send messages
* - message 1,3,5,7,9 have id in AFLUT >>> will be received
* - message 0,2,4,6,8 don't have id in AFLUT >>> will be ignored
* Note that: FullCAN Object must be read from FullCAN Object Section next to AFLUT
*/
/*-------------------------Init Message & AF Look-up Table------------------------*/
_DBG_("Test Acceptance Filter function...");
_DBG_("Press '1' to initialize message and AF Loop-up Table...");_DBG_("");
while(_DG !='1');
CAN_InitAFMessage(); /* initialize Transmit Message */
_DBG_("Init message finished!!!");
CAN_SetupAFTable(); /* initialize AF Look-up Table sections*/
error = CAN_SetupAFLUT(LPC_CANAF,&AFTable); /* install AF Look-up Table */
if (error != CAN_OK) {
_DBG_("Setup AF: ERROR...");
while (1); // AF Table has error
}
else _DBG_("Setup AF: SUCCESSFUL!!!");_DBG_("");
/*-------------------------Send messages------------------------*/
_DBG_("Press '2' to start CAN transferring operation...");_DBG_("");
while(_DG !='2');
for (i = 0; i < CAN_TX_MSG_CNT; i++) {
CAN_SendMsg(LPC_CAN1, &AFTxMsg[i]);
PrintMessage(&AFTxMsg[i]);_DBG_("");
for(cnt=0;cnt<10000;cnt++); //transmit delay
CANTxCount++;
}
_DBG_("Sending finished !!!");
/*-------------------------Display Received messages------------------------*/
_DBG_("Press '3' to display received messages...");_DBG_("");
while(_DG !='3');
for (i = 0; i < CAN_RX_MSG_CNT; i++) {
PrintMessage(&AFRxMsg[i]);_DBG_("");
}
/*-------------------------Change AFLUT Table --------------------*/
_DBG_("Press '4' to change AF look-up table...");_DBG_("");
while(_DG !='4');
CAN_ChangeAFTable();
_DBG_("Change AFLUT: FINISHED!!!");
CAN_SetAFMode(LPC_CANAF, CAN_eFCAN);
CAN_InitAFMessage();
CANRxCount = CANTxCount = 0;
/*-------------------------Re-Send messages------------------------*/
_DBG_("Press '5' to re-send messages...");_DBG_("");
while(_DG !='5');
for (i = 0; i < CAN_TX_MSG_CNT; i++) {
CAN_SendMsg(LPC_CAN1, &AFTxMsg[i]);
PrintMessage(&AFTxMsg[i]);_DBG_("");
for(cnt=0;cnt<10000;cnt++); //transmit delay
CANTxCount++;
}
/*-------------------------Display received messages------------------------*/
_DBG_("Re-Sending finished !!!");
_DBG_("Press '6' to display received messages...");_DBG_("");
while(_DG !='6');
for (i = 0; i < CAN_RX_MSG_CNT; i++) {
PrintMessage(&AFRxMsg[i]);_DBG_("");
}
_DBG_("Demo terminal !!!");
CAN_DeInit(LPC_CAN1);
CAN_DeInit(LPC_CAN2);
while (1);
return 0;
}
/*********************************************************************//**
THE MAIN CAN BODY
**********************************************************************/
int c_entry(void) { /* Main Program */
uint32_t i;
uint32_t cnt;
CAN_ERROR error;
CAN_PinCFG_Type CAN1PinStruct, CAN2PinStruct;
NVIC_DeInit();
NVIC_SCBDeInit();
/* Configure the NVIC Preemption Priority Bits:
* two (2) bits of preemption priority, six (6) bits of sub-priority.
* Since the Number of Bits used for Priority Levels is five (5), so the
* actual bit number of sub-priority is three (3)
*/
NVIC_SetPriorityGrouping(0x06);
// Set Vector table offset value
#if (__RAM_MODE__==1)
NVIC_SetVTOR(0x10000000);
#else
NVIC_SetVTOR(0x00000000);
#endif
debug_frmwrk_init();
print_menu();
/* Pin Configuration */
CAN1PinStruct.RD = CAN_RD1_P0_0;
CAN1PinStruct.TD = CAN_TD1_P0_1;
CAN2PinStruct.RD = CAN_RD2_P2_7;
CAN2PinStruct.TD = CAN_TD2_P2_8;
PINSEL_ConfigPin((PINSEL_CFG_Type *) (&can_rd1_pin[CAN1PinStruct.RD]));
PINSEL_ConfigPin((PINSEL_CFG_Type *) (&can_td1_pin[CAN1PinStruct.TD]));
PINSEL_ConfigPin((PINSEL_CFG_Type *) (&can_rd2_pin[CAN2PinStruct.RD]));
PINSEL_ConfigPin((PINSEL_CFG_Type *) (&can_td2_pin[CAN2PinStruct.TD]));
//Initialize CAN1 & CAN2
CAN_Init(LPC_CAN1, 125000);
CAN_Init(LPC_CAN2, 125000);
//Enable Receive Interrupt
CAN_IRQCmd(LPC_CAN2, CANINT_FCE, ENABLE);
CAN_IRQCmd(LPC_CAN2, CANINT_RIE, ENABLE);
CAN_IRQCmd(LPC_CAN2, CANINT_DOIE, ENABLE);
CAN_SetupCBS(CANINT_FCE, CAN_Callback0);
CAN_SetupCBS(CANINT_RIE, CAN_Callback1);
CAN_SetupCBS(CANINT_DOIE, CAN_Callback2);
//Enable CAN Interrupt
NVIC_EnableIRQ(CAN_IRQn);
/* First, we send 10 messages:
* - message 0,2,4,6,8 have id in AFLUT >>> will be received
* - message 1,3,5,7,9 don't have id in AFLUT >>> will be ignored
* Then, we change AFLUT by load/remove entries in AFLUT and re-send messages
* - message 1,3,5,7,9 have id in AFLUT >>> will be received
* - message 0,2,4,6,8 don't have id in AFLUT >>> will be ignored
* Note that: FullCAN Object must be read from FullCAN Object Section next to AFLUT
*/
/*-------------------------Init Message & AF Look-up Table------------------------*/
_DBG_("Test Acceptance Filter function...");
_DBG_("Press '1' to initialize message and AF Loop-up Table...");_DBG_("");
while(_DG !='1');
CAN_InitAFMessage(); /* initialize Transmit Message */
_DBG_("Init message finished!!!");
CAN_SetupAFTable(); /* initialize AF Look-up Table sections*/
error = CAN_SetupAFLUT(LPC_CANAF,&AFTable); /* install AF Look-up Table */
if (error != CAN_OK) {
_DBG_("Setup AF: ERROR...");
while (1); // AF Table has error
}
else _DBG_("Setup AF: SUCCESSFUL!!!");_DBG_("");
/*-------------------------Send messages------------------------*/
_DBG_("Press '2' to start CAN transferring operation...");_DBG_("");
while(_DG !='2');
for (i = 0; i < CAN_TX_MSG_CNT; i++) {
CAN_SendMsg(LPC_CAN1, &AFTxMsg[i]);
PrintMessage(&AFTxMsg[i]);_DBG_("");
for(cnt=0;cnt<10000;cnt++); //transmit delay
CANTxCount++;
}
_DBG_("Sending finished !!!");
/*-------------------------Display Received messages------------------------*/
_DBG_("Press '3' to display received messages...");_DBG_("");
while(_DG !='3');
for (i = 0; i < CAN_RX_MSG_CNT; i++) {
PrintMessage(&AFRxMsg[i]);_DBG_("");
}
/*-------------------------Change AFLUT Table --------------------*/
_DBG_("Press '4' to change AF look-up table...");_DBG_("");
while(_DG !='4');
CAN_ChangeAFTable();
_DBG_("Change AFLUT: FINISHED!!!");
CAN_SetAFMode(LPC_CANAF, CAN_eFCAN);
CAN_InitAFMessage();
CANRxCount = CANTxCount = 0;
/*-------------------------Re-Send messages------------------------*/
_DBG_("Press '5' to re-send messages...");_DBG_("");
while(_DG !='5');
for (i = 0; i < CAN_TX_MSG_CNT; i++) {
CAN_SendMsg(LPC_CAN1, &AFTxMsg[i]);
PrintMessage(&AFTxMsg[i]);_DBG_("");
for(cnt=0;cnt<10000;cnt++); //transmit delay
CANTxCount++;
}
/*-------------------------Display received messages------------------------*/
_DBG_("Re-Sending finished !!!");
_DBG_("Press '6' to display received messages...");_DBG_("");
while(_DG !='6');
for (i = 0; i < CAN_RX_MSG_CNT; i++) {
PrintMessage(&AFRxMsg[i]);_DBG_("");
}
_DBG_("Demo terminal !!!");
CAN_DeInit(LPC_CAN1);
CAN_DeInit(LPC_CAN2);
while (1);
return 0;
}
/*********************************************************************//**
* @brief c_entry: Main CAN program body
* @param[in] none
* @return none
**********************************************************************/
void c_entry(void)
{
uint32_t i;
volatile uint32_t cnt;
CAN_ERROR error;
CANRxCount = CANTxCount = 0;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
print_menu();
/* Pin configuration
* CAN1: select P0.0 as RD1. P0.1 as TD1
* CAN2: select P0.4 as RD2, P0.5 as RD2
*/
PINSEL_ConfigPin (0, 0, 1);
PINSEL_ConfigPin (0, 1, 1);
#if (RECVD_CAN_NO != CAN_1)
PINSEL_ConfigPin (0, 4, 2);
PINSEL_ConfigPin (0, 5, 2);
#endif
//Initialize CAN1 & CAN2
CAN_Init(CAN_1, 125000);
#if (RECVD_CAN_NO != CAN_1)
CAN_Init(RECVD_CAN_NO, 125000);
#endif
//Enable Receive Interrupt
CAN_IRQCmd(RECVD_CAN_NO, CANINT_FCE, ENABLE);
CAN_IRQCmd(RECVD_CAN_NO, CANINT_RIE, ENABLE);
//Enable CAN Interrupt
NVIC_EnableIRQ(CAN_IRQn);
/* First, we send 10 messages:
* - message 0,2,4,6,8 have id in AFLUT >>> will be received
* - message 1,3,5,7,9 don't have id in AFLUT >>> will be ignored
* Then, we change AFLUT by load/remove entries in AFLUT and re-send messages
* - message 1,3,5,7,9 have id in AFLUT >>> will be received
* - message 0,2,4,6,8 don't have id in AFLUT >>> will be ignored
* Note that: FullCAN Object must be read from FullCAN Object Section next to AFLUT
*/
/*-------------------------Init Message & AF Look-up Table------------------------*/
_DBG_("Test Acceptance Filter function...");
_DBG_("Press '1' to initialize message and AF Loop-up Table...");_DBG_("");
while(_DG !='1');
/* initialize Transmit Message */
CAN_InitAFMessage();
_DBG_("Init message finished!!!");
/* initialize AF Look-up Table sections*/
CAN_SetupAFTable();
/* install AF Look-up Table */
error = CAN_SetupAFLUT(&AFTable);
if (error != CAN_OK)
{
_DBG_("Setup AF: ERROR...");
while (1); // AF Table has error
}
else
{
_DBG_("Setup AF: SUCCESSFUL!!!");_DBG_("");
}
/*-------------------------Send messages------------------------*/
_DBG_("Press '2' to start CAN transferring operation...");_DBG_("");
while(_DG !='2');
for (i = 0; i < CAN_TX_MSG_CNT; i++)
{
CAN_SendMsg(CAN_1, (CAN_MSG_Type *)&AFTxMsg[i]);
PrintMessage((CAN_MSG_Type *)&AFTxMsg[i]);_DBG_("");
for(cnt=0;cnt<10000;cnt++); //transmit delay
CANTxCount++;
}
_DBG_("Sending finished !!!");_DBG_("");
if(CANRxCount == 0)
{
_DBG_(">>> No message is recieved. Please check the connection between 2 CANs!!!");_DBG_("");
}
/*-------------------------Display Received messages------------------------*/
_DBG_("Press '3' to display received messages...");_DBG_("");
while(_DG !='3');
for (i = 0; i < CAN_RX_MSG_CNT; i++)
{
PrintMessage((CAN_MSG_Type *)&AFRxMsg[i]);_DBG_("");
}
/*-------------------------Change AFLUT Table --------------------*/
_DBG_("Press '4' to change AF look-up table...");_DBG_("");
while(_DG !='4');
CAN_ChangeAFTable();
_DBG_("Change AFLUT: FINISHED!!!");
//CAN_SetAFMode(LPC_CANAF, CAN_eFCAN);
CAN_SetAFMode(CAN_EFCAN);
CAN_InitAFMessage();
CANRxCount = CANTxCount = 0;
/*-------------------------Re-Send messages------------------------*/
_DBG_("Press '5' to re-send messages...");_DBG_("");
while(_DG !='5');
for (i = 0; i < CAN_TX_MSG_CNT; i++)
{
CAN_SendMsg(CAN_1, (CAN_MSG_Type *)&AFTxMsg[i]);
PrintMessage((CAN_MSG_Type *)&AFTxMsg[i]);_DBG_("");
for(cnt=0;cnt<10000;cnt++); //transmit delay
CANTxCount++;
}
/*-------------------------Display received messages------------------------*/
_DBG_("Re-Sending finished !!!");_DBG_("");
if(CANRxCount == 0)
{
_DBG_(">>> No message is recieved. Please check the connection between 2 CANs!!!");_DBG_("");
}
_DBG_("Press '6' to display received messages...");_DBG_("");
while(_DG !='6');
for (i = 0; i < CAN_RX_MSG_CNT; i++)
{
PrintMessage((CAN_MSG_Type *)&AFRxMsg[i]);_DBG_("");
}
_DBG_("Demo terminal !!!");
CAN_DeInit(CAN_1);
#if (RECVD_CAN_NO != CAN_1)
CAN_DeInit(CAN_2);
#endif
while (1);
}
