/**
* \brief Configure the Pushbuttons
*
* Configure the PIO as inputs and generate corresponding interrupt when
* pressed or released.
*/
void ConfigureButtons(void)
{
/* Configure pios as inputs. */
PIO_Configure(&pinPB1, 1);
PIO_Configure(&pinPB2, 1);
/* Adjust pio debounce filter patameters, uses 10 Hz filter. */
PIO_SetDebounceFilter(&pinPB1, 10);
PIO_SetDebounceFilter(&pinPB1, 10);
/* Initialize pios interrupt handlers, see PIO definition in board.h. */
PIO_ConfigureIt(&pinPB1, Button1_Handler); /* Interrupt on rising edge */
PIO_ConfigureIt(&pinPB2, Button2_Handler); /* Interrupt on falling edge */
/* Enable PIO controller IRQs. */
NVIC_EnableIRQ((IRQn_Type)pinPB1.id);
NVIC_EnableIRQ((IRQn_Type)pinPB2.id);
/* Enable PIO line interrupts. */
PIO_EnableIt(&pinPB1);
PIO_EnableIt(&pinPB2);
}
/**
* \brief getting-started Application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
extern int main(void)
{
uint32_t id_offset = 0;
uint32_t fifo_entries;
uint32_t button_state = BUTTON_PUSHED;
uint32_t button_state2 = BUTTON_NOT_PUSHED;
uint32_t can_mode = CAN_STANDARD;
/* Disable watchdog */
WDT_Disable(WDT);
/* Output example information */
printf("\n\r-- Controller Area Network (CAN) Example %s --\n\r",
SOFTPACK_VERSION);
printf("-- %s\n\r", BOARD_NAME);
printf("-- Compiled: %s %s --\n\r\n\r", __DATE__, __TIME__);
printf("-- LED0 toggles on CAN message reception\n\r");
printf("-- LED1 toggles on CAN message transmission\n\r");
printf("-- CAN message transmission stopped while SW0 is pushed\n\r");
printf("-- SW1 pushes alternate between standard CAN and CAN-FD\n\r");
SCB_EnableICache();
SCB_EnableDCache();
/* Configure systick for 1 ms. */
TimeTick_Configure();
/* Configure Board LED's */
LED_Configure(0);
#if 2 == LED_NUM
LED_Configure(1);
#endif
/* Configure Timer/Counter for 250msec Tick */
_ConfigureTc();
/* Configure Board Push-buttons */
// SW1 is a ERASE system function, switch it to port function
MATRIX->CCFG_SYSIO |= (1u << 12);
/* have to disable the pull down on PB12 for SW1 before the pull up can be
enabled */
PIOB->PIO_PPDDR = 1 << 12;
PIO_Configure(pushbutton, PIO_LISTSIZE(pushbutton));
/* Adjust pio denounce filter parameters, uses 10 Hz filter. */
PIO_SetDebounceFilter(&pushbutton[0], 10);
#if 2 == BUTTON_NUM
PIO_SetDebounceFilter(&pushbutton[1], 10000);
#endif
SystemCoreClockUpdate();
MCAN_Init(&mcan1Config);
MCAN_InitFdBitRateSwitchEnable(&mcan1Config);
MCAN_InitTxQueue(&mcan1Config);
MCAN_InitLoopback(&mcan1Config); // remove to disable loop back mode
MCAN_Enable(&mcan1Config);
MCAN_IEnableMessageStoredToRxDedBuffer(&mcan1Config, CAN_INTR_LINE_1);
txMailbox0 = (uint32_t *)MCAN_ConfigTxDedBuffer(&mcan1Config, TX_BUFFER_0,
MSG_ID_0, CAN_STD_ID, CAN_DLC_1);
txMailbox1 = (uint32_t *)MCAN_ConfigTxDedBuffer(&mcan1Config, TX_BUFFER_1,
MSG_ID_1, CAN_EXT_ID, CAN_DLC_8);
MCAN_ConfigRxBufferFilter(&mcan1Config, RX_BUFFER_0, FILTER_0, MSG_ID_0,
CAN_STD_ID);
MCAN_ConfigRxBufferFilter(&mcan1Config, RX_BUFFER_1, FILTER_0, MSG_ID_1,
CAN_EXT_ID);
MCAN_ConfigRxClassicFilter(&mcan1Config, CAN_FIFO_0, FILTER_1, MSG_ID_2,
CAN_STD_ID, MSG_ID_2_MASK);
while (1) {
if (tick) {
tick = 0;
if (PIO_Get(&pushbutton[0]) == BUTTON_NOT_PUSHED) {
if (button_state2 == BUTTON_NOT_PUSHED) {
/* periodically transmit messages while SW0 is not pushed */
// send standard ID from a dedicated buffer
*txMailbox0 = MSG_ID_0_DATA1; // write data into CAN mailbox
MCAN_SendTxDedBuffer(&mcan1Config, TX_BUFFER_0); // send data
txdCntr++;
// send extended ID from a dedicated buffer
*txMailbox1 = MSG_ID_1_DATA1_4; // write data into CAN mailbox
*(txMailbox1 + 1) = MSG_ID_1_DATA5_8; // write data into CAN mailbox
MCAN_SendTxDedBuffer(&mcan1Config, TX_BUFFER_1); // send the data
txdCntr++;
// send from Tx Queue
MCAN_AddToTxFifoQ(&mcan1Config, MSG_ID_2 + id_offset, CAN_STD_ID,
CAN_DLC_1, &txData[0]);
txdCntr++;
// increment the offset so we send different ID's within the
// range defined by the mask
id_offset = (id_offset + 1) & (uint32_t) ~MSG_ID_2_MASK;
// update data being sent for next time
txData[0]++;
button_state2 = BUTTON_NOT_PUSHED;
}
} else {
if (button_state2 == BUTTON_NOT_PUSHED)
button_state2 = BUTTON_PUSHED;
else
button_state2 = BUTTON_NOT_PUSHED;
}
}
/* poll for TX'd message complete */
if (MCAN_IsTxComplete(&mcan1Config)) {
MCAN_ClearTxComplete(&mcan1Config);
if (MCAN_IsBufferTxd(&mcan1Config, TX_BUFFER_0)) {
#if 2 == LED_NUM
LED_Toggle(1);
#endif
}
}
/* Poll for new CAN messages in RX FIFO */
do {
fifo_entries = MCAN_GetRxFifoBuffer(&mcan1Config, CAN_FIFO_0,
(Mailbox64Type *) &rxMailbox2);
if (fifo_entries > 0) rxdCntr++;
} while (fifo_entries > 1);
/* SW1 used to alternate between standard CAN and CAN-FD operation */
#if 2 == BUTTON_NUM
if (PIO_Get(&pushbutton[1]) == BUTTON_NOT_PUSHED) {
#else
if (1) {
#endif
button_state = BUTTON_NOT_PUSHED;
} else {
if (button_state == BUTTON_NOT_PUSHED ) {
// Switch on a NOT PUSHED to PUSHED edge
button_state = BUTTON_PUSHED;
if (can_mode == CAN_STANDARD) {
can_mode = CAN_FD;
MCAN_RequestFdBitRateSwitch( &mcan1Config );
} else {
can_mode = CAN_STANDARD;
MCAN_RequestIso11898_1( &mcan1Config );
}
}
}
#ifdef POLLKEYBOARD
/* poll for keyboard entry */
if (DBG_IsRxReady()) {
keyboard = DBG_GetChar();
if (((char) keyboard == 'L' ) || ( (char) keyboard == 'l')) {
if (loopback == 1) {
MCAN_LoopbackOff(&mcan1Config);
loopback = 0;
} else {
MCAN_LoopbackOn(&mcan1Config);
loopback = 1;
}
}
}
#endif
}
}
