// RTX에서 CAN을 활성화 시킬 때 사용
// 외부에서 사용됨
void StartCAN(void)
{
printf("\n>>> Initialize CAN hardware ... ");
//------ set CAN card hardware setting
if(InitCANHW() != ERR_OK )
{
RtWprintf(L"\n>>> Hardware initialization error occurred !!");
ExitProcess(1);
}
CAN[0].old_irq = CAN[1].old_irq = IRQ_POLLING;
if(InitCAN(0, BAUD_1M) != ERR_OK) ExitProcess(1);
if(InitCAN(1, BAUD_1M) != ERR_OK) ExitProcess(1);
InitMB(); // Initialize CAN message buffer
RtWprintf(L"\n>>> CAN initialization O.K. ");
}
void RtxInit(void)
{
unsigned long temp;
LARGE_INTEGER physAddr;
LARGE_INTEGER waiting;
LARGE_INTEGER liPeriod;
LARGE_INTEGER waiting2;
LARGE_INTEGER liPeriod2;
// Shared memory
hSharedMemory = RtOpenSharedMemory(
SHM_MAP_WRITE, // access mode
FALSE, // don't care
L"Can Shared Data", // name of shared memory
(VOID **)&pSharedMemory); // shared memory data address
if (hSharedMemory == NULL)
{
RtWprintf(L"\n>>> RtOpenSharedMemory error = %d\n", GetLastError());
ExitProcess(1);
}
else RtWprintf(L"\n>>> RtOpenSharedMemory is OK..!!");
// Memory mapping
temp = baseAddr;
temp = temp << 4;
physAddr.QuadPart = temp;
vAddress = RtMapMemory(physAddr, 0xDFFF, 1);
if(vAddress==NULL) RtWprintf(L"\n>>> Failure on RtMapMemory..!\n");
else;
// Timer for 2 msec (500 Hz)
liPeriod.QuadPart = timeInt;
waiting.QuadPart = 30000000;
if (! (hTimer = RtCreateTimer(
NULL, // security
0, // stack size - 0 uses default
TimerHandler, // timer handler
NULL, // NULL context (argument to handler)
RT_PRIORITY_MAX, // priority
CLOCK_2) )) // RTX HAL timer
{
RtWprintf(L"\n>>> RtCreateTimer for 2 msec (500 Hz) error = %d\n", GetLastError());
ExitProcess(1);
}
else;
if (! RtSetTimerRelative( hTimer, // hTimer
&waiting, // pExpiration
&liPeriod) ) // pInterval
{
RtWprintf(L"\n>>> RtSetTimerRelative error (2 msec or 500 Hz= %d\n",GetLastError());
ExitProcess(1);
}
else;
// Timer for 4 msec (100 Hz)
liPeriod2.QuadPart = timeInt2;
waiting2.QuadPart = 30000000+timeInt;
if (! (hTimer2 = RtCreateTimer(
NULL, // security
0, // stack size - 0 uses default
TimerHandler2, // timer handler
NULL, // NULL context (argument to handler)
RT_PRIORITY_MAX-1, // priority
CLOCK_2) )) // RTX HAL timer
{
RtWprintf(L"\n>>> RtCreateTimer for 10 msec (100 Hz) error = %d\n", GetLastError());
ExitProcess(1);
}
else;
if (! RtSetTimerRelative( hTimer2, // hTimer
&waiting2, // pExpiration
&liPeriod2) ) // pInterval
{
RtWprintf(L"\n>>> RtSetTimerRelative error (10 msec or 100 Hz= %d\n",GetLastError());
ExitProcess(1);
}
else;
}
