uint32_t can_init_mailboxes(uint32_t x)
{
/* Init CAN0 Mailbox 7 to Transmit Mailbox. */
/* CAN0 MB7 == COMMAND/MSG MB */
//configASSERT(x); //Check if this function was called naturally.
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = 7; //Mailbox Number 7
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = 5; //Transmission Priority (Can be Changed dynamically)
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Init CAN1 Mailbox 0 to Reception Mailbox. */
reset_mailbox_conf(&can1_mailbox);
can1_mailbox.ul_mb_idx = 0; // Mailbox 0
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MID_MIDvA_Msk | CAN_MID_MIDvB_Msk; // Compare the full 11 bits of the ID in both standard and extended.
can1_mailbox.ul_id = CAN_MID_MIDvA(NODE0_ID); // The ID of CAN1 MB0 is currently NODE0_ID (standard).
can_mailbox_init(CAN1, &can1_mailbox);
can_enable_interrupt(CAN1, CAN_IER_MB0);
/* Init CAN0 Mailbox 6 to Housekeeping Request Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = 6; //Mailbox Number 6
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = HK_REQUEST_PRIO; //Transmission Priority (Can be Changed dynamically)
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
return 1;
}
/**
* \brief Test the communication between CAN1 Mailbox 3 and CAN0 Mailbox 3.
*/
static void test_4(void)
{
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
puts("\n\rTest4: CAN1 Mailbox 3 requesting");
puts("CAN0 Mailbox 3 to transmit a data frame" STRING_EOL);
/* Init CAN0 Mailbox 3 to Producer Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = TEST4_CAN0_MB_IDX;
can0_mailbox.uc_obj_type = CAN_MB_PRODUCER_MODE;
can0_mailbox.ul_id_msk = 0;
can0_mailbox.ul_id = CAN_MID_MIDvA(TEST4_CAN0_MB_ID);
can_mailbox_init(CAN0, &can0_mailbox);
/* Prepare the response information when it receives a remote frame. */
can0_mailbox.ul_datal = CAN_MSG_TOGGLE_LED_0;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB3);
/* Init CAN1 Mailbox 3 to Consumer Mailbox. It sends a remote frame and waits for an answer. */
reset_mailbox_conf(&can1_mailbox);
can1_mailbox.ul_mb_idx = TEST4_CAN1_TX_MB_IDX;
can1_mailbox.uc_obj_type = CAN_MB_CONSUMER_MODE;
can1_mailbox.uc_tx_prio = TEST4_CAN1_TX_MB_PRIO;
can1_mailbox.ul_id_msk = CAN_MID_MIDvA_Msk | CAN_MID_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(TEST4_CAN1_TX_MB_ID);
can_mailbox_init(CAN1, &can1_mailbox);
/* Enable CAN1 mailbox 3 interrupt. */
can_enable_interrupt(CAN1, CAN_IER_MB3);
can_global_send_transfer_cmd(CAN1, CAN_TCR_MB3);
while (!g_ul_recv_status) {
}
if ((can1_mailbox.ul_datal == CAN_MSG_TOGGLE_LED_0) &&
(can1_mailbox.uc_length == MAX_CAN_FRAME_DATA_LEN)) {
puts("Test4 passed" STRING_EOL);
decode_can_msg(&can1_mailbox);
} else {
puts("Test4 ERROR" STRING_EOL);
}
}
/**
* \brief Test the transmission from CAN0 Mailbox 0 to CAN1 Mailbox 0.
*/
static void test_1(void)
{
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
puts("\n\rTest1: CAN0 Mailbox 0 transmitting to CAN1 Mailbox 0" STRING_EOL);
/* Init CAN1 Mailbox 0 to Reception Mailbox. */
reset_mailbox_conf(&can1_mailbox);
can1_mailbox.ul_mb_idx = TEST1_CAN_COMM_MB_IDX;
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(TEST1_CAN_TRANSFER_ID);
can_mailbox_init(CAN1, &can1_mailbox);
/* Init CAN0 Mailbox 0 to Transmit Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = TEST1_CAN_COMM_MB_IDX;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = TEST1_CAN0_TX_PRIO;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Write transmit information into mailbox. */
can0_mailbox.ul_id = CAN_MID_MIDvA(TEST1_CAN_TRANSFER_ID);
can0_mailbox.ul_datal = CAN_MSG_TOGGLE_LED_0;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
/* Enable CAN1 mailbox 0 interrupt. */
can_enable_interrupt(CAN1, CAN_IER_MB0);
/* Send out the information in the mailbox. */
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB0);
while (!g_ul_recv_status) {
}
if ((can1_mailbox.ul_datal == CAN_MSG_TOGGLE_LED_0) &&
(can1_mailbox.uc_length == MAX_CAN_FRAME_DATA_LEN)) {
puts("Test1 passed" STRING_EOL);
decode_can_msg(&can1_mailbox);
} else {
puts("Test1 ERROR" STRING_EOL);
}
}
rtems_status_code can_register_isr(
const lpc176x_can_number number,
const can_irq_type type,
const lpc176x_can_isr isr
)
{
rtems_status_code sc = RTEMS_INVALID_NUMBER;
if ( ( 0 <= type ) && ( type < CAN_IRQ_NUMBER ) ) {
sc = RTEMS_SUCCESSFUL;
isr_vector[ type ] = isr;
can_enable_interrupt( number, type );
}
return sc;
}
/**
* \brief Responds to he command from CAN0 and sends to CAN1
**/
void command_in(void)
{
pio_toggle_pin(LED0_GPIO);
can_disable_interrupt(CAN0, CAN_IER_MB0);
NVIC_DisableIRQ(CAN0_IRQn);
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
/* Init CAN1 Mailbox 0 to Reception Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can1_mailbox.ul_mb_idx = 1;
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(7);
can_mailbox_init(CAN1, &can1_mailbox);
/* Init CAN0 Mailbox 0 to Transmit Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = 1;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = 15;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Write transmit information into mailbox. */
can0_mailbox.ul_id = CAN_MID_MIDvA(7);
can0_mailbox.ul_datal = COMMAND_OUT;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
/* Enable CAN1 mailbox 0 interrupt. */
can_enable_interrupt(CAN1, CAN_IER_MB1);
/* Send out the information in the mailbox. */
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB1);
/* potentially @non-terminating@ */
while (!g_ul_recv_status) {
}
}
/**
* \brief Test the transmission from CAN0 Mailboxes 1 & 2 to CAN1 Mailbox 7 with overwrite.
*/
static void test_3(void)
{
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
puts("\n\rTest3: CAN0 Mailboxes 1 & 2 transmitting to");
puts("CAN1 Mailbox 7 with overwrite." STRING_EOL);
/* Init CAN1 Mailbox 7 to Reception Mailbox with overwrite. */
reset_mailbox_conf(&can1_mailbox);
can1_mailbox.ul_mb_idx = TEST3_CAN1_RX_MB_IDX;
can1_mailbox.uc_obj_type = CAN_MB_RX_OVER_WR_MODE;
can1_mailbox.ul_id_msk = 0;
can1_mailbox.ul_id = 0;
can_mailbox_init(CAN1, &can1_mailbox);
/* Init CAN0 Mailbox 1 to Transmit Mailbox. This message will be discarded. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = TEST3_CAN0_TX_MB1_IDX;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = TEST3_CAN0_TX_MB1_PRIO;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Write transmit information into mailbox. */
can0_mailbox.ul_id = CAN_MID_MIDvA(TEST3_CAN0_TX_MB1_ID);
can0_mailbox.ul_datal = CAN_MSG_TOGGLE_LED_0;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
/* Init CAN0 Mailbox 2 to Transmit Mailbox. This message will be received first. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = TEST3_CAN0_TX_MB2_IDX;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = TEST3_CAN0_TX_MB2_PRIO;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Write transmit information into mailbox. */
can0_mailbox.ul_id = CAN_MID_MIDvA(TEST3_CAN0_TX_MB2_ID);
can0_mailbox.ul_datal = CAN_MSG_TOGGLE_LED_1;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
/* Send out the information in mailbox 1 & 2 at the same time. */
can_global_send_transfer_cmd(CAN0, (CAN_TCR_MB1 | CAN_TCR_MB2));
puts("Wait for all the transmit mailboxes done." STRING_EOL);
/* Enable CAN1 mailbox 7 interrupt. */
can_enable_interrupt(CAN1, CAN_IER_MB7);
while (!g_ul_recv_status) {
}
if ((can1_mailbox.ul_datal == CAN_MSG_TOGGLE_LED_0) &&
(can1_mailbox.uc_length == MAX_CAN_FRAME_DATA_LEN)) {
puts("Test3 passed" STRING_EOL);
decode_can_msg(&can1_mailbox);
} else {
puts("Test3 ERROR" STRING_EOL);
}
}
