// Initialize CAN port
void CAN0_Open(void){uint32_t volatile delay;
CAN0_Fifo_Init(16);
OS_InitSemaphore(&CAN0ReceiveFree, 1);
PacketLost = 0;
MailFlag = false;
SYSCTL_RCGCCAN_R |= 0x00000001; // CAN0 enable bit 0
SYSCTL_RCGCGPIO_R |= 0x00000010; // RCGC2 portE bit 4
for(delay=0; delay<10; delay++){};
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
// PORTE PCTL 88 into fields for pins 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, CAN_BITRATE);
CANEnable(CAN0_BASE);
// make sure to enable STATUS interrupts
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
// Set up filter to receive these IDs
// in this case there is just one type, but you could accept multiple ID types
CAN0_Setup_Message_Object(RCV_ID, MSG_OBJ_RX_INT_ENABLE, 8, NULL, RCV_ID, MSG_OBJ_TYPE_RX);
NVIC_EN1_R = (1 << (INT_CAN0 - 48)); //IntEnable(INT_CAN0);
return;
}
// Initialize CAN port
void CAN0_Open(void){
uint32_t volatile delay;
int32_t sr;
sr = StartCritical();
MailFlag = false;
SYSCTL_RCGCCAN_R |= 0x00000001; // CAN0 enable bit 0
SYSCTL_RCGCGPIO_R |= 0x00000010; // RCGC2 portE bit 4
for(delay=0; delay<10; delay++){};
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
// PORTE PCTL 88 into fields for pins 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, CAN_BITRATE);
CANEnable(CAN0_BASE);
// make sure to enable STATUS interrupts
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
// Set up filter to receive these IDs
// in this case there is just one type, but you could accept multiple ID types
CAN0_Setup_Message_Object(Ping1_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping1_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping2_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping2_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping3_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping3_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping4_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping4_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Button1_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Button1_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Button2_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Button2_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(IR_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, IR_ID, MSG_OBJ_TYPE_RX);
NVIC_EN1_R = (1 << (INT_CAN0 - 48)); //IntEnable(INT_CAN0);
EndCritical(sr);
return;
}
// send 4 bytes of data to other microcontroller
void CAN0_SendData(unsigned char data[4]){
// in this case there is just one type, but you could accept multiple ID types
CAN0_Setup_Message_Object(XMT_ID, NULL, 4, data, XMT_ID, MSG_OBJ_TYPE_TX);
}
