Exemple #1
0
void CAN1Init(void)
{
    CAN_BIT_CONFIG canBitConfig;
    UINT baudPrescalar;
    CANEnableModule(CAN1, TRUE);
    CANSetOperatingMode(CAN1, CAN_CONFIGURATION);
    while(CANGetOperatingMode(CAN1) != CAN_CONFIGURATION);

    // Standard Values
    canBitConfig.phaseSeg2Tq = CAN_BIT_3TQ;
    canBitConfig.phaseSeg1Tq = CAN_BIT_5TQ;
    canBitConfig.propagationSegTq = CAN_BIT_1TQ;
    canBitConfig.phaseSeg2TimeSelect = TRUE;
    canBitConfig.sample3Time = TRUE;
    canBitConfig.syncJumpWidth = CAN_BIT_1TQ;

    // Set speed to 1Mbit/s
    CANSetSpeed(CAN1, &canBitConfig, SYSTEM_FREQ, CAN_BUS_SPEED);

    // 256 bytes of storage space
    CANAssignMemoryBuffer(CAN1, CAN1MessageFifoArea, (2*8*16));

    CANConfigureChannelForTx(CAN1, CAN_CHANNEL0, 8, CAN_TX_RTR_DISABLED,
            CAN_LOW_MEDIUM_PRIORITY);

    CANConfigureChannelForRx(CAN1, CAN_CHANNEL1, 8, CAN_RX_FULL_RECEIVE);

    CANConfigureFilter(CAN1, CAN_FILTER0, 0x5F1, CAN_SID);

    CANConfigureFilterMask(CAN1, CAN_FILTER_MASK0, 0x7FF, CAN_SID, CAN_FILTER_MASK_IDE_TYPE);

    CANLinkFilterToChannel(CAN1, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);

    CANEnableFilter(CAN1, CAN_FILTER0, TRUE);

    CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);

    CANEnableModuleEvent(CAN1, CAN_RX_EVENT, TRUE);

    INTSetVectorPriority(INT_CAN_1_VECTOR, INT_PRIORITY_LEVEL_4);
    INTSetVectorSubPriority(INT_CAN_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
    INTEnable(INT_CAN1, INT_ENABLED);

    CANSetOperatingMode(CAN1, CAN_NORMAL_OPERATION);
    while(CANGetOperatingMode(CAN1) != CAN_NORMAL_OPERATION);

    
}
Exemple #2
0
static ALWAYSINLINE MUST_CHECK s32
nu_switch_module_mode(const struct nu__Can *c, CAN_OP_MODE op_mode, u32 timeout_ms)
{
    u32 start = nu__Timer__us();
    CANSetOperatingMode(c->module, op_mode);
    while (nu__Timer__us() - start < timeout_ms*1000)
        if (CANGetOperatingMode(c->module) == op_mode)
            return 0;
    return -ETIMEOUT;
}
Exemple #3
0
void CAN1Init(void)
{
    CAN_BIT_CONFIG canBitConfig;

    /* This function will intialize
    * CAN1 module. */

    /* Step 1: Switch the CAN module
    * ON and switch it to Configuration
    * mode. Wait till the switch is
    * complete */

    CANEnableModule(CAN1,TRUE);

    CANSetOperatingMode(CAN1, CAN_CONFIGURATION);
    while(CANGetOperatingMode(CAN1) != CAN_CONFIGURATION);

    /* Step 2: Configure the CAN Module Clock. The
    * CAN_BIT_CONFIG data structure is used
    * for this purpose. The propagation segment,
    * phase segment 1 and phase segment 2
    * are configured to have 3TQ. The
    * CANSetSpeed function sets the baud.*/

    canBitConfig.phaseSeg2Tq            = CAN_BIT_3TQ;
    canBitConfig.phaseSeg1Tq            = CAN_BIT_3TQ;
    canBitConfig.propagationSegTq       = CAN_BIT_3TQ;
    canBitConfig.phaseSeg2TimeSelect    = TRUE;
    canBitConfig.sample3Time            = TRUE;
    canBitConfig.syncJumpWidth          = CAN_BIT_2TQ;

    CANSetSpeed(CAN1,&canBitConfig,SYSTEM_FREQ,CAN_BUS_SPEED);

    /* Step 3: Assign the buffer area to the
    * CAN module.
    */

    CANAssignMemoryBuffer(CAN1,CAN1MessageFifoArea,(2 * 8 * 16));

    /* Step 4: Configure channel 0 for TX and size of
    * 8 message buffers with RTR disabled and low medium
    * priority. Configure channel 1 for RX and size
    * of 8 message buffers and receive the full message.
    */

    CANConfigureChannelForTx(CAN1, CAN_CHANNEL0, 8, CAN_TX_RTR_DISABLED, CAN_LOW_MEDIUM_PRIORITY);
    CANConfigureChannelForRx(CAN1, CAN_CHANNEL1, 8, CAN_RX_FULL_RECEIVE);

    /* Step 5: Configure filters and mask. Configure
    * filter 0 to accept EID messages with ID 0x0.
    * Configure filter mask 0 to compare none of the ID
    * bits and to filter by the ID type specified in
    * the filter configuration. Messages accepted by
    * filter 0 should be stored in channel 1. */

    //CANConfigureFilter      (CAN1, CAN_FILTER0, 0x201, CAN_SID);
    CANConfigureFilter(CAN1, CAN_FILTER0, 0x0, CAN_EID);
    //The following Filter mask allows the program to listen for all CAN_EIDs change 0x0
    //(the third parameter in CANConfigureFilterMask) to compare bits to mask
    CANConfigureFilterMask  (CAN1, CAN_FILTER_MASK0, 0x0, CAN_EID, CAN_FILTER_MASK_IDE_TYPE);
    CANLinkFilterToChannel  (CAN1, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);
    CANEnableFilter         (CAN1, CAN_FILTER0, TRUE);
    
    /* Step 6: Enable interrupt and events. Enable the receive
    * channel not empty event (channel event) and the receive
    * channel event (module event).
    * The interrrupt peripheral library is used to enable
    * the CAN interrupt to the CPU. */

    CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
    CANEnableModuleEvent (CAN1, CAN_RX_EVENT, TRUE);

    /* These functions are from interrupt peripheral
    * library. */

    INTSetVectorPriority(INT_CAN_1_VECTOR, INT_PRIORITY_LEVEL_4);
    INTSetVectorSubPriority(INT_CAN_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
    INTEnable(INT_CAN1, INT_ENABLED);

    /* Step 7: Switch the CAN mode
     * to normal mode. */

    CANSetOperatingMode(CAN1, CAN_NORMAL_OPERATION);
    while(CANGetOperatingMode(CAN1) != CAN_NORMAL_OPERATION);

}