void CANController::enableInterrupts(uint32_t interruptFlags)
{
unsigned long INT;
switch (_channel) {
#ifdef HAS_CAN_CHANNEL_0
case CAN::channel_0:
INT = INT_CAN0;
break;
#endif
#ifdef HAS_CAN_CHANNEL_1
case CAN::channel_1:
INT = INT_CAN1;
break;
#endif
#ifdef HAS_CAN_CHANNEL_2
case CAN::channel_2:
INT = INT_CAN2;
break;
#endif
default:
while(1);
break;
}
MAP_CANIntEnable(_base, interruptFlags);
MAP_IntPrioritySet(INT, configDEFAULT_SYSCALL_INTERRUPT_PRIORITY);
IntEnable(INT);
}
void cans_init( void )
{
MAP_SysCtlPeripheralEnable( SYSCTL_PERIPH_CAN0 );
MAP_CANInit( CAN0_BASE );
CANBitRateSet(CAN0_BASE, LM3S_CAN_CLOCK, 500000);
MAP_CANIntEnable( CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS );
MAP_IntEnable(INT_CAN0);
MAP_CANEnable(CAN0_BASE);
// Configure default catch-all message object
can_msg_rx.ulMsgID = 0;
can_msg_rx.ulMsgIDMask = 0;
can_msg_rx.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
can_msg_rx.ulMsgLen = 8;
MAP_CANMessageSet(CAN0_BASE, 1, &can_msg_rx, MSG_OBJ_TYPE_RX);
}
