//------------------------------------------------------------------------------
// @fn can_init
//!
//! CAN macro initialization. Reset the CAN peripheral, initialize the bit
//! timing, initialize all the registers mapped in SRAM to put MObs in
//! inactive state and enable the CAN macro.
//!
//! @warning The CAN macro will be enable after seen on CAN bus a receceive
//! level as long as of an inter frame (hardware feature).
//!
//! @param Mode (for "can_fixed_baudrate" param not used)
//! ==0: start CAN bit timing evaluation from faster baudrate
//! ==1: start CAN bit timing evaluation with CANBTx registers
//! contents
//!
//! @return Baudrate Status
//! ==0: research of bit timing configuration failed
//! ==1: baudrate performed
//!
//------------------------------------------------------------------------------
U8 can_init(U8 mode)
{
if ((Can_bit_timing(mode))==0) return (0); // c.f. macro in "can_drv.h"
can_clear_all_mob(); // c.f. function in "can_drv.c"
Can_enable(); // c.f. macro in "can_drv.h"
return (1);
}
int can_init(can_speed_t can_speed, can_send_callback_t send_callback, can_recv_callback_t recv_callback,
uint32_t send_timeout_real_us, can_mask_t masked_id, can_mask_t mask) {
if((send_callback == NULL) || (recv_callback == NULL)) {
return 1;
}
cli();
can_send_callback = send_callback;
can_recv_callback = recv_callback;
can_send_timeout_ms = send_timeout_real_us / 1000;
can_masked_id = masked_id;
can_mask = mask;
if(can_set_speed(can_speed) == -1) return -1;
list_init(can_cmd_list);
can_clear_all_mob();
CAN_ENABLE();
CAN_SET_TCON(199); // FIXME for F_CPU = 16 Mhz -> CAN timestamp will be 100uS resolution
CAN_INT_MOB_ENABLE();
CAN_INT_ENABLE();
sei();
if(init_recv_buffers() == -1) {
return -2;
}
return 0;
}
//------------------------------------------------------------------------------
// @fn can_init
//!
//! CAN macro initialization. Reset the CAN peripheral, initialize the bit
//! timing, initialize all the registers mapped in SRAM to put MObs in
//! inactive state and enable the CAN macro.
//!
//! @warning The CAN macro will be enable after seen on CAN bus a receceive
//! level as long as of an inter frame (hardware feature).
//!
//! @param Mode (for "can_fixed_baudrate" param not used)
//! ==0: start CAN bit timing evaluation from faster baudrate
//! ==1: start CAN bit timing evaluation with CANBTx registers
//! contents
//!
//! @return Baudrate Status
//! ==0: research of bit timing configuration failed
//! ==1: baudrate performed
//!
//------------------------------------------------------------------------------
U8 can_init(U8 mode)
{
// PIND |= (1<<PD5); //Setzen auf High um CAN-Bus Nicht zu blockieren
// DDRD |= (1<<PD5); //Pin6 := Output (Can_Tx)
// PIND |= (1<<PD5); //Setzen auf High um CAN-Bus Nicht zu blockieren
if ((Can_bit_timing(mode))==0) return (0); // c.f. macro in "can_drv.h"
can_clear_all_mob(); // c.f. function in "can_drv.c"
Can_enable(); // c.f. macro in "can_drv.h"
return (1);
}
void DeviceCAN_AT90CAN::implInit(unsigned char mode)
{
OSDeviceDebug::putString_P(PSTR("DeviceCAN_AT90CAN::implInit()"));
OSDeviceDebug::putNewLine();
transceiverInit();
Can_reset();
interruptInit(); // must be after reset()
/* CAN_KING setting */
/* 125K, 75%, Tq=0.5uS, Tbit=16*Tq=8uS */
/* Tprs=7*Tq, Tph1=4*Tq, Tph2=4*Tq, Tsjw=1*Tq */
CANBT1 = 0x0E; /* 125K@16MHz */
CANBT2 = 0x0C;
CANBT3 = 0x37;
can_clear_all_mob();
// enable reception on the reception mob
Can_set_mob(NB_MOB_RX);
Can_config_rx();
// enable both RX and TX mobs
CANEN2 = _BV(NB_MOB_RX) | _BV(NB_MOB_TX);
// enable interrupts for both RX and TX mobs
CANIE2 = _BV(NB_MOB_RX) | _BV(NB_MOB_TX);
mode = mode; // set to given mode
Can_enable();
transceiverHighSpeed();
//OSDebugLed2::init();
interruptEnable();
m_isConnected = true;
}
//******************************************************************************
// @fn main
//!
//! Core of "main_can_boot_loader.c".
//!
//! @brief: This application performs a CAN boot loader for AT90CAN128/64/32
//! with aut-bitrate, IAP (In Application Programming) and API
//! (Application Programming Interface).
//!
//! @warning: Don't forget to full locate the boot loader in "Boot Loader
//! Flash Section".
//! xxx_HWCB defined in "board.h" file
//!
//! @param none.
//!
//! @return Integer 0
//!
//******************************************************************************
int main (void)
{
//U8 hwcb = FALSE;
Bool auto_b = 1;
if(eeprom_rd_byte( (U16) ENNB ) != 254)
eeprom_wr_byte((U16) ENNB, 254);
//DDRA = 0xFF;
//PORTA = 0x00;
//boot_conf[6] = 0x05;
//uint8_t NNB;
//NNB = eeprom_read_byte( (uint8_t*) 0 );
//eeprom_update_byte((uint8_t*)0, NNB);
//U8 mup = get_conf_byte(NNB);
//U8 mupp[64];
//------
//put_conf_byte(NNB, 0x02); //set node id
//put_conf_byte(BSB, 0xFF); //start programming
//eeprom_wr_byte(NNB, 0x03);
//------
//! --- First of all, disabling the Global Interrupt
Disable_interrupt();
//! --- If comming from RESET then test of the HardWare Condition Bit
if (MCUSR != 0)
{
//- Clear all reset flags
MCUSR = 0;
}
if(eeprom_rd_byte( (U16) EBSB ) != 0xFF){
// Start application
//PORTA = 0xFF;
isp_jump_to( (((U16)SA_H)<<8) | ((U16)SA_L));
}
//! --- Open CAN communication
can_communication_opened = 0; // Not opened
//- Pull-up on TxCAN & RxCAN one by one to use bit-addressing
CAN_PORT_DIR &= ~(1<<CAN_INPUT_PIN );
CAN_PORT_DIR &= ~(1<<CAN_OUTPUT_PIN);
CAN_PORT_OUT |= (1<<CAN_INPUT_PIN );
CAN_PORT_OUT |= (1<<CAN_OUTPUT_PIN);
while (1)
{
auto_b = ((~auto_b)&0x01); // Flip of "auto_b"
//- Wait until activity on RxCAN
while ((CAN_PORT_IN & (1<<CAN_INPUT_PIN)) != 0);
//- Reset CAN peripheral
Can_reset();
//- Set CAN Bit-timming
if (EB != 0xFF)
{
// CANBT1 = get_conf_byte(BTC1);
// CANBT2 = get_conf_byte(BTC2);
// CANBT3 = get_conf_byte(BTC3);
CANBT1 = BTC1;
CANBT2 = BTC2;
CANBT3 = BTC3;
}
else
//- Loop on auto-bitrate until it is performed
{
while ((Can_bit_timing(auto_b))==0); // c.f. macro in "can_drv.h"
}
//- Enable CAN peripheral
can_clear_all_mob(); // c.f. function in "can_drv.c"
Can_enable(); // c.f. macro in "can_drv.h"
//! --- CAN ISP protocol execution
//- Initialization of CAN ISP PROTOCOL only when CAN communication NOT opened
if(!can_communication_opened) can_isp_protocol_init();
//- Exit with "0" only if CAN hardware error occurs
while(can_isp_protocol_task());
}
} // End of "main"
