/**
* \brief Default interrupt handler for CAN0
*/
void CAN0_Handler(void)
{
uint32_t ul_status;
/* Save the state of the can0_mailbox object */
save_can_object(&can0_mailbox, &temp_mailbox_C0);
ul_status = can_get_status(CAN0);
if (ul_status & GLOBAL_MAILBOX_MASK) {
for (uint8_t i = 0; i < CANMB_NUMBER; i++) {
ul_status = can_mailbox_get_status(CAN0, i);
if ((ul_status & CAN_MSR_MRDY) == CAN_MSR_MRDY) {
can0_mailbox.ul_mb_idx = i;
can0_mailbox.ul_status = ul_status;
can_mailbox_read(CAN0, &can0_mailbox);
g_ul_recv_status = 1;
// Decode CAN Message
decode_can_msg(&can0_mailbox, CAN0);
//assert(g_ul_recv_status); ***implement assert here.
/* Restore the can0 mailbox object */
restore_can_object(&can0_mailbox, &temp_mailbox_C0);
break;
}
}
}
}
/**
* \brief Default interrupt handler for CAN 1.
*/
void CAN1_Handler(void)
{
uint32_t ul_status;
/* Save the state of the can1_mailbox object */
save_can_object(&can1_mailbox, &temp_mailbox_C1); //Doesn't erase the CAN message.
ul_status = can_get_status(CAN1);
if (ul_status & GLOBAL_MAILBOX_MASK) {
for (uint8_t i = 0; i < CANMB_NUMBER; i++) {
ul_status = can_mailbox_get_status(CAN1, i);
if ((ul_status & CAN_MSR_MRDY) == CAN_MSR_MRDY) {
can1_mailbox.ul_mb_idx = i;
can1_mailbox.ul_status = ul_status;
can_mailbox_read(CAN1, &can1_mailbox);
/* Decode CAN Message */
decode_can_msg(&can1_mailbox, CAN1);
/*assert(g_ul_recv_status); ***Implement assert here.*/
/* Restore the can0 mailbox object */
restore_can_object(&can1_mailbox, &temp_mailbox_C1);
break;
}
}
}
}
/**
* \brief Default interrupt handler for CAN 1.
*/
void CAN1_Handler(void)
{
uint32_t ul_status;
ul_status = can_get_status(CAN1);
if (ul_status & GLOBAL_MAILBOX_MASK) {
for (uint8_t i = 0; i < CANMB_NUMBER; i++) {
ul_status = can_mailbox_get_status(CAN1, i);
if ((ul_status & CAN_MSR_MRDY) == CAN_MSR_MRDY) {
can1_mailbox.ul_mb_idx = i;
can1_mailbox.ul_status = ul_status;
can_mailbox_read(CAN1, &can1_mailbox);
g_ul_recv_status = 1;
break;
}
}
}
}
int main (void) {
/* Initializations */
sysclk_init();
board_init();
pio_set(BUZ_PIO, BUZ_PIN);
delay_ms(50);
pio_clear(BUZ_PIO, BUZ_PIN);
delay_ms(50);
pio_set(BUZ_PIO, BUZ_PIN);
delay_ms(50);
pio_clear(BUZ_PIO, BUZ_PIN);
pio_set(ULED3_PIO, ULED3_PIN);
delay_ms(100);
pio_set(MAIN1_CONTACTOR_PIO, MAIN1_CONTACTOR_PIN);
delay_ms(100);
pio_clear(MAIN1_CONTACTOR_PIO, MAIN1_CONTACTOR_PIN);
delay_ms(100);
pio_set(ASTR_CONTACTOR_PIO, ASTR_CONTACTOR_PIN);
delay_ms(100);
pio_clear(ASTR_CONTACTOR_PIO, ASTR_CONTACTOR_PIN);
delay_ms(100);
pio_set(BSTR_CONTACTOR_PIO, BSTR_CONTACTOR_PIN);
delay_ms(100);
pio_clear(BSTR_CONTACTOR_PIO, BSTR_CONTACTOR_PIN);
delay_ms(100);
pio_set(PCRG_CONTACTOR_PIO, PCRG_CONTACTOR_PIN);
delay_ms(100);
pio_clear(PCRG_CONTACTOR_PIO, PCRG_CONTACTOR_PIN);
delay_ms(100);
pio_set(MAIN2_CONTACTOR_PIO, MAIN2_CONTACTOR_PIN);
delay_ms(100);
pio_clear(MAIN2_CONTACTOR_PIO, MAIN2_CONTACTOR_PIN);
pio_clear(ULED3_PIO, ULED3_PIN);
can_mb_conf_t rlec_can_mailbox;
can_mb_conf_t v_can_mailbox;
/* Application */
while(1) {
pio_clear(ULED3_PIO, ULED3_PIN);
pio_set(ULED2_PIO, ULED2_PIN);
usart_putchar(CONSOLE_USART, 's');
v_can_mailbox.ul_mb_idx = 0;
v_can_mailbox.uc_obj_type = CAN_MB_TX_MODE;
v_can_mailbox.uc_tx_prio = 15; // previously 15
v_can_mailbox.uc_id_ver = 0;
v_can_mailbox.ul_id_msk = 0;
can_mailbox_init(V_CAN, &v_can_mailbox);
v_can_mailbox.ul_id = CAN_MID_MIDvA(0x07);
v_can_mailbox.ul_datal = 0x12345678;
v_can_mailbox.ul_datah = 0x87654321;
v_can_mailbox.uc_length = 8;
can_mailbox_write(V_CAN, &v_can_mailbox);
can_global_send_transfer_cmd(V_CAN, CAN_TCR_MB0);
pio_clear(ULED2_PIO, ULED2_PIN);
while (!(can_mailbox_get_status(CAN0, 0) & CAN_MSR_MRDY)) {
pio_set(ULED3_PIO, ULED3_PIN);
}
}
}
