/*! \brief CAN Prepare Data to Receive
* - Allocate one MOB in reception
* - Start the reception
*/
void can_example_prepare_data_to_receive(void)
{
// Initialize channel 0
can_init(0,
((U32)&mob_ram_ch0[0]),
CANIF_CHANNEL_MODE_NORMAL,
can_out_callback_channel0);
// Allocate one mob for RX
pCANMOB_message2[0].handle = can_mob_alloc(0);
can_rx(0,
pCANMOB_message2[0].handle,
pCANMOB_message2[0].req_type,
pCANMOB_message2[0].can_msg);
}
/*! \brief CAN Prepare Data to Send
* - Allocate one MOB in transmission
* - Fill the MOB with the correct DATA
* - Start the transmission
*/
void can_example_prepare_data_to_send(void)
{
// Initialize channel 1
can_init(1,
((U32)&mob_ram_ch1[0]),
CANIF_CHANNEL_MODE_NORMAL,
can_out_callback_channel1);
// Allocate one mob for TX
pCANMOB_message0[0].handle = can_mob_alloc(1);
// Check return if no mob are available
if (pCANMOB_message0[0].handle==CAN_CMD_REFUSED) {
while(true);
}
pCANMOB_message0[0].can_msg->data.u8[0] =
((adc_current_conversion&0xFF00)>>8);
pCANMOB_message0[0].can_msg->data.u8[1] =
(adc_current_conversion&0xFF);
can_tx(1,
pCANMOB_message0[0].handle,
pCANMOB_message0[0].dlc,
pCANMOB_message0[0].req_type,
pCANMOB_message0[0].can_msg);
}
/** Main function to configure the CAN, and begin transfers. */
int main(void)
{
/* Initialize the system clocks */
sysclk_init();
/* Setup the generic clock for CAN */
scif_gc_setup(AVR32_SCIF_GCLK_CANIF,
SCIF_GCCTRL_OSC0,
AVR32_SCIF_GC_NO_DIV_CLOCK,
0);
/* Now enable the generic clock */
scif_gc_enable(AVR32_SCIF_GCLK_CANIF);
init_dbg_rs232(FPBA_HZ);
/* Disable all interrupts. */
Disable_global_interrupt();
/* Initialize interrupt vectors. */
INTC_init_interrupts();
static const gpio_map_t CAN_GPIO_MAP = {
{AVR32_CANIF_RXLINE_0_0_PIN, AVR32_CANIF_RXLINE_0_0_FUNCTION},
{AVR32_CANIF_TXLINE_0_0_PIN, AVR32_CANIF_TXLINE_0_0_FUNCTION}
};
/* Assign GPIO to CAN. */
gpio_enable_module(CAN_GPIO_MAP,
sizeof(CAN_GPIO_MAP) / sizeof(CAN_GPIO_MAP[0]));
/* Initialize channel 0 */
can_init(CAN_CHANNEL_EXAMPLE, ((uint32_t)&mob_ram_ch0[0]),
CANIF_CHANNEL_MODE_LISTENING, can_out_callback_channel0);
/* Enable all interrupts. */
Enable_global_interrupt();
print_dbg("\r\nUC3C CAN Examples 1\r\n");
print_dbg(CAN_Wakeup);
/* Initialize CAN Channel 0 */
can_init(CAN_CHANNEL_EXAMPLE, ((uint32_t)&mob_ram_ch0[0]),
CANIF_CHANNEL_MODE_NORMAL, can_out_callback_channel0);
/* Allocate one mob for RX */
appli_rx_msg.handle = can_mob_alloc(CAN_CHANNEL_EXAMPLE);
/* Initialize RX message */
can_rx(CAN_CHANNEL_EXAMPLE, appli_rx_msg.handle, appli_rx_msg.req_type,
appli_rx_msg.can_msg);
/* Enable Async Wake Up Mode */
pm_asyn_wake_up_enable(CAN_WAKEUP_MASK_EXAMPLE);
/* ---------SLEEP MODE PROCEDURE------------- */
/* Disable CAN Channel 0 */
CANIF_disable(CAN_CHANNEL_EXAMPLE);
/* Wait CAN Channel 0 is disabled */
while(!CANIF_channel_enable_status(CAN_CHANNEL_EXAMPLE));
/* Enable Wake-Up Mode */
CANIF_enable_wakeup(CAN_CHANNEL_EXAMPLE);
/* Go to sleep mode. */
SLEEP(AVR32_PM_SMODE_STATIC);
/* ---------SLEEP MODE PROCEDURE------------- */
print_dbg(CAN_WakeupD);
/* Initialize again CAN Channel 0 */
can_init(CAN_CHANNEL_EXAMPLE, ((uint32_t)&mob_ram_ch0[0]),
CANIF_CHANNEL_MODE_NORMAL, can_out_callback_channel0);
/* Allocate one mob for RX */
appli_rx_msg.handle = can_mob_alloc(CAN_CHANNEL_EXAMPLE);
/* Initialize RX message */
can_rx(CAN_CHANNEL_EXAMPLE, appli_rx_msg.handle, appli_rx_msg.req_type,
appli_rx_msg.can_msg);
for (;;) {
/* Do nothing; interrupts handle the DAC conversions */
}
}