/**
* \brief Initializes and enables CAN0 & CAN1 tranceivers and clocks.
* CAN0/CAN1 mailboxes are reset and interrupts disabled.
*/
void can_initialize(void)
{
uint32_t ul_sysclk;
uint32_t x = 1;
/* Initialize CAN0 Transceiver. */
sn65hvd234_set_rs(&can0_transceiver, PIN_CAN0_TR_RS_IDX);
sn65hvd234_set_en(&can0_transceiver, PIN_CAN0_TR_EN_IDX);
/* Enable CAN0 Transceiver. */
sn65hvd234_disable_low_power(&can0_transceiver);
sn65hvd234_enable(&can0_transceiver);
/* Initialize CAN1 Transceiver. */
sn65hvd234_set_rs(&can1_transceiver, PIN_CAN1_TR_RS_IDX);
sn65hvd234_set_en(&can1_transceiver, PIN_CAN1_TR_EN_IDX);
/* Enable CAN1 Transceiver. */
sn65hvd234_disable_low_power(&can1_transceiver);
sn65hvd234_enable(&can1_transceiver);
/* Enable CAN0 & CAN1 clock. */
pmc_enable_periph_clk(ID_CAN0);
pmc_enable_periph_clk(ID_CAN1);
ul_sysclk = sysclk_get_cpu_hz();
if (can_init(CAN0, ul_sysclk, CAN_BPS_250K) &&
can_init(CAN1, ul_sysclk, CAN_BPS_250K)) {
/* Disable all CAN0 & CAN1 interrupts. */
can_disable_interrupt(CAN0, CAN_DISABLE_ALL_INTERRUPT_MASK);
can_disable_interrupt(CAN1, CAN_DISABLE_ALL_INTERRUPT_MASK);
NVIC_EnableIRQ(CAN0_IRQn);
NVIC_EnableIRQ(CAN1_IRQn);
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
/* Initialize the CAN0 & CAN1 mailboxes */
x = can_init_mailboxes(x); // Prevent Random PC jumps to this point.
//configASSERT(x);
}
return;
}
/**
* \brief Responds to he command from CAN0 and sends to CAN1
**/
void command_in(void)
{
pio_toggle_pin(LED0_GPIO);
can_disable_interrupt(CAN0, CAN_IER_MB0);
NVIC_DisableIRQ(CAN0_IRQn);
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
/* Init CAN1 Mailbox 0 to Reception Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can1_mailbox.ul_mb_idx = 1;
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(7);
can_mailbox_init(CAN1, &can1_mailbox);
/* Init CAN0 Mailbox 0 to Transmit Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = 1;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = 15;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Write transmit information into mailbox. */
can0_mailbox.ul_id = CAN_MID_MIDvA(7);
can0_mailbox.ul_datal = COMMAND_OUT;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
/* Enable CAN1 mailbox 0 interrupt. */
can_enable_interrupt(CAN1, CAN_IER_MB1);
/* Send out the information in the mailbox. */
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB1);
/* potentially @non-terminating@ */
while (!g_ul_recv_status) {
}
}
/**
* \brief can_example application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint32_t ul_sysclk;
uint8_t uc_char;
/* Initialize the SAM system. */
sysclk_init();
board_init();
/* Configure UART for debug message output. */
configure_console();
/* Output example information. */
puts(STRING_HEADER);
/* Initialize CAN0 Transceiver. */
sn65hvd234_set_rs(&can0_transceiver, PIN_CAN0_TR_RS_IDX);
sn65hvd234_set_en(&can0_transceiver, PIN_CAN0_TR_EN_IDX);
/* Enable CAN0 Transceiver. */
sn65hvd234_disable_low_power(&can0_transceiver);
sn65hvd234_enable(&can0_transceiver);
/* Initialize CAN1 Transceiver. */
sn65hvd234_set_rs(&can1_transceiver, PIN_CAN1_TR_RS_IDX);
sn65hvd234_set_en(&can1_transceiver, PIN_CAN1_TR_EN_IDX);
/* Enable CAN1 Transceiver. */
sn65hvd234_disable_low_power(&can1_transceiver);
sn65hvd234_enable(&can1_transceiver);
/* Enable CAN0 & CAN1 clock. */
pmc_enable_periph_clk(ID_CAN0);
pmc_enable_periph_clk(ID_CAN1);
ul_sysclk = sysclk_get_cpu_hz();
if (can_init(CAN0, ul_sysclk, CAN_BPS_1000K) &&
can_init(CAN1, ul_sysclk, CAN_BPS_1000K)) {
puts("CAN initialization is completed." STRING_EOL);
/* Disable all CAN0 & CAN1 interrupts. */
can_disable_interrupt(CAN0, CAN_DISABLE_ALL_INTERRUPT_MASK);
can_disable_interrupt(CAN1, CAN_DISABLE_ALL_INTERRUPT_MASK);
/* Configure and enable interrupt of CAN1, as the tests will use receiver interrupt. */
NVIC_EnableIRQ(CAN1_IRQn);
/* Run tests. */
puts("Press any key to start test" STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_1();
g_ul_recv_status = 0;
puts("Press any key to continue..." STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_2();
g_ul_recv_status = 0;
puts("Press any key to continue..." STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_3();
g_ul_recv_status = 0;
puts("Press any key to continue..." STRING_EOL);
while (uart_read(CONSOLE_UART, &uc_char)) {
}
test_4();
g_ul_recv_status = 0;
/* Disable CAN0 Controller */
can_disable(CAN0);
/* Disable CAN0 Transceiver */
sn65hvd234_enable_low_power(&can0_transceiver);
sn65hvd234_disable(&can0_transceiver);
/* Disable CAN1 Controller */
can_disable(CAN1);
/* Disable CAN1 Transceiver */
sn65hvd234_enable_low_power(&can1_transceiver);
sn65hvd234_disable(&can1_transceiver);
puts("End of all tests" STRING_EOL);
} else {
puts("CAN initialization (sync) ERROR" STRING_EOL);
}
while (1) {
}
}
