// Initialize CAN port
void CAN0_Open(void){
uint32_t volatile delay;
int32_t sr;
sr = StartCritical();
MailFlag = false;
SYSCTL_RCGCCAN_R |= 0x00000001; // CAN0 enable bit 0
SYSCTL_RCGCGPIO_R |= 0x00000010; // RCGC2 portE bit 4
for(delay=0; delay<10; delay++){};
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
// PORTE PCTL 88 into fields for pins 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, CAN_BITRATE);
CANEnable(CAN0_BASE);
// make sure to enable STATUS interrupts
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
// Set up filter to receive these IDs
// in this case there is just one type, but you could accept multiple ID types
CAN0_Setup_Message_Object(Ping1_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping1_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping2_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping2_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping3_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping3_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping4_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping4_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Button1_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Button1_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Button2_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Button2_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(IR_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, IR_ID, MSG_OBJ_TYPE_RX);
NVIC_EN1_R = (1 << (INT_CAN0 - 48)); //IntEnable(INT_CAN0);
EndCritical(sr);
return;
}
u32 platform_can_setup( unsigned id, u32 clock )
{
MAP_CANDisable(CAN0_BASE);
CANBitRateSet(CAN0_BASE, LM3S_CAN_CLOCK, clock );
MAP_CANEnable(CAN0_BASE);
return clock;
}
void NetworkInit(void)
{
// configure GPIO pins for CAN
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
// set up the CAN controller
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 8000000, CAN_BIT_RATE);
CANEnable(CAN0_BASE);
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
NetworkMsgInit();
// volatile int i;
// CAN0_CTL_R;
// for (i=0;i<8;i++);
// CAN0_CTL_R |= CAN_CTL_TEST; // enable CAN test mode
// for (i=0;i<8;i++);
// CAN0_TST_R;
// for (i=0;i<8;i++);
// CAN0_TST_R |= CAN_TST_LBACK; // enable loopback mode
// removed because SYS/BIOS configures this
// IntPrioritySet(INT_CAN0, 96);
// IntEnable(INT_CAN0);
}
void BCAN_init(unsigned long bitRate)
{
tCANMsgObject sCANMessage;
//unsigned char ucMsgData[8];
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CAN_RX_FIFOFifo_Init();
OS_InitSemaphore(&CANmessagesReceived,0);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, 250000);
//CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS); //these are enabled later with a seperate call
//IntEnable(INT_CAN0); //since the filesystem can't seem to initialize while the ECU is shooting out CAN messages
//CANEnable(CAN0_BASE);
sCANMessage.ulMsgID = 0; // CAN msg ID - 0 for any
sCANMessage.ulMsgIDMask = 0; // mask is 0 for any ID
sCANMessage.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ulMsgLen = 8; // allow up to 8 bytes
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
}
// Initialize CAN port
void CAN0_Open(void){uint32_t volatile delay;
CAN0_Fifo_Init(16);
OS_InitSemaphore(&CAN0ReceiveFree, 1);
PacketLost = 0;
MailFlag = false;
SYSCTL_RCGCCAN_R |= 0x00000001; // CAN0 enable bit 0
SYSCTL_RCGCGPIO_R |= 0x00000010; // RCGC2 portE bit 4
for(delay=0; delay<10; delay++){};
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
// PORTE PCTL 88 into fields for pins 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, CAN_BITRATE);
CANEnable(CAN0_BASE);
// make sure to enable STATUS interrupts
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
// Set up filter to receive these IDs
// in this case there is just one type, but you could accept multiple ID types
CAN0_Setup_Message_Object(RCV_ID, MSG_OBJ_RX_INT_ENABLE, 8, NULL, RCV_ID, MSG_OBJ_TYPE_RX);
NVIC_EN1_R = (1 << (INT_CAN0 - 48)); //IntEnable(INT_CAN0);
return;
}
void setup(){
Serial.begin(9600);
Serial.println("DEBUG1");
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
SysCtlPeripheralEnable(GPIO_PORTE_BASE);
GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
GPIOPinConfigure(GPIO_PE4_CAN0RX);
GPIOPinConfigure(GPIO_PE5_CAN0TX);
tCANMsgObject sCANMessage;
uint8_t ucMsgData[8];
Serial.println("DEBUG2");
uint8_t pui8BufferIn[8];
uint8_t pui8BufferOut[8];
Serial.println("DEBUG3");
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
CANEnable(CAN0_BASE);
sCANMessage.ui32MsgID = 0; // CAN msg ID - 0 for any
sCANMessage.ui32MsgIDMask = 0; // mask is 0 for any ID
sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ui32MsgLen = 8; // allow up to 8 bytes
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object 1 for receiving messages (this is not the same as
// the CAN ID which can be any value in this example).
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
Serial.println("DEBUG5");
while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT) & 1) == 0)
{
//
// Read the message out of the message object.
//
CANMessageGet(CAN0_BASE, 1, &sCANMessage, true);
Serial.println(sCANMessage.ui32MsgLen);
}
Serial.println(sCANMessage.ui32MsgLen);
Serial.println(sCANMessage.ui32MsgID);
}
void CAN::init() {
// Initialize the CAN controller
CANInit(_CAN_BASE);
CANBitRateSet(_CAN_BASE, SysCtlClockGet(), 125000);
CANIntEnable(_CAN_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
IntEnable(_CAN_INT);
HWREG(CAN0_BASE + CAN_O_CTL) |= CAN_CTL_TEST;
HWREG(CAN0_BASE + CAN_O_TST) = CAN_TST_LBACK | CAN_TST_SILENT;
CANEnable(_CAN_BASE);
// Configure LoopBack mode
}
u32 platform_can_setup( unsigned id, u32 clock )
{
GPIOPinConfigure(GPIO_PD0_CAN0RX);
GPIOPinConfigure(GPIO_PD1_CAN0TX);
MAP_GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
MAP_CANDisable(CAN0_BASE);
CANBitRateSet(CAN0_BASE, LM3S_CAN_CLOCK, clock );
MAP_CANEnable(CAN0_BASE);
return clock;
}
//*****************************************************************************
//
// This function configures the CAN hardware and the message objects so that
// they are ready to use once the application returns from this function.
//
//*****************************************************************************
void
CANConfigure(void)
{
//
// Configure CAN Pins
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Enable the CAN controllers.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Reset the state of all the message object and the state of the CAN
// module to a known state.
//
CANInit(CAN0_BASE);
//
// Configure the bit rate for the CAN device, the clock rate to the CAN
// controller is fixed at 8MHz for this class of device and the bit rate is
// set to 250000.
//
CANBitRateSet(CAN0_BASE, 8000000, 250000);
//
// Take the CAN1 device out of INIT state.
//
CANEnable(CAN0_BASE);
//
// Enable interrups from CAN controller.
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR);
//
// Set up the message object that will receive all messages on the CAN
// bus.
//
CANConfigureNetwork();
//
// Enable interrupts for the CAN in the NVIC.
//
IntEnable(INT_CAN0);
}
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);
}
void init(){
// Init OLED
RIT128x96x4Init(1000000);
// Set the clock to 50 MHz
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
// Select
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
// Navigation Switches
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
GPIOPadConfigSet(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
// CAN Connection
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 8000000, 250000);
CANIntEnable(CAN0_BASE, CAN_INT_MASTER);
IntEnable(INT_CAN0);
CANEnable(CAN0_BASE);
// CAN Objects
transmit.ulMsgID= 0x200;
transmit.ulMsgIDMask= 0;
transmit.ulMsgLen= 2*sizeof(unsigned long);
// IR Receiver
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeTimer(GPIO_PORTD_BASE, GPIO_PIN_4);
// Timer
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, TIMER_CFG_A_CAP_TIME);
TimerControlEvent(TIMER0_BASE, TIMER_A, TIMER_EVENT_NEG_EDGE);
TimerLoadSet(TIMER0_BASE, TIMER_A, TIME_WIDTH);
TimerIntEnable(TIMER0_BASE, TIMER_CAPA_EVENT | TIMER_TIMA_TIMEOUT);
TimerEnable(TIMER0_BASE, TIMER_A);
IntEnable(INT_TIMER0A);
}
void vComTaskInitImpl(void)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeCAN(GPIO_PORTA_BASE, GPIO_PIN_6 | GPIO_PIN_7);
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 1000000);
CANEnable(CAN0_BASE);
CANIntEnable(CAN0_BASE, CAN_INT_MASTER);
IntEnable(INT_CAN0);
IntMasterEnable();
}
static int can_init(const can_cfg_t *cfg)
{
tCANMsgObject MsgObjectRx;
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
CANInit(CAN0_BASE);
//PLLclock is 400M, and can module clock is 8M(400/50)
if (CANBitRateSet(CAN0_BASE, 8000000, cfg->baud) == 0)
return 1;
//can receive setting,set MsgIDMask value to zero, receive all!
MsgObjectRx.ulFlags = MSG_OBJ_NO_FLAGS | MSG_OBJ_USE_ID_FILTER;
MsgObjectRx.ulMsgIDMask = 0;
CANMessageSet(CAN0_BASE, LM3S_RxMsgObjNr, &MsgObjectRx, MSG_OBJ_TYPE_RX);
CANEnable(CAN0_BASE);
return 0;
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to receive CAN messages.
//
//*****************************************************************************
int
main(void)
{
tCANMsgObject sCANMessage;
uint8_t pui8MsgData[8];
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal used on your board.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CAN0_IRQHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize a message object to receive CAN messages with ID 0x1001.
// The expected ID must be set along with the mask to indicate that all
// bits in the ID must match.
//
sCANMessage.ui32MsgID = 0x1001;
sCANMessage.ui32MsgIDMask = 0xfffff;
sCANMessage.ui32Flags = (MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER |
MSG_OBJ_EXTENDED_ID);
sCANMessage.ui32MsgLen = 8;
//
// Now load the message object into the CAN peripheral message object 1.
// Once loaded the CAN will receive any messages with this CAN ID into
// this message object, and an interrupt will occur.
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Change the ID to 0x2001, and load into message object 2 which will be
// used for receiving any CAN messages with this ID. Since only the CAN
// ID field changes, we don't need to reload all the other fields.
//
sCANMessage.ui32MsgID = 0x2001;
CANMessageSet(CAN0_BASE, 2, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Change the ID to 0x3001, and load into message object 3 which will be
// used for receiving any CAN messages with this ID. Since only the CAN
// ID field changes, we don't need to reload all the other fields.
//
sCANMessage.ui32MsgID = 0x3001;
CANMessageSet(CAN0_BASE, 3, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Enter loop to process received messages. This loop just checks flags
// for each of the 3 expected messages. The flags are set by the interrupt
// handler, and if set this loop reads out the message and displays the
// contents to the console. This is not a robust method for processing
// incoming CAN data and can only handle one messages at a time per message
// object. If many messages are being received close together using the
// same message object, then some messages may be dropped. In a real
// application, some other method should be used for queuing received
// messages in a way to ensure they are not lost. You can also make use
// of CAN FIFO mode which will allow messages to be buffered before they
// are processed.
//
for(;;)
{
//
// If the flag for message object 1 is set, that means that the RX
// interrupt occurred and there is a message ready to be read from
// this CAN message object.
//
if(g_bRXFlag1)
{
//
// Reuse the same message object that was used earlier to configure
// the CAN for receiving messages. A buffer for storing the
// received data must also be provided, so set the buffer pointer
// within the message object. This same buffer is used for all
// messages in this example, but your application could set a
// different buffer each time a message is read in order to store
// different messages in different buffers.
//
sCANMessage.pui8MsgData = pui8MsgData;
//
// Read the message from the CAN. Message object number 1 is used
// (which is not the same thing as CAN ID). The interrupt clearing
// flag is not set because this interrupt was already cleared in
// the interrupt handler.
//
CANMessageGet(CAN0_BASE, 1, &sCANMessage, 0);
//
// Clear the pending message flag so that the interrupt handler can
// set it again when the next message arrives.
//
g_bRXFlag1 = 0;
//
// Print information about the message just received.
//
PrintCANMessageInfo(&sCANMessage, 1);
}
//
// Check for message received on message object 2. If so then
// read message and print information.
//
if(g_bRXFlag2)
{
sCANMessage.pui8MsgData = pui8MsgData;
CANMessageGet(CAN0_BASE, 2, &sCANMessage, 0);
g_bRXFlag2 = 0;
PrintCANMessageInfo(&sCANMessage, 2);
}
//
// Check for message received on message object 3. If so then
// read message and print information.
//
if(g_bRXFlag3)
{
sCANMessage.pui8MsgData = pui8MsgData;
CANMessageGet(CAN0_BASE, 3, &sCANMessage, 0);
g_bRXFlag3 = 0;
PrintCANMessageInfo(&sCANMessage, 3);
}
}
//
// Return no errors
//
return(0);
}
//*****************************************************************************
//
// Setup CAN0 to both send and receive at 500KHz.
// Interrupts on
// Use PE4 / PE5
//
//*****************************************************************************
void
InitCAN0(void)
{
//
// For this example CAN0 is used with RX and TX pins on port E4 and E5.
// GPIO port E needs to be enabled so these pins can be used.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
//
GPIOPinConfigure(GPIO_PE4_CAN0RX);
GPIOPinConfigure(GPIO_PE5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
//
GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code.
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize a message object to be used for receiving CAN messages with
// any CAN ID. In order to receive any CAN ID, the ID and mask must both
// be set to 0, and the ID filter enabled.
//
g_sCAN0RxMessage.ui32MsgID = CAN0RXID;
g_sCAN0RxMessage.ui32MsgIDMask = 0;
g_sCAN0RxMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
g_sCAN0RxMessage.ui32MsgLen = sizeof(g_ui8RXMsgData);
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object RXOBJECT for receiving messages (this is not the
//same as the CAN ID which can be any value in this example).
//
CANMessageSet(CAN0_BASE, RXOBJECT, &g_sCAN0RxMessage, MSG_OBJ_TYPE_RX);
//
// Initialize the message object that will be used for sending CAN
// messages. The message will be 1 bytes that will contain the character
// received from the other controller. Initially it will be set to 0.
//
g_ui8TXMsgData = 0;
g_sCAN0TxMessage.ui32MsgID = CAN0TXID;
g_sCAN0TxMessage.ui32MsgIDMask = 0;
g_sCAN0TxMessage.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCAN0TxMessage.ui32MsgLen = sizeof(g_ui8TXMsgData);
g_sCAN0TxMessage.pui8MsgData = (uint8_t *)&g_ui8TXMsgData;
}
int main(void) {
char txtBuffer[32];
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
GPIOPinConfigure(GPIO_PE4_CAN0RX);
GPIOPinConfigure(GPIO_PE5_CAN0TX);
GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
IntEnable(INT_CAN0);
CANEnable(CAN0_BASE);
//
// Initialize a message object to be used for receiving CAN messages with
// any CAN ID. In order to receive any CAN ID, the ID and mask must both
// be set to 0, and the ID filter enabled.
//
sCANMessage.ui32MsgIDMask = 0x7ff; // mask is 0 for any ID
sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ui32MsgLen = 16; // allow up to 8 bytes
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object 1 for receiving messages (this is not the same as
// the CAN ID which can be any value in this example).
//
sCANMessage.ui32MsgID = 0x0b0; // wheels A
sCANMessage.pui8MsgData = (uint8_t *)&wheel_a_data;
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
sCANMessage.ui32MsgID = 0x0b2; // wheels B
sCANMessage.pui8MsgData = (uint8_t *)&wheel_b_data;
CANMessageSet(CAN0_BASE, 2, &sCANMessage, MSG_OBJ_TYPE_RX);
sCANMessage.ui32MsgID = 0x2c4; // engine
sCANMessage.pui8MsgData = (uint8_t *)&engine_data;
CANMessageSet(CAN0_BASE, 3, &sCANMessage, MSG_OBJ_TYPE_RX);
sCANMessage.ui32MsgID = 0x398; // fuel
sCANMessage.pui8MsgData = (uint8_t *)&fuel_data;
CANMessageSet(CAN0_BASE, 4, &sCANMessage, MSG_OBJ_TYPE_RX);
lcd_port_setup();
lcd_init();
for (;;) {
unsigned int li, lf, ri, rf, fi, ff; // integral and fractional parts for left, right wheels' speed, and fuel consumption
unsigned long int v = 0; // Average speed
float vf, ef; // Float versions of speed and economy
li = ntohs(wheel_a_data.wheel2);
v += li;
lf = li%100;
li /= 100;
ri = ntohs(wheel_a_data.wheel1);
v += ri;
rf = ri%100;
ri /= 100;
snprintf(txtBuffer, 21, "L %3d.%02d -- R %3d.%02d", li, lf, ri, rf);
lcd_goto(0,0);
lcd_puts(txtBuffer);
li = ntohs(wheel_b_data.wheel2);
v += li;
lf = li%100;
li /= 100;
ri = ntohs(wheel_b_data.wheel1);
v += ri;
rf = ri%100;
ri /= 100;
snprintf(txtBuffer, 21, "L %3d.%02d -- R %3d.%02d", li, lf, ri, rf);
lcd_goto(1,0);
lcd_puts(txtBuffer);
vf = v / 400.0;
snprintf(txtBuffer, 21, "%4d RPM %3d.%02d KM/H", ntohs(engine_data.rpm), (int)vf, ((int)(vf*100))%100);
lcd_goto(2,0);
lcd_puts(txtBuffer);
fi = ntohs(fuel_data.fuel);
ff = fi % 100;
fi /= 100;
if (vf >= .01) {
ef = vf/(fi/100.0);
snprintf(txtBuffer, 21, "%2d.%02d L/H %2d.%02d KM/L", fi, ff, (int)ef, ((int)(ef*100))%100);
} else {
snprintf(txtBuffer, 21, "%2d.%02d L/H --.-- KM/L", fi, ff);
}
lcd_goto(3,0);
lcd_puts(txtBuffer);
}
return (0);
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to transmit periodic CAN messages.
//
//*****************************************************************************
int
main(void)
{
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal on your board.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CANIntHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize the message object that will be used for sending CAN
// messages. The message will be 4 bytes that will contain an incrementing
// value. Initially it will be set to 0.
//
//
// Initialize message object 1 to be able to send CAN message 1. This
// message object is not shared so it only needs to be initialized one
// time, and can be used for repeatedly sending the same message ID.
//
g_sCANMsgObject1.ui32MsgID = 0x1001;
g_sCANMsgObject1.ui32MsgIDMask = 0;
g_sCANMsgObject1.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject1.ui32MsgLen = sizeof(g_pui8Msg1);
g_sCANMsgObject1.pui8MsgData = g_pui8Msg1;
//
// Initialize message object 2 to be able to send CAN message 2. This
// message object is not shared so it only needs to be initialized one
// time, and can be used for repeatedly sending the same message ID.
//
g_sCANMsgObject2.ui32MsgID = 0x2001;
g_sCANMsgObject2.ui32MsgIDMask = 0;
g_sCANMsgObject2.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject2.ui32MsgLen = sizeof(g_pui8Msg2);
g_sCANMsgObject2.pui8MsgData = g_pui8Msg2;
//
// Enter loop to send messages. Four messages will be sent once per
// second. The contents of each message will be changed each time.
//
for(;;)
{
//
// Send message 1 using CAN controller message object 1. This is
// the only message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject1, 1);
CANMessageSet(CAN0_BASE, 1, &g_sCANMsgObject1, MSG_OBJ_TYPE_TX);
//
// Send message 2 using CAN controller message object 2. This is
// the only message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject2, 2);
CANMessageSet(CAN0_BASE, 2, &g_sCANMsgObject2, MSG_OBJ_TYPE_TX);
//
// Load message object 3 with message 3. This is needs to be done each
// time because message object 3 is being shared for two different
// messages.
//
g_sCANMsgObject3.ui32MsgID = 0x3001;
g_sCANMsgObject3.ui32MsgIDMask = 0;
g_sCANMsgObject3.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject3.ui32MsgLen = sizeof(g_pui8Msg3);
g_sCANMsgObject3.pui8MsgData = g_pui8Msg3;
//
// Clear the flag that indicates that message 3 has been sent. This
// flag will be set in the interrupt handler when a message has been
// sent using message object 3.
//
g_bMsgObj3Sent = 0;
//
// Now send message 3 using CAN controller message object 3. This is
// the first message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject3, 3);
CANMessageSet(CAN0_BASE, 3, &g_sCANMsgObject3, MSG_OBJ_TYPE_TX);
//
// Wait for the indication from the interrupt handler that message
// object 3 is done, because we are re-using it for another message.
//
while(!g_bMsgObj3Sent)
{
}
//
// Load message object 3 with message 4. This is needed because
// message object 3 is being shared for two different messages.
//
g_sCANMsgObject3.ui32MsgID = 0x3002;
g_sCANMsgObject3.ui32MsgIDMask = 0;
g_sCANMsgObject3.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
g_sCANMsgObject3.ui32MsgLen = sizeof(g_pui8Msg4);
g_sCANMsgObject3.pui8MsgData = g_pui8Msg4;
//
// Now send message 4 using CAN controller message object 3. This is
// the second message sent using this message object. The
// CANMessageSet() function will cause the message to be sent right
// away.
//
PrintCANMessageInfo(&g_sCANMsgObject3, 3);
CANMessageSet(CAN0_BASE, 3, &g_sCANMsgObject3, MSG_OBJ_TYPE_TX);
//
// Wait 1 second before continuing
//
SimpleDelay();
//
// Check the error flag to see if errors occurred
//
if(g_bErrFlag)
{
UARTprintf(" error - cable connected?\n");
}
else
{
//
// If no errors then print the count of message sent
//
UARTprintf(" total count = %u\n",
g_ui32Msg1Count + g_ui32Msg2Count + g_ui32Msg3Count);
}
//
// Change the value in the message data for each of the messages.
//
(*(uint32_t *)g_pui8Msg1)++;
(*(uint32_t *)g_pui8Msg2)++;
(*(uint32_t *)g_pui8Msg3)++;
(*(uint32_t *)&g_pui8Msg4[0])++;
(*(uint32_t *)&g_pui8Msg4[4])--;
}
//
// Return no errors
//
return(0);
}
void app_can_init()
{
/*
//27.2.2.34 SysCtlPeripheralPowerOn
//Powers on CAN peripheral.
//Not used in CAN example.
SysCtlPeripheralPowerOn(SYSCTL_PERIPH_CAN0);
*/
//27.2.2.32 SysCtlPeripheralEnable
// GPIO port B and E needs to be enabled so these pins can be used
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //enable GPIO port B
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); //enable GPIO port E
//15.2.3.17 GPIOPinConfigure
// Configures pins for use as a CAN device.
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
GPIOPinConfigure(GPIO_PE4_CAN0RX);
GPIOPinConfigure(GPIO_PE5_CAN0TX);
//15.2.3.20 GPIOPinTypeCAN
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// Configure GPIO Port E pins 4 and 5 to be used as CAN0.
GPIOPinTypeCAN(GPIO_PORTE_BASE,GPIO_PIN_4 | GPIO_PIN_5);
//15.2.3.27 GPIOPinTypeGPIOOutput
// Set GPIO PORTB pins 6 and 7 as output, SW controlled.
// CAN_RS=PB6, CAN_Enable=PB7
GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE,GPIO_PIN_6 | GPIO_PIN_7);
//15.2.3.48 GPIOPinWrite
// Writes a "0" to pin PB6 (CAN_RS pin of CAN transceiver TI SN65HVD64).
GPIOPinWrite(GPIO_PORTB_BASE,GPIO_PIN_6,0); //enable CAN driver slope control through value of RS resistor.
// If a high-level input (> 0.75 VCC) is applied to CAN_RS pin (TI SN65HVD64, pin 8), the circuit enters
// a low-current, listen only standby mode during which the driver is switched off and the receiver
// remains active.
// Uncomment following line (and comment previous line) if a listen-only standby-mode is desired.
//
// GPIOPinWrite(GPIO_PORTB_BASE,GPIO_PIN_6,GPIO_PIN_6); //CAN driver switched off and CAN receiver active
//
//
// Writes a "1" to pin PB7 CAN_Enable pin of CAN transceiver TI SN65HVD64, enabling the external HW.
GPIOPinWrite(GPIO_PORTB_BASE,GPIO_PIN_7,GPIO_PIN_7); //enable CAN transceiver
//27.2.2.32 SysCtlPeripheralEnable
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0); //enable CAN 0
// It takes five clock cycles after the write to enable a peripheral before
// the the peripheral is actually enabled. Uncomment following line if needed.
//
SysCtlDelay(2); //it generates a delay by executing (two times) a 3 instruction cycle loop
// 6.2.5.7 CANInit
// Initialize the CAN controller
CANInit(CAN0_BASE);
// 6.2.5.1 CANBitRateSet
// Sets the CAN bit timing values to a nominal setting based on a desired bit rate.
// If tighter timing requirements or longer network lengths are needed, then the
// CANBitTimingSet() function is available for full customization of all of the CAN b
// it timing values.
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), CAN_BITRATE);
// 6.2.5.10 CANIntEnable & 6.2.5.11 CANIntRegister
// - Registers an interrupt handler for the CAN controller and
// - enable interrupts on the CAN peripheral.
// This code uses dynamic allocation of the vector table. If you want static allocation
// of interrupt handlers which means the name of the handler is in the vector table of
// startup code you must also comment "CANIntRegister(CAN0_BASE, CANIntHandler)".
CANIntRegister(CAN0_BASE, CANIntHandler); // needed only using dynamic vectors
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//18.2.3.2 IntEnable
//Enables CAN0 interrupts.
IntEnable(INT_CAN0);
//6.2.5.5 CANEnable
//Enables the CAN controller.
CANEnable(CAN0_BASE);
}
int main(void)
{
//
// If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
// a workaround to allow the PLL to operate reliably.
//
if(REVISION_IS_A2)
{
SysCtlLDOSet(SYSCTL_LDO_2_75V);
}
// Set the clocking to run directly from the PLL at 25MHz.
SysCtlClockSet(SYSCTL_SYSDIV_8 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
// Configure CAN 0 Pins.
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
// Enable the CAN controller.
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Reset the state of all the message object and the state of the CAN
// module to a known state.
//
CANInit(CAN0_BASE);
//
// Configure the bit rate for the CAN device, the clock rate to the CAN
// controller is fixed at 8MHz for this class of device and the bit rate is
// set to 250000.
//
CANBitRateSet(CAN0_BASE, 8000000, 1000000);
//
// Take the CAN0 device out of INIT state.
//
CANEnable(CAN0_BASE);
//
// Enable interrups from CAN controller.
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR);
// Enable interrupts for the CAN in the NVIC.
IntEnable(INT_CAN0);
//
// Enable processor interrupts.
//
IntMasterEnable();
//
// Configure SysTick for a 10ms interrupt.
//
// 1 = 1s -
// 10 = 100ms
// 100 = 10ms
// 200 = 5ms
// 500 = 2ms
// 1000 = 1ms
//10000 = 100us
//20000 = 50us - this is about the time a max CAN packet (50bytes) needs to be sent at max bit rate of 1Mbps
SysTickPeriodSet(SysCtlClockGet() / 10);
SysTickEnable();
SysTickIntEnable();
//
// Loop forever.
//
while(1)
{
}
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to receive CAN messages.
//
//*****************************************************************************
int
main(void)
{
#if defined(TARGET_IS_TM4C129_RA0) || \
defined(TARGET_IS_TM4C129_RA1) || \
defined(TARGET_IS_TM4C129_RA2)
uint32_t ui32SysClock;
#endif
tCANMsgObject sCANMessage;
uint8_t pui8MsgData[8];
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal used on your board.
//
#if defined(TARGET_IS_TM4C129_RA0) || \
defined(TARGET_IS_TM4C129_RA1) || \
defined(TARGET_IS_TM4C129_RA2)
ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_OSC)
25000000);
#else
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
#endif
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() or ui32SysClock is used to determine the
// clock rate that is used for clocking the CAN peripheral. This can be
// replaced with a fixed value if you know the value of the system clock,
// saving the extra function call. For some parts, the CAN peripheral is
// clocked by a fixed 8 MHz regardless of the system clock in which case
// the call to SysCtlClockGet() or ui32SysClock should be replaced with
// 8000000. Consult the data sheet for more information about CAN
// peripheral clocking.
//
#if defined(TARGET_IS_TM4C129_RA0) || \
defined(TARGET_IS_TM4C129_RA1) || \
defined(TARGET_IS_TM4C129_RA2)
CANBitRateSet(CAN0_BASE, ui32SysClock, 500000);
#else
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
#endif
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CANIntHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize a message object to be used for receiving CAN messages with
// any CAN ID. In order to receive any CAN ID, the ID and mask must both
// be set to 0, and the ID filter enabled.
//
sCANMessage.ui32MsgID = 0;
sCANMessage.ui32MsgIDMask = 0;
sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
sCANMessage.ui32MsgLen = 8;
//
// Now load the message object into the CAN peripheral. Once loaded the
// CAN will receive any message on the bus, and an interrupt will occur.
// Use message object 1 for receiving messages (this is not the same as
// the CAN ID which can be any value in this example).
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
//
// Enter loop to process received messages. This loop just checks a flag
// that is set by the interrupt handler, and if set it reads out the
// message and displays the contents. This is not a robust method for
// processing incoming CAN data and can only handle one messages at a time.
// If many messages are being received close together, then some messages
// may be dropped. In a real application, some other method should be used
// for queuing received messages in a way to ensure they are not lost. You
// can also make use of CAN FIFO mode which will allow messages to be
// buffered before they are processed.
//
for(;;)
{
unsigned int uIdx;
//
// If the flag is set, that means that the RX interrupt occurred and
// there is a message ready to be read from the CAN
//
if(g_bRXFlag)
{
//
// Reuse the same message object that was used earlier to configure
// the CAN for receiving messages. A buffer for storing the
// received data must also be provided, so set the buffer pointer
// within the message object.
//
sCANMessage.pui8MsgData = pui8MsgData;
//
// Read the message from the CAN. Message object number 1 is used
// (which is not the same thing as CAN ID). The interrupt clearing
// flag is not set because this interrupt was already cleared in
// the interrupt handler.
//
CANMessageGet(CAN0_BASE, 1, &sCANMessage, 0);
//
// Clear the pending message flag so that the interrupt handler can
// set it again when the next message arrives.
//
g_bRXFlag = 0;
//
// Check to see if there is an indication that some messages were
// lost.
//
if(sCANMessage.ui32Flags & MSG_OBJ_DATA_LOST)
{
UARTprintf("CAN message loss detected\n");
}
//
// Print out the contents of the message that was received.
//
UARTprintf("Msg ID=0x%08X len=%u data=0x",
sCANMessage.ui32MsgID, sCANMessage.ui32MsgLen);
for(uIdx = 0; uIdx < sCANMessage.ui32MsgLen; uIdx++)
{
UARTprintf("%02X ", pui8MsgData[uIdx]);
}
UARTprintf("total count=%u\n", g_ui32MsgCount);
}
}
//
// Return no errors
//
return(0);
}
//*****************************************************************************
//
// This is the main loop for the application.
//
//*****************************************************************************
int
main(void)
{
//
// If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
// a workaround to allow the PLL to operate reliably.
//
if(REVISION_IS_A2)
{
SysCtlLDOSet(SYSCTL_LDO_2_75V);
}
//
// Set the clocking to run directly from the PLL at 25MHz.
//
SysCtlClockSet(SYSCTL_SYSDIV_8 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_8MHZ);
//
// Enable the pull-ups on the JTAG signals.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
GPIOPadConfigSet(GPIO_PORTC_BASE,
GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
//
// Configure CAN 0 Pins.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Configure GPIO Pins used for the Buttons.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_1,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
//
// Configure GPIO Pin used for the LED.
//
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
//
// Turn off the LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
//
// Enable the CAN controller.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Reset the state of all the message object and the state of the CAN
// module to a known state.
//
CANInit(CAN0_BASE);
//
// Configure the bit rate for the CAN device, the clock rate to the CAN
// controller is fixed at 8MHz for this class of device and the bit rate is
// set to 250000.
//
CANBitRateSet(CAN0_BASE, 8000000, 250000);
//
// Take the CAN0 device out of INIT state.
//
CANEnable(CAN0_BASE);
//
// Enable interrups from CAN controller.
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR);
//
// Set up the message object that will receive all messages on the CAN
// bus.
//
CANConfigureNetwork();
//
// Enable interrupts for the CAN in the NVIC.
//
IntEnable(INT_CAN0);
//
// Enable processor interrupts.
//
IntMasterEnable();
//
// Configure SysTick for a 10ms interrupt.
//
SysTickPeriodSet(SysCtlClockGet() / 100);
SysTickEnable();
SysTickIntEnable();
//
// Initialize the button status.
//
g_ucButtonStatus = GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Loop forever.
//
while(1)
{
//
// Forground handling of interrupts.
//
ProcessInterrupts();
//
// Handle any incoming commands.
//
ProcessCmd();
}
}
//*****************************************************************************
//
// This is the main loop for the application.
//
//*****************************************************************************
int
main(void)
{
//
// If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
// a workaround to allow the PLL to operate reliably.
//
if(REVISION_IS_A2)
{
SysCtlLDOSet(SYSCTL_LDO_2_75V);
}
//
// Set the clocking to run directly from the PLL at 50MHz.
//
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_8MHZ);
//
// Configure CAN 0 Pins.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Configure LED pin.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Configure GPIO Pin used for the LED.
//
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
//
// Turn off the LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
//
// Enable the CAN controller.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Reset the state of all the message object and the state of the CAN
// module to a known state.
//
CANInit(CAN0_BASE);
//
// Configure the bit rate for the CAN device, the clock rate to the CAN
// controller is fixed at 8MHz for this class of device and the bit rate is
// set to CAN_BITRATE.
//
CANBitRateSet(CAN0_BASE, 8000000, CAN_BITRATE);
//
// Take the CAN0 device out of INIT state.
//
CANEnable(CAN0_BASE);
//
// Enable interrupts from CAN controller.
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR);
//
// Enable interrupts for the CAN in the NVIC.
//
IntEnable(INT_CAN0);
//
// Enable processor interrupts.
//
IntMasterEnable();
//
// Set the initial state to wait for data.
//
g_sCAN.eState = CAN_WAIT_RX;
//
// Reset the buffer pointer.
//
g_sCAN.MsgObjectRx.pucMsgData = g_sCAN.pucBuffer;
//
// Set the total number of bytes expected.
//
g_sCAN.ulBytesRemaining = CAN_FIFO_SIZE;
//
// Configure the receive message FIFO.
//
CANReceiveFIFO(g_sCAN.pucBuffer, CAN_FIFO_SIZE);
//
// Initialized the LED toggle count.
//
g_ulLEDCount = 0;
//
// Loop forever.
//
while(1)
{
switch(g_sCAN.eState)
{
case CAN_IDLE:
{
//
// Switch to sending state.
//
g_sCAN.eState = CAN_SENDING;
//
// Initialize the transmit count to zero.
//
g_sCAN.ulBytesTransmitted = 0;
//
// Schedule all of the CAN transmissions.
//
CANTransmitFIFO(g_sCAN.pucBuffer, CAN_FIFO_SIZE);
break;
}
case CAN_SENDING:
{
//
// Wait for all bytes to go out.
//
if(g_sCAN.ulBytesTransmitted == CAN_FIFO_SIZE)
{
//
// Switch to wait for RX state.
//
g_sCAN.eState = CAN_WAIT_RX;
}
break;
}
case CAN_WAIT_RX:
{
//
// Wait for all new data to be received.
//
if(g_sCAN.ulBytesRemaining == 0)
{
//
// Switch to wait for Process data state.
//
g_sCAN.eState = CAN_PROCESS;
//
// Reset the buffer pointer.
//
g_sCAN.MsgObjectRx.pucMsgData = g_sCAN.pucBuffer;
//
// Reset the number of bytes expected.
//
g_sCAN.ulBytesRemaining = CAN_FIFO_SIZE;
}
break;
}
case CAN_PROCESS:
{
//
// Handle the LED toggle.
//
ToggleLED();
//
// Return to the idle state.
//
g_sCAN.eState = CAN_IDLE;
break;
}
default:
{
break;
}
}
}
}
//*****************************************************************************
//
// Configure the CAN and enter a loop to transmit periodic CAN messages.
//
//*****************************************************************************
int
main(void)
{
tCANMsgObject sCANMessage;
uint32_t ui32MsgData;
uint8_t *pui8MsgData;
pui8MsgData = (uint8_t *)&ui32MsgData;
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal on your board.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set up the serial console to use for displaying messages. This is
// just for this example program and is not needed for CAN operation.
//
InitConsole();
//
// For this example CAN0 is used with RX and TX pins on port B4 and B5.
// The actual port and pins used may be different on your part, consult
// the data sheet for more information.
// GPIO port B needs to be enabled so these pins can be used.
// TODO: change this to whichever GPIO port you are using
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
// TODO: change this to select the port/pin you are using
//
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
//
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
// TODO: change this to match the port/pin you are using
//
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
//
// Initialize the CAN controller
//
CANInit(CAN0_BASE);
//
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
//
CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
//
// Enable interrupts on the CAN peripheral. This example uses static
// allocation of interrupt handlers which means the name of the handler
// is in the vector table of startup code. If you want to use dynamic
// allocation of the vector table, then you must also call CANIntRegister()
// here.
//
// CANIntRegister(CAN0_BASE, CAN0_IRQHandler); // if using dynamic vectors
//
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Enable the CAN interrupt on the processor (NVIC).
//
IntEnable(INT_CAN0);
//
// Enable the CAN for operation.
//
CANEnable(CAN0_BASE);
//
// Initialize the message object that will be used for sending CAN
// messages. The message will be 4 bytes that will contain an incrementing
// value. Initially it will be set to 0.
//
ui32MsgData = 0;
sCANMessage.ui32MsgID = 1;
sCANMessage.ui32MsgIDMask = 0;
sCANMessage.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
sCANMessage.ui32MsgLen = sizeof(pui8MsgData);
sCANMessage.pui8MsgData = pui8MsgData;
//
// Enter loop to send messages. A new message will be sent once per
// second. The 4 bytes of message content will be treated as an uint32_t
// and incremented by one each time.
//
while(1)
{
//
// Print a message to the console showing the message count and the
// contents of the message being sent.
//
UARTprintf("Sending msg: 0x%02X %02X %02X %02X",
pui8MsgData[0], pui8MsgData[1], pui8MsgData[2],
pui8MsgData[3]);
//
// Send the CAN message using object number 1 (not the same thing as
// CAN ID, which is also 1 in this example). This function will cause
// the message to be transmitted right away.
//
CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_TX);
//
// Now wait 1 second before continuing
//
SimpleDelay();
//
// Check the error flag to see if errors occurred
//
if(g_bErrFlag)
{
UARTprintf(" error - cable connected?\n");
}
else
{
//
// If no errors then print the count of message sent
//
UARTprintf(" total count = %u\n", g_ui32MsgCount);
}
//
// Increment the value in the message data.
//
ui32MsgData++;
}
//
// Return no errors
//
return(0);
}
