void CAN1RxMsgProcess(void)
{
CANRxMessageBuffer *message;
if(isCAN1MsgReceived == FALSE)
{
return;
}
isCAN1MsgReceived = FALSE;
message = CANGetRxMessage(CAN1, CAN_CHANNEL1);
lcdInstruction("0;0H");
unsigned int sid = message->msgSID.SID;
unsigned int data = message->data[0] << 8;
unsigned int data2 = message->data[1];
float temp = (data + data2) * 0.1;
sprintf(buffer, "%u", sid);
lcdString(buffer);
sprintf(buffer, "%2.2fF", temp);
lcdInstruction("1;0H");
lcdString("ET: ");
lcdString(buffer);
CANUpdateChannel(CAN1, CAN_CHANNEL1);
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
}
void __attribute__((vector(47), interrupt(ipl4), nomips16)) CAN2InterruptHandler(void)
{
/* This is the CAN2 Interrupt Handler. Note that there
* are many events in the CAN2 module that can cause
* this interrupt. These events are enabled by the
* CANEnableModuleEvent() function. In this example,
* only the RX_EVENT is enabled. */
/* Check if the source of the interrupt is RX_EVENT.
* This is redundant since only this event is enabled
* in this example but this shows one scheme for handling
* interrupts. */
if((CANGetModuleEvent(CAN2) & CAN_RX_EVENT) != 0)
{
/* Within this, you can check which event caused the
* interrupt by using the CANGetPendingEventCode() function
* to get a code representing the highest priority active
* event.*/
if(CANGetPendingEventCode(CAN2) == CAN_CHANNEL1_EVENT)
{
/* This means that channel 1 caused the event.
* The CAN_RX_CHANNEL_NOT_EMPTY event is persistent. You
* could either read the channel in the ISR
* to clear the event condition or as done
* here, disable the event source, and set
* an application flag to indicate that a message
* has been received. The event can be
* enabled by the application when it has processed
* one message.
*
* Note that leaving the event enabled would
* cause the CPU to keep executing the ISR since
* the CAN_RX_CHANNEL_NOT_EMPTY event is persistent (unless
* the not empty condition is cleared.)
* */
CANEnableChannelEvent(CAN2, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, FALSE);
isCAN2MsgReceived = TRUE;
}
}
/* The CAN2 Interrupt flag is cleared at the end of the
* interrupt routine. This is because the event
* that could have caused this interrupt to occur
* (CAN_RX_CHANNEL_NOT_EMPTY) is disabled. Attempting to
* clear the CAN2 interrupt flag when the the CAN_RX_CHANNEL_NOT_EMPTY
* interrupt is enabled will not have any effect because the
* base event is still present. */
INTClearFlag(INT_CAN2);
}
CAN1InterruptHandler(void)
{
if ((CANGetModuleEvent(CAN1) & CAN_RX_EVENT) != 0)
{
if(CANGetPendingEventCode(CAN1) == CAN_CHANNEL1_EVENT)
{
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, FALSE);
isCAN1MsgReceived = TRUE;
}
}
INTClearFlag(INT_CAN1);
}
void CAN1Init(void)
{
CAN_BIT_CONFIG canBitConfig;
UINT baudPrescalar;
CANEnableModule(CAN1, TRUE);
CANSetOperatingMode(CAN1, CAN_CONFIGURATION);
while(CANGetOperatingMode(CAN1) != CAN_CONFIGURATION);
// Standard Values
canBitConfig.phaseSeg2Tq = CAN_BIT_3TQ;
canBitConfig.phaseSeg1Tq = CAN_BIT_5TQ;
canBitConfig.propagationSegTq = CAN_BIT_1TQ;
canBitConfig.phaseSeg2TimeSelect = TRUE;
canBitConfig.sample3Time = TRUE;
canBitConfig.syncJumpWidth = CAN_BIT_1TQ;
// Set speed to 1Mbit/s
CANSetSpeed(CAN1, &canBitConfig, SYSTEM_FREQ, CAN_BUS_SPEED);
// 256 bytes of storage space
CANAssignMemoryBuffer(CAN1, CAN1MessageFifoArea, (2*8*16));
CANConfigureChannelForTx(CAN1, CAN_CHANNEL0, 8, CAN_TX_RTR_DISABLED,
CAN_LOW_MEDIUM_PRIORITY);
CANConfigureChannelForRx(CAN1, CAN_CHANNEL1, 8, CAN_RX_FULL_RECEIVE);
CANConfigureFilter(CAN1, CAN_FILTER0, 0x5F1, CAN_SID);
CANConfigureFilterMask(CAN1, CAN_FILTER_MASK0, 0x7FF, CAN_SID, CAN_FILTER_MASK_IDE_TYPE);
CANLinkFilterToChannel(CAN1, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);
CANEnableFilter(CAN1, CAN_FILTER0, TRUE);
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
CANEnableModuleEvent(CAN1, CAN_RX_EVENT, TRUE);
INTSetVectorPriority(INT_CAN_1_VECTOR, INT_PRIORITY_LEVEL_4);
INTSetVectorSubPriority(INT_CAN_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_CAN1, INT_ENABLED);
CANSetOperatingMode(CAN1, CAN_NORMAL_OPERATION);
while(CANGetOperatingMode(CAN1) != CAN_NORMAL_OPERATION);
}
CANRxMessageBuffer* CAN1RxMsgProcess(void)
{
/* This function will check if a CAN
* message is available in CAN1 channel 1.
* If so , the message is read. Byte 0 of
* the received message will indicate if
* LED6 should be switched ON or OFF. */
CANRxMessageBuffer * message;
if(isCAN1MsgReceived == FALSE)
{
/* CAN1 did not receive any message so
* exit the function. Note that the
* isCAN1MsgReceived flag is updated
* by the CAN1 ISR. */
return 0;
}
/* Message was received. Reset message received flag to catch
* the next message and read the message. Note that
* you could also check the CANGetRxMessage function
* return value for null to check if a message has
* been received. */
isCAN1MsgReceived = FALSE;
message = CANGetRxMessage(CAN1,CAN_CHANNEL1);
/* Call the CANUpdateChannel() function to let
* CAN 1 module know that the message processing
* is done. Enable the receive channale not empty event
* so that the CAN module generates an interrupt when
* the event occurs the next time.*/
CANUpdateChannel(CAN1, CAN_CHANNEL1);
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
return message;
}
s32
nu__Can__add_channel_tx(const struct nu__Can *c, CAN_CHANNEL channel,
u32 channel_msg_size, CAN_TX_RTR rtr_enabled,
CAN_TXCHANNEL_PRIORITY tx_priority, CAN_CHANNEL_EVENT interrupt_events)
{
s32 err;
if ((err = go_config_mode(c)) < 0) {
go_normal_mode(c);
return err;
}
CANConfigureChannelForTx(c->module, channel, channel_msg_size, rtr_enabled, tx_priority);
CANEnableChannelEvent(c->module, channel, interrupt_events, TRUE);
if ((err = go_normal_mode(c)) < 0)
return err;
return 0;
}
s32
nu__Can__add_channel_rx(const struct nu__Can *c, CAN_CHANNEL chn, u32 channel_msg_size,
CAN_RX_DATA_MODE data_only, CAN_CHANNEL_EVENT interrupt_events)
{
s32 err;
if ((err = go_config_mode(c)) < 0) {
go_normal_mode(c);
return err;
}
CANConfigureChannelForRx(c->module, chn, channel_msg_size, data_only);
CANConfigureFilter(c->module, CAN_FILTER0, 0, CAN_SID);
CANConfigureFilterMask(c->module, CAN_FILTER_MASK0, 0, CAN_SID, CAN_FILTER_MASK_ANY_TYPE);
CANLinkFilterToChannel(c->module, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);
CANEnableFilter(c->module, CAN_FILTER0, TRUE);
CANEnableChannelEvent(c->module, chn, interrupt_events, TRUE);
if ((err = go_normal_mode(c)) < 0)
return err;
return 0;
}
CANRxMessageBuffer* CAN2RxMsgProcess(void)
{
/* This function will check if CAN 2 received
* a message from CAN1. If so it will then read
* CAN2 Channel 1.
* Byte 0 of the received message will indicate
* if the LED5 should be switched ON or OFF. */
CANRxMessageBuffer * message;
if(isCAN2MsgReceived == FALSE)
{
/* CAN2 did not receive any message
* so exit the function. Note that the
* isCAN2MsgReceived flag is updated
* by the CAN2 ISR. */
return 0;
}
/* Message was received. Reset isCAN2MsgReceived flag
* to catch the next message. */
isCAN2MsgReceived = FALSE;
message = CANGetRxMessage(CAN2,CAN_CHANNEL1);
/* Call the CANUpdateChannel() function to let
* the CAN module know that the message processing
* is done. Enable the event so that the CAN module
* generates an interrupt when the event occurs.*/
CANUpdateChannel(CAN2, CAN_CHANNEL1);
CANEnableChannelEvent(CAN2, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
return message;
}
void CAN1Init(void)
{
CAN_BIT_CONFIG canBitConfig;
/* This function will intialize
* CAN1 module. */
/* Step 1: Switch the CAN module
* ON and switch it to Configuration
* mode. Wait till the switch is
* complete */
CANEnableModule(CAN1,TRUE);
CANSetOperatingMode(CAN1, CAN_CONFIGURATION);
while(CANGetOperatingMode(CAN1) != CAN_CONFIGURATION);
/* Step 2: Configure the CAN Module Clock. The
* CAN_BIT_CONFIG data structure is used
* for this purpose. The propagation segment,
* phase segment 1 and phase segment 2
* are configured to have 3TQ. The
* CANSetSpeed function sets the baud.*/
canBitConfig.phaseSeg2Tq = CAN_BIT_3TQ;
canBitConfig.phaseSeg1Tq = CAN_BIT_3TQ;
canBitConfig.propagationSegTq = CAN_BIT_3TQ;
canBitConfig.phaseSeg2TimeSelect = TRUE;
canBitConfig.sample3Time = TRUE;
canBitConfig.syncJumpWidth = CAN_BIT_2TQ;
CANSetSpeed(CAN1,&canBitConfig,SYSTEM_FREQ,CAN_BUS_SPEED);
/* Step 3: Assign the buffer area to the
* CAN module.
*/
CANAssignMemoryBuffer(CAN1,CAN1MessageFifoArea,(2 * 8 * 16));
/* Step 4: Configure channel 0 for TX and size of
* 8 message buffers with RTR disabled and low medium
* priority. Configure channel 1 for RX and size
* of 8 message buffers and receive the full message.
*/
CANConfigureChannelForTx(CAN1, CAN_CHANNEL0, 8, CAN_TX_RTR_DISABLED, CAN_LOW_MEDIUM_PRIORITY);
CANConfigureChannelForRx(CAN1, CAN_CHANNEL1, 8, CAN_RX_FULL_RECEIVE);
/* Step 5: Configure filters and mask. Configure
* filter 0 to accept EID messages with ID 0x0.
* Configure filter mask 0 to compare none of the ID
* bits and to filter by the ID type specified in
* the filter configuration. Messages accepted by
* filter 0 should be stored in channel 1. */
//CANConfigureFilter (CAN1, CAN_FILTER0, 0x201, CAN_SID);
CANConfigureFilter(CAN1, CAN_FILTER0, 0x0, CAN_EID);
//The following Filter mask allows the program to listen for all CAN_EIDs change 0x0
//(the third parameter in CANConfigureFilterMask) to compare bits to mask
CANConfigureFilterMask (CAN1, CAN_FILTER_MASK0, 0x0, CAN_EID, CAN_FILTER_MASK_IDE_TYPE);
CANLinkFilterToChannel (CAN1, CAN_FILTER0, CAN_FILTER_MASK0, CAN_CHANNEL1);
CANEnableFilter (CAN1, CAN_FILTER0, TRUE);
/* Step 6: Enable interrupt and events. Enable the receive
* channel not empty event (channel event) and the receive
* channel event (module event).
* The interrrupt peripheral library is used to enable
* the CAN interrupt to the CPU. */
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
CANEnableModuleEvent (CAN1, CAN_RX_EVENT, TRUE);
/* These functions are from interrupt peripheral
* library. */
INTSetVectorPriority(INT_CAN_1_VECTOR, INT_PRIORITY_LEVEL_4);
INTSetVectorSubPriority(INT_CAN_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_CAN1, INT_ENABLED);
/* Step 7: Switch the CAN mode
* to normal mode. */
CANSetOperatingMode(CAN1, CAN_NORMAL_OPERATION);
while(CANGetOperatingMode(CAN1) != CAN_NORMAL_OPERATION);
}
//================================================
// Configure the CAN1 interrupt handler
//================================================
void __ISR(_CAN_1_VECTOR, CAN1_INT_PRIORITY) Can1InterruptHandler(void)
{
// Check if the source of the interrupt is RX_EVENT. This is redundant since
// only this event is enabled in this example but this shows one scheme for
// handling events
if ((CANGetModuleEvent(CAN1) & CAN_RX_EVENT) != 0)
{
LED_CAN_TOGGLE;
CANRxMessageBuffer *message;
/*
* CHANNEL 1 = SWITCHES STATES
*/
if (CANGetPendingEventCode(CAN1) == CAN_CHANNEL1_EVENT)
{
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, FALSE);
message = CANGetRxMessage(CAN1, CAN_CHANNEL1);
CanSwitches_t switches;
switches.bytes.low = message->data[0];
switches.bytes.high = message->data[1];
if (buttons.buttons.bits.steerWheelSw1 != switches.bits.sw1 )
{
buttons.buttons.bits.steerWheelSw1 = switches.bits.sw1;
buttons.chng.bits.steerWheelSw1 = 1;
}
if (buttons.buttons.bits.steerWheelSw4 != switches.bits.sw4 )
{
buttons.buttons.bits.steerWheelSw4 = switches.bits.sw4;
buttons.chng.bits.steerWheelSw4 = 1;
}
if (buttons.buttons.bits.steerWheelSw10 != switches.bits.sw10)
{
buttons.buttons.bits.steerWheelSw10 = switches.bits.sw10;
buttons.chng.bits.steerWheelSw10 = 1;
}
LED_CAN_TOGGLE;
CANUpdateChannel(CAN1, CAN_CHANNEL1);
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
}
/*
* CHANNEL 2 = WIND ANGLE
*/
if (CANGetPendingEventCode(CAN1) == CAN_CHANNEL2_EVENT)
{
CANEnableChannelEvent(CAN1, CAN_CHANNEL2, CAN_RX_CHANNEL_NOT_EMPTY, FALSE);
message = CANGetRxMessage(CAN1, CAN_CHANNEL2);
memcpy((void *) &rxWindAngle, &message->data[0], 4);
oNewWindAngle = 1;
CANUpdateChannel(CAN1, CAN_CHANNEL2);
CANEnableChannelEvent(CAN1, CAN_CHANNEL2, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
}
}
// The CAN1 Interrupt flag is cleared at the end of the interrupt routine.
// This is because the event source that could have caused this interrupt to
// occur (CAN_RX_CHANNEL_NOT_EMPTY) is disabled. Attempting to clear the
// CAN1 interrupt flag when the the CAN_RX_CHANNEL_NOT_EMPTY interrupt is
// enabled will not have any effect because the base event is still present.
INTClearFlag(INT_CAN1);
}
/*********************************************************************
* Function: void CAN2TCPBridgeTask(void)
*
* PreCondition: Stack is initialized()
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: None
*
* Note: None
********************************************************************/
void CAN2TCPBridgeTask(void)
{
static enum _BridgeState
{
SM_HOME = 0,
SM_SOCKET_OBTAINED
} BridgeState = SM_HOME;
static TCP_SOCKET MySocket = INVALID_SOCKET;
WORD wMaxPut, wMaxGet, w;
BYTE *RXHeadPtrShadow, *RXTailPtrShadow;
BYTE *TXHeadPtrShadow, *TXTailPtrShadow;
switch(BridgeState)
{
case SM_HOME:
#if defined(USE_REMOTE_TCP_SERVER)
// Connect a socket to the remote TCP server
MySocket = TCPOpen((DWORD)USE_REMOTE_TCP_SERVER, TCP_OPEN_ROM_HOST, CAN2TCPBRIDGE_PORT, TCP_PURPOSE_CAN_2_TCP_BRIDGE);
#else
MySocket = TCPOpen(0, TCP_OPEN_SERVER, CAN2TCPBRIDGE_PORT, TCP_PURPOSE_CAN_2_TCP_BRIDGE);
#endif
// Abort operation if no TCP socket of type TCP_PURPOSE_CAN_2_TCP_BRIDGE is available
// If this ever happens, you need to go add one to TCPIPConfig.h
if(MySocket == INVALID_SOCKET)
break;
// Eat the first TCPWasReset() response so we don't
// infinitely create and reset/destroy client mode sockets
TCPWasReset(MySocket);
// We have a socket now, advance to the next state
BridgeState = SM_SOCKET_OBTAINED;
break;
case SM_SOCKET_OBTAINED:
// Reset all buffers if the connection was lost
if(TCPWasReset(MySocket))
{
// Optionally discard anything in the CAN FIFOs
RXHeadPtr = vCANRXFIFO;
RXTailPtr = vCANRXFIFO;
TXHeadPtr = vCANTXFIFO;
TXTailPtr = vCANTXFIFO;
// If we were a client socket, close the socket and attempt to reconnect
#if defined(USE_REMOTE_TCP_SERVER)
TCPDisconnect(MySocket);
MySocket = INVALID_SOCKET;
BridgeState = SM_HOME;
break;
#endif
}
// Don't do anything if nobody is connected to us
if(!TCPIsConnected(MySocket))
break;
// Read FIFO pointers into a local shadow copy. Some pointers are volatile
// (modified in the ISR), so we must do this safely by disabling interrupts
RXTailPtrShadow = (BYTE*)RXTailPtr;
TXHeadPtrShadow = (BYTE*)TXHeadPtr;
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, FALSE);
CANEnableChannelEvent(CAN1, CAN_CHANNEL0, CAN_TX_CHANNEL_ANY_EVENT, FALSE);
RXHeadPtrShadow = (BYTE*)RXHeadPtr;
TXTailPtrShadow = (BYTE*)TXTailPtr;
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
if(TXHeadPtrShadow != TXTailPtrShadow)
CANEnableChannelEvent(CAN1, CAN_CHANNEL0, CAN_TX_CHANNEL_ANY_EVENT, TRUE);
//
// Transmit pending data that has been placed into the CAN RX FIFO (in the ISR)
//
wMaxPut = TCPIsPutReady(MySocket); // Get TCP TX FIFO space
wMaxGet = RXHeadPtrShadow - RXTailPtrShadow; // Get CAN RX FIFO byte count
if(RXHeadPtrShadow < RXTailPtrShadow)
wMaxGet += sizeof(vCANRXFIFO);
if(wMaxPut > wMaxGet) // Calculate the lesser of the two
wMaxPut = wMaxGet;
if(wMaxPut) // See if we can transfer anything
{
// Transfer the data over. Note that a two part put
// may be needed if the data spans the vCANRXFIFO
// end to start address.
w = vCANRXFIFO + sizeof(vCANRXFIFO) - RXTailPtrShadow;
if(wMaxPut >= w)
{
TCPPutArray(MySocket, RXTailPtrShadow, w);
RXTailPtrShadow = vCANRXFIFO;
wMaxPut -= w;
}
TCPPutArray(MySocket, RXTailPtrShadow, wMaxPut);
RXTailPtrShadow += wMaxPut;
// No flush. The stack will automatically flush and do
// transmit coallescing to minimize the number of TCP
// packets that get sent. If you explicitly call TCPFlush()
// here, latency will go down, but so will max throughput
// and bandwidth efficiency.
}
//
// Transfer received TCP data into the CAN TX FIFO for future transmission (in the ISR)
//
wMaxGet = TCPIsGetReady(MySocket); // Get TCP RX FIFO byte count
wMaxPut = TXTailPtrShadow - TXHeadPtrShadow - 1;// Get CAN TX FIFO free space
if(TXHeadPtrShadow >= TXTailPtrShadow)
wMaxPut += sizeof(vCANTXFIFO);
if(wMaxPut > wMaxGet) // Calculate the lesser of the two
wMaxPut = wMaxGet;
if(wMaxPut) // See if we can transfer anything
{
// Transfer the data over. Note that a two part put
// may be needed if the data spans the vCANTXFIFO
// end to start address.
w = vCANTXFIFO + sizeof(vCANTXFIFO) - TXHeadPtrShadow;
if(wMaxPut >= w)
{
TCPGetArray(MySocket, TXHeadPtrShadow, w);
TXHeadPtrShadow = vCANTXFIFO;
wMaxPut -= w;
}
TCPGetArray(MySocket, TXHeadPtrShadow, wMaxPut);
TXHeadPtrShadow += wMaxPut;
}
// Write local shadowed FIFO pointers into the volatile FIFO pointers.
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, FALSE);
CANEnableChannelEvent(CAN1, CAN_CHANNEL0, CAN_TX_CHANNEL_ANY_EVENT, FALSE);
RXTailPtr = (volatile BYTE*)RXTailPtrShadow;
TXHeadPtr = (volatile BYTE*)TXHeadPtrShadow;
CANEnableChannelEvent(CAN1, CAN_CHANNEL1, CAN_RX_CHANNEL_NOT_EMPTY, TRUE);
if(TXHeadPtrShadow != TXTailPtrShadow)
CANEnableChannelEvent(CAN1, CAN_CHANNEL0, CAN_TX_CHANNEL_ANY_EVENT, TRUE);
break;
}
}