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);
}
//================================================
// 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);
}
void __attribute__((vector(46), interrupt(ipl4), nomips16)) CAN1InterruptHandler(void)
{
/* This is the CAN1 Interrupt Handler.
* Note that there are many source events in the
* CAN1 module for 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 events. */
if((CANGetModuleEvent(CAN1) & CAN_RX_EVENT) != 0)
{
/* Within this, you can check which channel caused the
* event by using the CANGetModuleEvent() function
* which returns a code representing the highest priority
* pending event. */
if(CANGetPendingEventCode(CAN1) == 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.)
* */
CANRxMessageBuffer * message;
message = CANGetRxMessage(CAN1,CAN_CHANNEL1);
// Copy the byte into the local FIFO, if it won't cause an overflow
if(RXHeadPtr != RXTailPtr - 1)
{
if((RXHeadPtr != vCANRXFIFO + sizeof(vCANRXFIFO)) || (RXTailPtr != vCANRXFIFO))
{
*RXHeadPtr++ = (message->msgSID.SID >> 8);
*RXHeadPtr++ = message->msgSID.SID;
*RXHeadPtr++ = message->data[0];
*RXHeadPtr++ = message->data[1];
*RXHeadPtr++ = message->data[2];
*RXHeadPtr++ = message->data[3];
*RXHeadPtr++ = message->data[4];
*RXHeadPtr++ = message->data[5];
*RXHeadPtr++ = message->data[6];
*RXHeadPtr++ = message->data[7];
if(RXHeadPtr >= vCANRXFIFO + sizeof(vCANRXFIFO))
RXHeadPtr = vCANRXFIFO;
}
}
CANUpdateChannel(CAN1, CAN_CHANNEL1);
}