int can_recv(can_msg_t *msg)
{
tCANMsgObject MsgObjectRx;
int i;
unsigned long MsgObjNr,temp;
MsgObjNr = CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT);
if(MsgObjNr == 0)
return 1;
//find which msg object receives the can frame
for (i = 0; i < 31; i++) {
temp = 1 << i;
if (MsgObjNr & temp)
break;
}
MsgObjectRx.pucMsgData = (unsigned char *)msg->data;
CANMessageGet(CAN0_BASE, i + 1, &MsgObjectRx, 1);
msg->dlc = MsgObjectRx.ulMsgLen;
if (MsgObjectRx.ulFlags & MSG_OBJ_EXTENDED_ID) {
msg->flag = 1;
msg->id = (MsgObjectRx.ulMsgID & 0x1FFFFFFF);
} else {
msg->flag = 0;
msg->id = (MsgObjectRx.ulMsgID & 0x000007FF);
}
return 0;
}
//*******************************************************************************
// CAN ISR
//*******************************************************************************
void CANIntHandler()
{ // Read the CAN interrupt status to find the cause of the interrupt
CAN_status = CANIntStatus(CAN0_BASE,CAN_INT_STS_CAUSE);
if(CAN_status == CAN_INT_INTID_STATUS) // controller status interrupt
{
CAN_status = CANStatusGet(CAN0_BASE,CAN_STS_CONTROL); // read back error bits it will
// clear also the status interrupt
if(CAN_status & (CAN_STATUS_BUS_OFF | CAN_STATUS_EWARN | CAN_STATUS_EPASS | CAN_STATUS_LEC_MASK))
{
err_flag = 1; // set the error flag
//UARTprintf("Device connected on the CAN bus?\n\r"); // hint for connection trouble
}
CANIntDisable(CAN0_BASE,CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS); //disable all CAN0 interrupts
}
else if(CAN_status == 1) // message object 1 interrupt
{
err_flag = 0; // clear any error flags
CANIntClear(CAN0_BASE,1); // clear interrupt
}
else // should never happen
{
err_flag = 2 ;
CANIntDisable(CAN0_BASE,CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS); //disable all CAN0 interrupts
}
}
void CANIntHandler(void) {
unsigned long status_flags;
status_flags = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
if (status_flags == CAN_INT_INTID_STATUS) {
status_flags = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
// TODO: process the error?
} else if (status_flags == 1) { // Wheel A
sCANMessage.pui8MsgData = (uint8_t *)&wheel_a_data;
CANMessageGet(CAN0_BASE, 1, &sCANMessage, 1);
} else if (status_flags == 2) { // Wheel B
sCANMessage.pui8MsgData = (uint8_t *)&wheel_b_data;
CANMessageGet(CAN0_BASE, 2, &sCANMessage, 1);
} else if (status_flags == 3) { // Engine
sCANMessage.pui8MsgData = (uint8_t *)&engine_data;
CANMessageGet(CAN0_BASE, 3, &sCANMessage, 1);
} else if (status_flags == 4) { // Fuel
sCANMessage.pui8MsgData = (uint8_t *)&fuel_data;
CANMessageGet(CAN0_BASE, 4, &sCANMessage, 1);
} else {
//
// Spurious interrupt handling can go here.
//
}
}
//*****************************************************************************
//
// The CAN controller interrupt handler.
//
//*****************************************************************************
void CAN0_Handler(void){ uint8_t data[8];
uint32_t ulIntStatus, ulIDStatus;
int i;
tCANMsgObject xTempMsgObject;
xTempMsgObject.pucMsgData = data;
ulIntStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE); // cause?
if(ulIntStatus & CAN_INT_INTID_STATUS){ // receive?
ulIDStatus = CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT);
for(i = 0; i < 64; i++){ //test every bit of the mask
if( (0x1 << i) & ulIDStatus){ // if active, get data
CANMessageGet(CAN0_BASE, (i+1), &xTempMsgObject, true);
if(xTempMsgObject.ulMsgID == RCV_ID){
if(CAN0_Fifo_Put(data[0])==0||CAN0_Fifo_Put(data[1])==0||
CAN0_Fifo_Put(data[2])==0||CAN0_Fifo_Put(data[3])==0||
CAN0_Fifo_Put(data[4])==0||CAN0_Fifo_Put(data[5])==0||
CAN0_Fifo_Put(data[6])==0||CAN0_Fifo_Put(data[7])==0){
PacketLost++;//increment the packet lost
}
MailFlag = true; // new mail
}
}
}
}
CANIntClear(CAN0_BASE, ulIntStatus); // acknowledge
}
int getFormMachine(char* id)
{
int value = -999; // error code
int rc = 0;
g_MsgObjectRx.ulMsgID = (0x400);
g_MsgObjectRx.ulMsgIDMask = 0x7f8;
g_MsgObjectRx.ulFlags = MSG_OBJ_USE_ID_FILTER;
g_MsgObjectRx.ulMsgLen = snprintf(ucBufferIn, BUFFER_LEN, "%s", id, value);
g_MsgObjectRx.pucMsgData = ucBufferIn;
CANMessageSet(CAN0_BASE, 1, &g_MsgObjectRx, MSG_OBJ_TYPE_RX);
printf("getFormMachine Message: %s\n", g_MsgObjectRx.pucMsgData);
while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT)) & 1 == 0)
{
}
CANMessageGet(CAN0_BASE, 1, &g_MsgObjectRx, true);
value = atoi(strstr(g_MsgObjectRx.pucMsgData) + 1);
printf("getFromMachine GetMessage: %s\n", g_MsgObjectRx.pucMsgData);
return rc;
return value;
}
void CANIntHandler(void)
{
u32 status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
if(status == CAN_INT_INTID_STATUS)
{
status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
can_err_flag = 1;
can_tx_flag = 0;
}
else if( status == 1 ) // Message receive
{
CANIntClear(CAN0_BASE, 1);
can_rx_flag = 1;
can_err_flag = 0;
}
else if( status == 2 ) // Message send
{
CANIntClear(CAN0_BASE, 2);
can_tx_flag = 0;
can_err_flag = 0;
}
else
CANIntClear(CAN0_BASE, status);
}
//*****************************************************************************
//
// The CAN controller interrupt handler.
//
//*****************************************************************************
void
CANIntHandler(void)
{
unsigned long ulStatus;
//
// Find the cause of the interrupt, if it is a status interrupt then just
// acknowledge the interrupt by reading the status register.
//
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
//
// The first eight message objects make up the Transmit message FIFO.
//
if(ulStatus <= 8)
{
//
// Increment the number of bytes transmitted.
//
g_sCAN.ulBytesTransmitted += 8;
}
//
// The second eight message objects make up the Receive message FIFO.
//
else if((ulStatus > 8) && (ulStatus <= 16))
{
//
// Read the data out and acknowledge that it was read.
//
CANMessageGet(CAN0_BASE, ulStatus, &g_sCAN.MsgObjectRx, 1);
//
// Advance the read pointer.
//
g_sCAN.MsgObjectRx.pucMsgData += 8;
//
// Decrement the expected bytes remaining.
//
g_sCAN.ulBytesRemaining -= 8;
}
else
{
//
// This was a status interrupt so read the current status to
// clear the interrupt and return.
//
CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
}
//
// Acknowledge the CAN controller interrupt has been handled.
//
CANIntClear(CAN0_BASE, ulStatus);
}
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_ISR(void)
{
unsigned long ulStatus;
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
switch(ulStatus)
{
case MSG_NUM_RX: // message received
CANMessageGet(CAN0_BASE, MSG_NUM_RX, &g_MsgRx, /*clear int*/ 1);
NetworkRxCallback(g_ulRxData); // call user function upon receiving a message
break;
default: // status or other interrupt: clear it without further action
CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
CANIntClear(CAN0_BASE, ulStatus);
}
}
int sendToMachine(char* id, int value)
{
int rc = 0;
g_MsgObjectRx.ulMsgID = (0x400);
g_MsgObjectRx.ulMsgIDMask = 0x7f8;
g_MsgObjectRx.ulFlags = MSG_OBJ_USE_ID_FILTER;
g_MsgObjectRx.ulMsgLen = snprintf(ucBufferIn, BUFFER_LEN, "%s:%d", id, value);
g_MsgObjectRx.pucMsgData = ucBufferIn;
CANMessageSet(CAN0_BASE, 1, &g_MsgObjectRx, MSG_OBJ_TYPE_RX);
printf("setToMachine SetMessage: %s\n", g_MsgObjectRx.pucMsgData);
while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT)) & 1 == 0)
{}
CANMessageGet(CAN0_BASE, 1, &g_MsgObjectRx, true);
printf("setToMachine Message: %s\n", g_MsgObjectRx.pucMsgData);
return rc;
}
//*****************************************************************************
//
// The CAN controller interrupt handler.
//
//*****************************************************************************
void CAN0_Handler(void){ uint8_t data[4];
uint32_t ulIntStatus, ulIDStatus;
unsigned long temp;
int i;
tCANMsgObject xTempMsgObject;
xTempMsgObject.pucMsgData = data;
ulIntStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE); // cause?
if(ulIntStatus & CAN_INT_INTID_STATUS){ // receive?
ulIDStatus = CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT);
for(i = 0; i < 32; i++){ //test every bit of the mask
if( (0x1 << i) & ulIDStatus){ // if active, get data
CANMessageGet(CAN0_BASE, (i+1), &xTempMsgObject, true);
if(xTempMsgObject.ulMsgID == Ping1_ID){
//temp = (data[0]<<24)&0xFF000000 + (data[1]<<16)&0x00FF0000 + (data[2]<<8)&0x0000FF00 + data[3]&0x000000FF;
temp = (data[0]<<24) + (data[1]<<16) + (data[2]<<8) + data[3];
Mailbox = temp;
}else if(xTempMsgObject.ulMsgID == Ping2_ID){
temp = (data[0]<<24) + (data[1]<<16) + (data[2]<<8) + data[3];
Mailbox2 = temp;
}else if(xTempMsgObject.ulMsgID == Ping3_ID){
temp = (data[0]<<24) + (data[1]<<16) + (data[2]<<8) + data[3];
Mailbox3 = temp;
}else if(xTempMsgObject.ulMsgID == Ping4_ID){
temp = (data[0]<<24) + (data[1]<<16) + (data[2]<<8) + data[3];
Mailbox4 = temp;
}else if(xTempMsgObject.ulMsgID == Button1_ID){
button1Pressed = 1;
//add thread that compensates for wall hit
}else if(xTempMsgObject.ulMsgID == Button2_ID){
button2Pressed = 1;
//add thread that compensates for wall hit
}else if(xTempMsgObject.ulMsgID == IR_ID){
temp = (data[0]<<24) + (data[1]<<16) + (data[2]<<8) + data[3];
Mailbox5 = temp;
}
}
}
}
CANIntClear(CAN0_BASE, ulIntStatus); // acknowledge
}
void CAN0_Handler(void)
{
unsigned char data[8];
unsigned long ulIntStatus, ulIDStatus;
CANmsgType rxMsg;
int i;
tCANMsgObject xTempMsgObject;
xTempMsgObject.pucMsgData = data;
// rxMsg.timestamp = OS_getTime(); //timestamp the CAN message
ulIntStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
if(ulIntStatus & CAN_INT_INTID_STATUS)
{ // receive?
ulIDStatus = CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT);
for(i = 0; i < 32; i++)
{ //test every bit of the mask
if( (0x1 << i) & ulIDStatus)
{ // if active, get data
CANMessageGet(CAN0_BASE, (i+1), &xTempMsgObject, true);
rxMsg.byte0 = data[0];
rxMsg.byte1 = data[1];
rxMsg.byte2 = data[2];
rxMsg.byte3 = data[3];
rxMsg.byte4 = data[4];
rxMsg.byte5 = data[5];
rxMsg.byte6 = data[6];
rxMsg.byte7 = data[7];
rxMsg.length = xTempMsgObject.ulMsgLen;
rxMsg.ID = xTempMsgObject.ulMsgID;
if(CAN_RX_FIFOFifo_Put(rxMsg) == CANFIFOFAIL);
CAN_Data_lost++;
OS_Signal(&CANmessagesReceived);
break;
}
}
}
CANIntClear(CAN0_BASE, ulIntStatus); // acknowledge
}
//*****************************************************************************
//
// The CAN controller interrupt handler.
//
//*****************************************************************************
void CAN0_Handler(void){ unsigned char data[4];
unsigned long ulIntStatus, ulIDStatus;
int i;
tCANMsgObject xTempMsgObject;
xTempMsgObject.pucMsgData = data;
ulIntStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE); // cause?
if(ulIntStatus & CAN_INT_INTID_STATUS){ // receive?
ulIDStatus = CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT);
for(i = 0; i < 32; i++){ //test every bit of the mask
if( (0x1 << i) & ulIDStatus){ // if active, get data
CANMessageGet(CAN0_BASE, (i+1), &xTempMsgObject, true);
if(xTempMsgObject.ulMsgID == RCV_ID){
RCVData[0] = data[0];
RCVData[1] = data[1];
RCVData[2] = data[2];
RCVData[3] = data[3];
MailFlag = true; // new mail
}
}
}
}
CANIntClear(CAN0_BASE, ulIntStatus); // acknowledge
}
/*
nonblocked send, success return 0, else return -1
*/
int can_send(const can_msg_t *msg)
{
unsigned long status;
tCANMsgObject MsgObjectTx;
status = CANStatusGet(CAN0_BASE, CAN_STS_TXREQUEST);
if(status & (unsigned long)(1 << (LM3S_TxMsgObjNr - 1)))
return 1;
MsgObjectTx.ulMsgID = msg->id;
MsgObjectTx.ulMsgLen = msg->dlc;
MsgObjectTx.pucMsgData = (unsigned char *)msg->data;
if (msg->flag) {
MsgObjectTx.ulFlags = MSG_OBJ_EXTENDED_ID;
} else {
MsgObjectTx.ulFlags = MSG_OBJ_NO_FLAGS;
}
CANRetrySet(CAN0_BASE, LM3S_TxMsgObjNr); //set retry send
CANMessageSet(CAN0_BASE, LM3S_TxMsgObjNr, &MsgObjectTx, MSG_OBJ_TYPE_TX);
return 0;
}
// The CAN controller interrupt handler.
void CANHandler(void)
{
unsigned long ulStatus;
//
// Find the cause of the interrupt, if it is a status interrupt then just
// acknowledge the interrupt by reading the status register.
//
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
switch(ulStatus)
{
// This was a status interrupt so read the current status to clear the interrupt and return.
default:
{
CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
return;
}
}
// Acknowledge the CAN controller interrupt has been handled.
CANIntClear(CAN0_BASE, ulStatus);
}
//*****************************************************************************
//
// This function is the interrupt handler for the CAN peripheral. It checks
// for the cause of the interrupt, and maintains a count of all messages that
// have been transmitted.
//
//*****************************************************************************
void
CANIntHandler(void)
{
uint32_t ui32Status;
//
// Read the CAN interrupt status to find the cause of the interrupt
//
ui32Status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
//
// If the cause is a controller status interrupt, then get the status
//
if(ui32Status == CAN_INT_INTID_STATUS)
{
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Error processing
// is not done in this example for simplicity. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt. If the
// CAN peripheral is not connected to a CAN bus with other CAN devices
// present, then errors will occur and will be indicated in the
// controller status.
//
ui32Status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
//
// Set a flag to indicate some errors may have occurred.
//
g_bErrFlag = 1;
}
//
// Check if the cause is message object 1, which is used for sending
// message 1.
//
else if(ui32Status == 1)
{
//
// Getting to this point means that the TX interrupt occurred on
// message object 1, and the message TX is complete. Clear the
// message object interrupt.
//
CANIntClear(CAN0_BASE, 1);
//
// Increment a counter to keep track of how many messages have been
// sent. In a real application this could be used to set flags to
// indicate when a message is sent.
//
g_ui32Msg1Count++;
//
// Since the message was sent, clear any error flags.
//
g_bErrFlag = 0;
}
//
// Check if the cause is message object 2, which is used for sending
// message 2.
//
else if(ui32Status == 2)
{
//
// Getting to this point means that the TX interrupt occurred on
// message object 2, and the message TX is complete. Clear the
// message object interrupt.
//
CANIntClear(CAN0_BASE, 2);
//
// Increment a counter to keep track of how many messages have been
// sent. In a real application this could be used to set flags to
// indicate when a message is sent.
//
g_ui32Msg2Count++;
//
// Since the message was sent, clear any error flags.
//
g_bErrFlag = 0;
}
//
// Check if the cause is message object 3, which is used for sending
// messages 3 and 4.
//
else if(ui32Status == 3)
{
//
// Getting to this point means that the TX interrupt occurred on
// message object 3, and a message TX is complete. Clear the
// message object interrupt.
//
CANIntClear(CAN0_BASE, 3);
//
// Increment a counter to keep track of how many messages have been
// sent. In a real application this could be used to set flags to
// indicate when a message is sent.
//
g_ui32Msg3Count++;
//
// Set the flag indicating that a message was sent using message
// object 3. The program main loop uses this to know when to send
// another message using message object 3.
//
g_bMsgObj3Sent = 1;
//
// Since the message was sent, clear any error flags.
//
g_bErrFlag = 0;
}
//
// Otherwise, something unexpected caused the interrupt. This should
// never happen.
//
else
{
//
// Spurious interrupt handling can go here.
//
}
}
//*****************************************************************************
//
// The CAN controller Interrupt handler.
//
//*****************************************************************************
void
CANHandler(void)
{
unsigned long ulStatus;
//
// Find the cause of the interrupt, if it is a status interrupt then just
// acknowledge the interrupt by reading the status register.
//
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
switch(ulStatus)
{
//
// Let the forground loop handle sending this, just set a flag to
// indicate that the data should be sent.
//
case MSGOBJ_NUM_BUTTON:
{
//
// Read the Button Message.
//
CANMessageGet(CAN0_BASE, MSGOBJ_NUM_BUTTON,
&g_MsgObjectButton, 1);
//
// Only respond to buttons being release.
//
if(g_MsgObjectButton.pucMsgData[0] == EVENT_BUTTON_RELEASED)
{
//
// Check if the up button was released.
//
if(g_MsgObjectButton.pucMsgData[1] == TARGET_BUTTON_UP)
{
//
// Adjust the volume up by 10.
//
AudioVolumeUp(10);
}
//
// Check if the down button was released.
//
if(g_MsgObjectButton.pucMsgData[1] == TARGET_BUTTON_DN)
{
//
// Adjust the volume down by 10.
//
AudioVolumeDown(10);
}
}
break;
}
//
// When the LED message object interrupts, just clear the flag so that
// more LED messages are allowed to transfer.
//
case MSGOBJ_NUM_LED:
{
g_ulFlags &= (~FLAG_LED_TX_PEND);
break;
}
//
// When the transmit data message object interrupts, clear the
// flag so that more data can be trasferred.
//
case MSGOBJ_NUM_DATA_TX:
{
g_ulFlags &= (~FLAG_DATA_TX_PEND);
break;
}
//
// When a receive data message object interrupts, set the flag to
// indicate that new data is ready.
//
case MSGOBJ_NUM_DATA_RX:
{
g_ulFlags |= FLAG_DATA_RECV;
break;
}
//
// This was a status interrupt so read the current status to
// clear the interrupt and return.
//
default:
{
//
// Read the controller status to acknowledge this interrupt.
//
CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
//
// If there was a LED transmission pending, then stop it and
// clear the flag.
//
if(g_ulFlags & FLAG_LED_TX_PEND)
{
//
// Disable this message object until we retry it later.
//
CANMessageClear(CAN0_BASE, MSGOBJ_NUM_LED);
//
// Clear the transmit pending flag.
//
g_ulFlags &= (~FLAG_LED_TX_PEND);
}
//
// If there was a Data transmission pending, then stop it and
// clear the flag.
//
if(g_ulFlags & FLAG_DATA_TX_PEND)
{
//
// Disable this message object until we retry it later.
//
CANMessageClear(CAN0_BASE, MSGOBJ_NUM_DATA_TX);
//
// Clear the transmit pending flag.
//
g_ulFlags &= (~FLAG_DATA_TX_PEND);
}
return;
}
}
//
// Acknowledge the CAN controller interrupt has been handled.
//
CANIntClear(CAN0_BASE, ulStatus);
}
//*****************************************************************************
//
// The CAN controller interrupt handler.
//
// /return None.
//
//*****************************************************************************
void
CANHandler(void)
{
unsigned long ulStatus;
//
// Find the cause of the interrupt, if it is a status interrupt then just
// acknowledge the interrupt by reading the status register.
//
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
switch(ulStatus)
{
//
// Let the forground loop handle sending this, just set a flag to
// indicate that the data should be sent.
//
case MSGOBJ_NUM_BUTTON:
{
//
// Indicate a pending button transmission is complete.
//
g_ulFlags &= (~FLAG_BUTTON_PEND);
break;
}
case MSGOBJ_NUM_LED:
{
//
// Read the new LED level and let the foreground handle it.
//
CANMessageGet(CAN0_BASE, MSGOBJ_NUM_LED, &g_MsgObjectLED, 1);
//
// Limit the LED Level to MAX_LED_BRIGHTNESS.
//
if((g_ucLEDLevel & LED_FLASH_VALUE_MASK) > MAX_LED_BRIGHTNESS)
{
g_ucLEDLevel = MAX_LED_BRIGHTNESS |
(g_ucLEDLevel & LED_FLASH_ONCE);
}
//
// Indicate that the LED needs to be updated.
//
g_ulFlags |= FLAG_UPDATE_LED;
break;
}
//
// The data transmit message object has been sent successfully.
//
case MSGOBJ_NUM_DATA_TX:
{
//
// Clear the data transmit pending flag.
//
g_ulFlags &= (~FLAG_DATA_TX_PEND);
break;
}
//
// The data receive message object has received some data.
//
case MSGOBJ_NUM_DATA_RX:
{
//
// Indicate that the data message object has new data.
//
g_ulFlags |= FLAG_DATA_RECV;
break;
}
//
// This was a status interrupt so read the current status to
// clear the interrupt and return.
//
default:
{
CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
return;
}
}
//
// Acknowledge the CAN controller interrupt has been handled.
//
CANIntClear(CAN0_BASE, ulStatus);
}
//*****************************************************************************
//
// CAN 0 Interrupt Handler. It checks for the cause of the interrupt, and
// maintains a count of all messages that have been transmitted / received
//
//*****************************************************************************
void
CAN0IntHandler(void)
{
uint32_t ui32Status;
//
// Read the CAN interrupt status to find the cause of the interrupt
//
// CAN_INT_STS_CAUSE register values
// 0x0000 = No Interrupt Pending
// 0x0001-0x0020 = Number of message object that caused the interrupt
// 0x8000 = Status interrupt
// all other numbers are reserved and have no meaning in this system
//
ui32Status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
//
// If this was a status interrupt acknowledge it by reading the CAN
// controller status register.
//
if(ui32Status == CAN_INT_INTID_STATUS)
{
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt.
//
ui32Status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
//
// Add ERROR flags to list of current errors. To be handled
// later, because it would take too much time here in the
// interrupt.
//
g_ui32ErrFlag |= ui32Status;
}
//
// Check if the cause is message object RXOBJECT, which we are using
// for receiving messages.
//
else if(ui32Status == RXOBJECT)
{
//
// Getting to this point means that the RX interrupt occurred on
// message object RXOBJECT, and the message reception is complete.
// Clear the message object interrupt.
//
CANIntClear(CAN0_BASE, RXOBJECT);
//
// Increment a counter to keep track of how many messages have been
// received. In a real application this could be used to set flags to
// indicate when a message is received.
//
g_ui32RXMsgCount++;
//
// Set flag to indicate received message is pending.
//
g_bRXFlag = true;
//
// Since a message was received, clear any error flags.
// This is done because before the message is received it triggers
// a Status Interrupt for RX complete. by clearing the flag here we
// prevent unnecessary error handling from happeneing
//
g_ui32ErrFlag = 0;
}
//
// Check if the cause is message object TXOBJECT, which we are using
// for transmitting messages.
//
else if(ui32Status == TXOBJECT)
{
//
// Getting to this point means that the TX interrupt occurred on
// message object TXOBJECT, and the message reception is complete.
// Clear the message object interrupt.
//
CANIntClear(CAN0_BASE, TXOBJECT);
//
// Increment a counter to keep track of how many messages have been
// transmitted. In a real application this could be used to set
// flags to indicate when a message is transmitted.
//
g_ui32TXMsgCount++;
//
// Since a message was transmitted, clear any error flags.
// This is done because before the message is transmitted it triggers
// a Status Interrupt for TX complete. by clearing the flag here we
// prevent unnecessary error handling from happeneing
//
g_ui32ErrFlag = 0;
}
//
// Otherwise, something unexpected caused the interrupt. This should
// never happen.
//
else
{
//
// Spurious interrupt handling can go here.
//
}
}
//*****************************************************************************
//
// This function is the interrupt handler for the CAN peripheral. It checks
// for the cause of the interrupt, and maintains a count of all messages that
// have been received.
//
//*****************************************************************************
void
CAN0_IRQHandler(void)
{
uint32_t ui32Status;
//
// Read the CAN interrupt status to find the cause of the interrupt
//
ui32Status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
//
// If the cause is a controller status interrupt, then get the status
//
if(ui32Status == CAN_INT_INTID_STATUS)
{
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Error processing
// is not done in this example for simplicity. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt.
//
ui32Status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
//
// Set a flag to indicate some errors may have occurred.
//
g_bErrFlag = 1;
}
//
// Check if the cause is message object 1.
//
else if(ui32Status == 1)
{
//
// Getting to this point means that the RX interrupt occurred on
// message object 1, and the message reception is complete. Clear the
// message object interrupt.
//
CANIntClear(CAN0_BASE, 1);
//
// Increment a counter to keep track of how many messages have been
// received. In a real application this could be used to set flags to
// indicate when a message is received.
//
g_ui32MsgCount++;
//
// Set flag to indicate received message is pending for this message
// object.
//
g_bRXFlag1 = 1;
//
// Since a message was received, clear any error flags.
//
g_bErrFlag = 0;
}
//
// Check if the cause is message object 2.
//
else if(ui32Status == 2)
{
CANIntClear(CAN0_BASE, 2);
g_ui32MsgCount++;
g_bRXFlag2 = 1;
g_bErrFlag = 0;
}
//
// Check if the cause is message object 3.
//
else if(ui32Status == 3)
{
CANIntClear(CAN0_BASE, 3);
g_ui32MsgCount++;
g_bRXFlag3 = 1;
g_bErrFlag = 0;
}
//
// Otherwise, something unexpected caused the interrupt. This should
// never happen.
//
else
{
//
// Spurious interrupt handling can go here.
//
}
}
//*****************************************************************************
//
// This function is the interrupt handler for the CAN peripheral. It checks
// for the cause of the interrupt, and maintains a count of all messages that
// have been transmitted.
//
//*****************************************************************************
extern "C" void CAN0IntHandler(void) {
unsigned long ulStatus;
// Read the CAN interrupt status to find the cause of the interrupt
ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);
//
// If the cause is a controller status interrupt, then get the status
//
if (ulStatus == CAN_INT_INTID_STATUS) {
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Error processing
// is not done in this example for simplicity. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt. If the
// CAN peripheral is not connected to a CAN bus with other CAN devices
// present, then errors will occur and will be indicated in the
// controller status.
//
ulStatus = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
if (ulStatus == CAN_STATUS_TXOK) {
} else if (ulStatus == CAN_STATUS_RXOK) {
} else
/*
CAN_STS_CONTROL - the main controller status
CAN_STS_TXREQUEST - bit mask of objects pending transmissio
CAN_STS_NEWDAT - bit mask of objects with new data
CAN_STS_MSGVAL - bit mask of objects with valid configuration
CAN_STATUS_BUS_OFF - controller is in bus-off condition
CAN_STATUS_EWARN - an error counter has reached a limit of at least 96
CAN_STATUS_EPASS - CAN controller is in the error passive state
CAN_STATUS_RXOK - a message was received successfully (independent of any mes-sage filtering).
CAN_STATUS_TXOK - a message was successfully transmitted
CAN_STATUS_LEC_MSK - mask of last error code bits (3 bits)
CAN_STATUS_LEC_NONE - no error
CAN_STATUS_LEC_STUFF - stuffing error detected
CAN_STATUS_LEC_FORM - a format error occurred in the fixed format part of amessage
CAN_STATUS_LEC_ACK - a transmitted message was not acknowledged
CAN_STATUS_LEC_BIT1 - dominant level detected when trying to send in recessive
mode
CAN_STATUS_LEC_BIT0 - recessive level detected when trying to send in dominant
mode
CAN_STATUS_LEC_CRC - CRC error in received message
*/
can0._countErr++;
}
//
// Check if the cause is message object 1, which what we are using for
// sending messages.
//
else if (ulStatus < can0._tableIdx + 1 && ulStatus > 0) {
uint32_t idx = ulStatus - 1;
if (can0._table[idx].mode == CAN::RECV) {
tCANMsgObject* msgObj = (can0._table[idx].msgObject);
CANIntClear(CAN0_BASE, idx + 1);
CANMessageGet(CAN0_BASE, idx + 1, msgObj, true);
can0._countRxd++;
CANListener* listener = can0._table[idx].listener;
listener->recv(msgObj->ulMsgID, msgObj->ulMsgLen,
msgObj->pucMsgData);
CANMessageSet(CAN0_BASE, ulStatus, msgObj, MSG_OBJ_TYPE_RX);
// CANMessageSet(CAN0_BASE, ulStatus, msgObj, MSG_OBJ_TYPE_TX); // reload
} else if (can0._table[idx].mode == CAN::SEND) {
CANListener* listener = can0._table[idx].listener;
tCANMsgObject* msgObj = (can0._table[idx].msgObject);
CANIntClear(CAN0_BASE, idx + 1);
can0._countTxd++;
listener->sendDone(msgObj->ulMsgID, E_OK);
}
}
else {
//
// Spurious interrupt handling can go here.
//
CANIntClear(CAN0_BASE, ulStatus);
}
}
