/*********************************************************************//**
* @brief Handle valid transmit message
* @param[in] msg_no Message Object number
* @return None
**********************************************************************/
void CAN_TxInt_MessageProcess( uint8_t msg_no )
{
/* Clear interrupt pending bit */
CAN_IF_Write(MCTRL, IF2, UMSK|RXIE|EOB|CAN_DLC_MAX);
/* Save changes to message RAM */
CAN_IF_writeBuf(IF2,msg_no);
return;
}
/*********************************************************************//**
* @brief Listen for a message on CAN bus
* @param[in] msg_no message object number
* @param[in] msg_ptr msg buffer pointer
* @param[in] RemoteEnable Enable/disable remote frame support, should be:
* - TRUE: enable
* - FALSE: disable
* @return None
**********************************************************************/
void CAN_Recv(uint8_t msg_no, uint32_t *msg_ptr, Bool RemoteEnable)
{
uint32_t rx_id = *msg_ptr;
uint32_t rmten = 0;
if(RemoteEnable) {
rmten = 1<<8;
}
if(!(rx_id & (0x1<<30))) { /* standard frame */
/* Mxtd: 0, Mdir: 0, Mask is 0x7FF */
CAN_IF_Write(MSK1, IF1, 0x0000);
CAN_IF_Write(MSK2, IF1, ID_STD_MASK << 2);
/* MsgVal: 1, Mtd: 0, Dir: 0 */
CAN_IF_Write(ARB1, IF1, 0x0000);
CAN_IF_Write(MCTRL, IF1, rmten|UMSK|RXIE|EOB|CAN_DLC_MAX);
CAN_IF_Write(DA1, IF1, 0x0000);
CAN_IF_Write(DA2, IF1, 0x0000);
CAN_IF_Write(DB1, IF1, 0x0000);
CAN_IF_Write(DB2, IF1, 0x0000);
CAN_IF_Write(ARB2, IF1, ID_MVAL | ((rx_id) << 2));
/* Transfer data to message RAM */
CAN_IF_writeBuf(IF1, msg_no);
}
else {
rx_id &= (0x1<<30)-1 ; /* Mask ID bit */
/* Mxtd: 1, Mdir: 0, Mask is 0x1FFFFFFF */
CAN_IF_Write(MSK1, IF1, ID_EXT_MASK & 0xFFFF);
CAN_IF_Write(MSK2, IF1, MASK_MXTD | (ID_EXT_MASK >> 16));
/* MsgVal: 1, Mtd: 1, Dir: 0 */
CAN_IF_Write(ARB1, IF1, (rx_id) & 0xFFFF);
CAN_IF_Write(MCTRL, IF1, rmten|UMSK|RXIE|EOB|CAN_DLC_MAX);
CAN_IF_Write(DA1, IF1, 0x0000);
CAN_IF_Write(DA2, IF1, 0x0000);
CAN_IF_Write(DB1, IF1, 0x0000);
CAN_IF_Write(DB2, IF1, 0x0000);
CAN_IF_Write(ARB2, IF1, ID_MVAL | ID_MTD | ((rx_id) >> 16));
/* Transfer data to message RAM */
CAN_IF_writeBuf(IF1, msg_no);
}
return;
}
/*********************************************************************//**
* @brief Send a message to the CAN port
* @param[in] msg_no message object number
* @param[in] msg_ptr msg buffer pointer
* @return None
**********************************************************************/
void CAN_Send(uint8_t msg_no, uint32_t *msg_ptr )
{
uint32_t tx_id, Length;
if(msg_ptr == NULL) return;
/* first is the ID, second is length, the next four are data */
tx_id = *msg_ptr++;
Length = *msg_ptr++;
if(Length>CAN_DLC_MAX)Length = CAN_DLC_MAX;
CAN_IF_Write(MCTRL, IF1, UMSK|TXIE|TXRQ|EOB|RMTEN|(Length & DLC_MASK));
CAN_IF_Write(DA1, IF1, *msg_ptr); /* Lower two bytes of message pointer */
CAN_IF_Write(DA2, IF1, (*msg_ptr++)>>16); /* Upper two bytes of message pointer */
CAN_IF_Write(DB1, IF1, *msg_ptr); /* Lower two bytes of message pointer */
CAN_IF_Write(DB2, IF1, (*msg_ptr)>>16); /* Upper two bytes of message pointer */
/* Configure arbitration */
if(!(tx_id & (0x1<<30))) /* bit 30 is 0, standard frame */
{
/* Mxtd: 0, Mdir: 1, Mask is 0x7FF */
CAN_IF_Write(MSK2, IF1, MASK_MDIR | (ID_STD_MASK << 2));
CAN_IF_Write(MSK1, IF1, 0x0000);
/* MsgVal: 1, Mtd: 0, Dir: 1, ID = 0x200 */
CAN_IF_Write(ARB1, IF1, 0x0000);
CAN_IF_Write(ARB2, IF1, ID_MVAL| ID_DIR | (tx_id << 2));
}
else /* Extended frame */
{
/* Mxtd: 1, Mdir: 1, Mask is 0x7FF */
CAN_IF_Write(MSK2, IF1, MASK_MXTD | MASK_MDIR | (ID_EXT_MASK >> 16));
CAN_IF_Write(MSK1, IF1, ID_EXT_MASK & 0x0000FFFF);
/* MsgVal: 1, Mtd: 1, Dir: 1, ID = 0x200000 */
CAN_IF_Write(ARB1, IF1, tx_id & 0x0000FFFF);
CAN_IF_Write(ARB2, IF1, ID_MVAL|ID_MTD | ID_DIR | (tx_id >> 16));
}
/* Write changes to message RAM */
CAN_IF_writeBuf(IF1, msg_no);
return;
}
/*********************************************************************//**
* @brief Handle valid received message
* @param[in] LPC_C_CANx Select C_CAN peripheral, should be LPC_C_CAN0 or LPC_C_CAN1
* @param[in] msg_no Message Object number
* @return None
**********************************************************************/
void CAN_RxInt_MessageProcess(LPC_C_CANn_Type* LPC_C_CANx, uint8_t msg_no )
{
uint32_t msg_id;
uint32_t *p_add;
uint32_t reg1, reg2;
/* Import message object to IF2 */
CAN_IF_readBuf(LPC_C_CANx, IF2, msg_no); /* Read the message into the IF registers */
if(LPC_C_CANx == LPC_C_CAN0)
p_add = (uint32_t *)&recv_buff[0];
else if(LPC_C_CANx == LPC_C_CAN1)
p_add = (uint32_t *)&recv_buff[1];
if( CAN_IF_Read(LPC_C_CANx, ARB2, IF2) & ID_MTD ) /* bit 28-0 is 29 bit extended frame */
{
/* mask off MsgVal and Dir */
reg1 = CAN_IF_Read(LPC_C_CANx, ARB1, IF2);
reg2 = CAN_IF_Read(LPC_C_CANx, ARB2, IF2);
msg_id = (reg1|(reg2<<16));
}
else
{
/* bit 28-18 is 11-bit standard frame */
msg_id = (CAN_IF_Read(LPC_C_CANx, ARB2, IF2) &0x1FFF) >> 2;
}
p_add[0] = msg_id;
p_add[1] = CAN_IF_Read(LPC_C_CANx, MCTRL, IF2) & 0x000F; /* Get Msg Obj Data length */
p_add[2] = (CAN_IF_Read(LPC_C_CANx, DA2, IF2)<<16) | CAN_IF_Read(LPC_C_CANx, DA1, IF2);
p_add[3] = (CAN_IF_Read(LPC_C_CANx, DB2, IF2)<<16) | CAN_IF_Read(LPC_C_CANx, DB1, IF2);
/* Clear interrupt pending bit */
CAN_IF_Write(LPC_C_CANx, MCTRL, IF2, UMSK|RXIE|EOB|CAN_DLC_MAX);
/* Save changes to message RAM */
CAN_IF_writeBuf(LPC_C_CANx, IF2, msg_no);
return;
}
