/**
* \brief This function should be used to clear the interrupt pending status
* of receive objects after a new message is received. This will clear
* the IntPnd status of the message object represented by msgNum.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param msgNum Message object number.
* \param ifReg Interface register set used.
*
**/
void CANClrIntPndStat(unsigned int baseAdd, unsigned int msgNum,
unsigned int ifReg)
{
/* Clear the IntPnd bit of DCAN_IFMCTL register */
DCANClrIntPnd(baseAdd, ifReg);
/* Set the ClrIntPnd bit of DCAN_IFCMD register */
DCANCommandRegSet(baseAdd, DCAN_CLR_INTPND, msgNum, ifReg);
}
/**
* \brief This function can be used to disable the receive interrupt of a
* message object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param msgNum Message object number.
* \param ifReg Interface register set used.
*
**/
void CANRxIntDisable(unsigned int baseAdd, unsigned int msgNum,
unsigned int ifReg)
{
/* Disable the message object receive interrupt */
DCANMsgObjIntDisable(baseAdd, DCAN_RECEIVE_INT, ifReg);
/* Set the CTL bit of the command register */
DCANCommandRegSet(baseAdd, (DCAN_ACCESS_CTL_BITS | DCAN_MSG_WRITE),
msgNum, ifReg);
}
/**
* \brief This function can be used by the user to invalidate a message
* object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param msgNum Message object number.
* \param ifReg Interface register set used.
*
**/
void CANInValidateMsgObject(unsigned int baseAdd, unsigned int msgNum,
unsigned int ifReg)
{
/* Clear the MsgVal bit of DCAN_IFARB register */
DCANMsgObjInvalidate(baseAdd, ifReg);
/* Set the Arb bit of DCAN_IFCMD register */
DCANCommandRegSet(baseAdd, (DCAN_ACCESS_ARB_BITS | DCAN_MSG_WRITE),
msgNum, ifReg);
}
/**
* \brief This function can be used to update the data bytes of a transmit
* object and set TxRqst for this message object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param dataPtr Pointer to unsigned integer. Used to write data
* bytes to data registers.
* \param msgNum Message object number.
* \param ifReg Interface register set used.
*
**/
void CANUpdateDataBytes(unsigned int baseAdd, unsigned int* dataPtr,
unsigned int msgNum, unsigned int ifReg)
{
/* Populate the data bytes in the data registers */
DCANDataWrite(baseAdd, dataPtr, ifReg);
/* Set the DataA, DataB, TxRqst and WR of the IF_CMD register */
DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_DAT_B_ACCESS |
DCAN_TXRQST_ACCESS | DCAN_MSG_WRITE),
msgNum, ifReg);
}
/**
* \brief Read data from a message object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param msgNum Message object number.
* \param data Pointer to an unsigned integer. Used to fetch data
* bytes from data registers.
* \param ifReg Interface register set used.
*
*/
void CANReadMsgObjData(unsigned int baseAdd, unsigned int msgNum,
unsigned int* data, unsigned int ifReg)
{
/* Read a message object from CAN message RAM to Interface register */
DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_DAT_B_ACCESS |
DCAN_TXRQST_ACCESS | DCAN_CLR_INTPND |
DCAN_ACCESS_CTL_BITS | DCAN_ACCESS_ARB_BITS |
DCAN_ACCESS_MSK_BITS | DCAN_MSG_READ),
msgNum, ifReg);
/* Clear the NewData bit */
DCANNewDataControl(baseAdd, DCAN_NEW_DAT_CLR, ifReg);
/* Read data bytes from interface register */
DCANDataRead(baseAdd, data, ifReg);
}
/**
* \brief This function will configure a message object in DCAN message RAM
* as a receive message object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param canPtr Pointer to can_frame structure.
*
**/
void CANRxObjectConfig(unsigned int baseAdd, can_frame* canPtr)
{
unsigned int idLen;
unsigned int msgIndex;
msgIndex = (CAN_NUM_OF_MSG_OBJS / 2);
idLen = (canPtr->flag & CAN_EXT_FRAME) ? DCAN_29_BIT_ID : DCAN_11_BIT_ID;
/* Use Acceptance mask. */
DCANUseAcceptanceMaskControl(baseAdd, DCAN_MASK_USED, DCAN_IF2_REG);
/* Configure the DCAN mask registers for acceptance filtering. */
DCANMsgObjectMskConfig(baseAdd, DCAN_IDENTIFIER_MSK(DCAN_ID_MASK,
DCAN_ID_MSK_11_BIT), DCAN_MSK_MSGDIR_DISABLE,
DCAN_MSK_EXT_ID_ENABLE, DCAN_IF2_REG);
/* Set the message valid bit */
DCANMsgObjValidate(baseAdd, DCAN_IF2_REG);
/* Set the message id of the frame to be received */
DCANMsgIdSet(baseAdd, canPtr->id, idLen, DCAN_IF2_REG);
/* Set the message object direction as receive */
DCANMsgDirectionSet(baseAdd, DCAN_RX_DIR, DCAN_IF2_REG);
/* Enable the receive interrupt for the message object */
DCANMsgObjIntEnable(baseAdd, DCAN_RECEIVE_INT, DCAN_IF2_REG);
/* Enable the FIFO end of block */
DCANFIFOEndOfBlockControl(baseAdd, DCAN_END_OF_BLOCK_ENABLE, DCAN_IF2_REG);
/* Check for the message valid status for receive objects */
while((DCANMsgValidStatusGet(baseAdd, msgIndex)) &&
(msgIndex <= (CAN_NUM_OF_MSG_OBJS - 1)))
{
msgIndex++;
}
/* Configure the command register */
DCANCommandRegSet(baseAdd, (DCAN_ACCESS_CTL_BITS | DCAN_MSG_WRITE |
DCAN_ACCESS_MSK_BITS | DCAN_ACCESS_ARB_BITS),
msgIndex, DCAN_IF2_REG);
}
static void CANRxMsgObjectConfig(unsigned int baseAdd)
{
unsigned val;
while (DCANIFBusyStatusGet(baseAdd,DCAN_IF_READ));
/* Set the message valid bit */
val = (0 << DCAN_IF2ARB_DIR_SHIFT)|(1<< DCAN_IF2ARB_MSGVAL_SHIFT);
HWREG(baseAdd + DCAN_IFARB(DCAN_IF_READ)) = val;
val = 1<<7 | 1<<10 | 1<<12;
DCANIFMCtrSet(baseAdd,DCAN_IF_READ,val);
val = 1<<30;
HWREG(baseAdd + DCAN_IFMSK(DCAN_IF_READ)) = val;
for (int i=0;i<DCAN_MSGOBF_RX_NUMBER;i++) {
DCANCommandRegSet(baseAdd, DCAN_ACCESS_CTL_BITS | DCAN_MSG_WRITE
| DCAN_ACCESS_MSK_BITS
|(1<<21)|(1<<19),i+DCAN_MSGOBF_RX_BEGIN, DCAN_IF2_REG);
while (DCANIFBusyStatusGet(baseAdd,DCAN_IF_READ));
}
}
/**
* \brief Read data from a message object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param msgNum Message object number.
* \param data Pointer to an unsigned integer. Used to fetch data
* bytes from data registers.
* \param ifReg Interface register set used.
*
*/
static void CANFrameRead(unsigned int baseAdd, unsigned int msgNum,
CAN_FRAME * frame)
{
/* Read a message object from CAN message RAM to Interface register */
DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_DAT_B_ACCESS |
DCAN_TXRQST_ACCESS | DCAN_CLR_INTPND |
DCAN_ACCESS_CTL_BITS | DCAN_ACCESS_ARB_BITS |
DCAN_ACCESS_MSK_BITS | DCAN_MSG_READ
|DCAN_CLR_INTPND ),
msgNum, DCAN_IF_READ);
/* Clear the NewData bit */
//DCANNewDataControl(baseAdd, DCAN_NEW_DAT_CLR, DCAN_IF_READ);
/* Read data bytes from interface register */
DCANIFDataRead(baseAdd, DCAN_IF_READ, frame->data);
*(unsigned int*)frame = DCANIFArbRead(baseAdd,DCAN_IF_READ);
frame->dlc = DCANIFDlcRead(baseAdd,DCAN_IF_READ);
}
unsigned int CANSend_noblock(unsigned int baseAddr,CAN_FRAME *frame){
unsigned int msgNum;
if(CANSendFinishGetClr(baseAddr)==false)
return CAN_SEND_PRE_SENDING;
while (DCANIFBusyStatusGet(baseAddr,DCAN_IF_WRITE));
unsigned int arb = *(unsigned int *)frame;
arb ^= (1<<29);
HWREG(baseAddr + DCAN_IFARB(DCAN_IF_WRITE)) = arb | 0x80000000;
DCANIFDataSet(baseAddr,DCAN_IF_WRITE,frame->data,frame->dlc);
HWREG(baseAddr + DCAN_IFMCTL(DCAN_IF_WRITE)) |= DCAN_TRANSMIT_INT
|DCAN_IFARB_MSGVAL | DCAN_IFMCTL_EOB | DCAN_IFMCTL_TXRQST
| DCAN_IFMCTL_NEWDAT;
/* Get the transmit request status */
msgNum = DCANFreeMsgObjGet(baseAddr,DCAN_MSGOBF_TX_BEGIN);
/* Configure the command register */
DCANCommandRegSet(baseAddr, (DCAN_DAT_A_ACCESS | DCAN_MSG_WRITE | DCAN_TXRQST_ACCESS |
DCAN_DAT_B_ACCESS | DCAN_ACCESS_CTL_BITS |
DCAN_ACCESS_ARB_BITS), msgNum, DCAN_IF_WRITE);
return CAN_SEND_OK;
}
/**
* \brief This function will configure a message object in DCAN message RAM as a
* transmit message object.
*
* \param baseAdd Base Address of the DCAN Module Registers.
* \param canPtr Pointer to can_frame structure.
*
**/
void CANTxObjectConfig(unsigned int baseAdd, can_frame* canPtr)
{
unsigned int msgNum;
unsigned int idLen;
idLen = (canPtr->flag & CAN_EXT_FRAME) ? DCAN_29_BIT_ID : DCAN_11_BIT_ID;
/* Set the message valid bit */
DCANMsgObjValidate(baseAdd, DCAN_IF1_REG);
/* Set the message id of the frame to be transmitted */
DCANMsgIdSet(baseAdd, canPtr->id, idLen, DCAN_IF1_REG);
/* Set the message object direction as transmit */
DCANMsgDirectionSet(baseAdd, DCAN_TX_DIR, DCAN_IF1_REG);
/* Set the data length code */
DCANDataLengthCodeSet(baseAdd, canPtr->dlc, DCAN_IF1_REG);
/* Write data to the DCAN data registers */
DCANDataWrite(baseAdd, (canPtr->data), DCAN_IF1_REG);
/* Enable the transmit interrupt for the message object */
DCANMsgObjIntEnable(baseAdd, DCAN_TRANSMIT_INT, DCAN_IF1_REG);
/* Enable the DCAN FIFO End of block */
DCANFIFOEndOfBlockControl(baseAdd, DCAN_END_OF_BLOCK_ENABLE, DCAN_IF1_REG);
/* Get the transmit request status */
msgNum = DCANTxRqstStatGet(baseAdd);
/* Configure the command register */
DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_MSG_WRITE | DCAN_TXRQST_ACCESS |
DCAN_DAT_B_ACCESS | DCAN_ACCESS_CTL_BITS |
DCAN_ACCESS_ARB_BITS), msgNum, DCAN_IF1_REG);
}
