bool CANController::sendMessage(CANMessage *msg)
{
MutexGuard guard(&_sendMessageMutex);
if (_silent) return true;
uint8_t mob = findFreeSendingMOB();
if (mob>0) {
tCANMsgObject msgobj;
if (msg->id>=0x800) {
msg->setExtendedId(true);
}
msgobj.ulMsgID = msg->id;
msgobj.ulMsgIDMask = 0;
msgobj.ulMsgLen = msg->dlc;
msgobj.pucMsgData = msg->data;
msgobj.ulFlags = msg->_flags;
MAP_CANMessageSet(_base, mob+1, &msgobj, MSG_OBJ_TYPE_TX);
return true;
} else {
return false;
}
}
int platform_can_send( unsigned id, u32 canid, u8 idtype, u8 len, const u8 *data )
{
tCANMsgObject msg_tx;
const char *s = ( char * )data;
char *d;
// Wait for outgoing messages to clear
while( can_tx_flag == 1 );
msg_tx.ulFlags = MSG_OBJ_TX_INT_ENABLE;
if( idtype == ELUA_CAN_ID_EXT )
msg_tx.ulFlags |= MSG_OBJ_EXTENDED_ID;
msg_tx.ulMsgIDMask = 0;
msg_tx.ulMsgID = canid;
msg_tx.ulMsgLen = len;
msg_tx.pucMsgData = ( u8 * )can_tx_buf;
d = can_tx_buf;
DUFF_DEVICE_8( len, *d++ = *s++ );
can_tx_flag = 1;
MAP_CANMessageSet(CAN0_BASE, CAN_MSG_OBJ_TX, &msg_tx, MSG_OBJ_TYPE_TX);
return PLATFORM_OK;
}
void cans_init( void )
{
MAP_SysCtlPeripheralEnable( SYSCTL_PERIPH_CAN0 );
MAP_CANInit( CAN0_BASE );
CANBitRateSet(CAN0_BASE, LM3S_CAN_CLOCK, 500000);
MAP_CANIntEnable( CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS );
MAP_IntEnable(INT_CAN0);
MAP_CANEnable(CAN0_BASE);
// Configure default catch-all message object
can_msg_rx.ulMsgID = 0;
can_msg_rx.ulMsgIDMask = 0;
can_msg_rx.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
can_msg_rx.ulMsgLen = 8;
MAP_CANMessageSet(CAN0_BASE, 1, &can_msg_rx, MSG_OBJ_TYPE_RX);
}
void CANController::execute()
{
while(1) {
uint8_t num;
while (_usedSwMobs.receive(&num, 0)) {
tCANMsgObject *msgobj = &_swmobs[num];
_lastMessageReceivedTimestamp = getTime();
notifyObservers(msgobj);
_freeSwMobs.sendToBack(num);
}
uint32_t timeToWait = sendCyclicCANMessages();
if (timeToWait>100) timeToWait = 100;
_usedSwMobs.peek(&num, timeToWait);
/*
_isrToThreadQueue.peek(&num, timeToWait);
uint32_t status = getControlRegister(); // also clears the interrupt
if (status & 0xE0) { // bus off, error warning level or error passive
MAP_CANDisable(_base);
delay_ms(10);
MAP_CANInit(_base);
setBitrate(_bitrate);
enableInterrupts(CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
for (int i=0; i<32; i++)
{
CANMessageObject *o = getMessageObject(i);
o->id = 0;
o->mask = 0;
o->dlc = 8;
o->setRxIntEnabled(i<10);
o->setPartOfFIFO(i<9);
o->setUseIdFilter(i<10);
o->set(CAN::message_type_rx);
}
MAP_CANEnable(_base);
}
*/
uint32_t status = getControlRegister(); // also clears the interrupt
if (status & 0xA0) { // bus off, error warning level or error passive
bool s = _silent;
_silent = true;
MAP_CANDisable(_base);
delay_ms(10);
MAP_CANInit(_base);
setBitrate(_bitrate);
enableInterrupts(CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
for (int i=0; i<16; i++)
{
tCANMsgObject msgobj;
msgobj.ulMsgID = 0;
msgobj.ulMsgIDMask = 0;
msgobj.ulMsgLen = 8;
msgobj.pucMsgData = 0;
msgobj.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER | ((i<15)?MSG_OBJ_FIFO:0);
MAP_CANMessageSet(_base, i+1, &msgobj, MSG_OBJ_TYPE_RX);
}
MAP_CANEnable(_base);
delay_ms(10);
_silent = s;
}
}
}
void CANController::setup(CAN::bitrate_t bitrate, GPIOPin rxpin, GPIOPin txpin)
{
rxpin.getPort()->enablePeripheral();
txpin.getPort()->enablePeripheral();
rxpin.configure(GPIOPin::CAN);
txpin.configure(GPIOPin::CAN);
switch (_channel) {
#ifdef HAS_CAN_CHANNEL_0
case CAN::channel_0:
rxpin.mapAsCAN0RX();
txpin.mapAsCAN0TX();
break;
#endif
#ifdef HAS_CAN_CHANNEL_1
case CAN::channel_1:
rxpin.mapAsCAN1RX();
txpin.mapAsCAN1TX();
break;
#endif
#ifdef HAS_CAN_CHANNEL_2
case CAN::channel_2:
rxpin.mapAsCAN2RX();
txpin.mapAsCAN2TX();
break;
#endif
default:
while (1) { ; } // something bad happened ...
break;
}
MAP_SysCtlPeripheralEnable(_periph);
MAP_CANInit(_base);
setBitrate(bitrate);
enableInterrupts(CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
for (int i=0; i<16; i++)
{
/*
CANMessageObject *o = getMessageObject(i);
o->id = 0;
o->mask = 0;
o->dlc = 8;
o->setRxIntEnabled(i<10);
o->setPartOfFIFO(i<9);
o->setUseIdFilter(i<10);
o->set(CAN::message_type_rx);
*/
tCANMsgObject msgobj;
msgobj.ulMsgID = 0;
msgobj.ulMsgIDMask = 0;
msgobj.ulMsgLen = 8;
msgobj.pucMsgData = 0;
msgobj.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER | ((i<15)?MSG_OBJ_FIFO:0);
MAP_CANMessageSet(_base, i+1, &msgobj, MSG_OBJ_TYPE_RX);
}
MAP_CANEnable(_base);
}
