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dee31a71
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dee31a71
编写于
7月 08, 2015
作者:
B
Bernard Xiong
浏览文件
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浏览文件
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差异文件
Merge pull request #517 from aozima/pulls
Pulls
上级
2fffc07d
7254c412
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
957 addition
and
839 deletion
+957
-839
bsp/lpc408x/drivers/drv_lpccan.c
bsp/lpc408x/drivers/drv_lpccan.c
+948
-830
components/drivers/include/drivers/can.h
components/drivers/include/drivers/can.h
+9
-9
未找到文件。
bsp/lpc408x/drivers/drv_lpccan.c
浏览文件 @
dee31a71
...
@@ -27,698 +27,781 @@
...
@@ -27,698 +27,781 @@
#include "lpc_exti.h"
#include "lpc_exti.h"
#include "lpc_clkpwr.h"
#include "lpc_clkpwr.h"
struct
lpccandata
{
struct
lpccandata
en_CAN_unitId
id
;
{
};
en_CAN_unitId
id
;
static
const
rt_uint32_t
LPCBAUDTAB
[]
=
{
1000000
,
800000
,
500000
,
250000
,
125000
,
100000
,
50000
,
20000
,
10000
,
};
};
static
LPC_CAN_TypeDef
*
lcpcan_get_reg_base
(
rt_uint32_t
id
)
static
LPC_CAN_TypeDef
*
lcpcan_get_reg_base
(
rt_uint32_t
id
)
{
{
LPC_CAN_TypeDef
*
pCan
;
LPC_CAN_TypeDef
*
pCan
;
switch
(
id
)
{
switch
(
id
)
case
CAN_ID_1
:
{
pCan
=
LPC_CAN1
;
case
CAN_ID_1
:
break
;
pCan
=
LPC_CAN1
;
break
;
case
CAN_ID_2
:
pCan
=
LPC_CAN2
;
case
CAN_ID_2
:
break
;
pCan
=
LPC_CAN2
;
default:
break
;
pCan
=
NULL
;
default:
}
pCan
=
NULL
;
return
pCan
;
}
return
pCan
;
}
}
static
void
lpccan_irqstate_init
(
rt_uint32_t
id
)
static
void
lpccan_irqstate_init
(
rt_uint32_t
id
)
{
{
LPC_CAN_TypeDef
*
pCan
=
lcpcan_get_reg_base
(
id
);
LPC_CAN_TypeDef
*
pCan
=
lcpcan_get_reg_base
(
id
);
volatile
rt_int32_t
i
;
pCan
->
MOD
=
1
;
// Enter Reset Mode
pCan
->
MOD
=
1
;
// Enter Reset Mode
pCan
->
IER
=
0
;
// Disable All CAN Interrupts
pCan
->
IER
=
0
;
// Disable All CAN Interrupts
pCan
->
GSR
=
0
;
pCan
->
GSR
=
0
;
/* Request command to release Rx, Tx buffer and clear data overrun */
/* Request command to release Rx, Tx buffer and clear data overrun */
//pCan->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO;
//pCan->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO;
pCan
->
CMR
=
(
1
<<
1
)
|
(
1
<<
2
)
|
(
1
<<
3
);
pCan
->
CMR
=
(
1
<<
1
)
|
(
1
<<
2
)
|
(
1
<<
3
);
/* Read to clear interrupt pending in interrupt capture register */
/* Read to clear interrupt pending in interrupt capture register */
rt_int32_t
i
=
pCan
->
ICR
;
i
=
pCan
->
ICR
;
pCan
->
MOD
=
0
;
// Return Normal operating
i
=
i
;
pCan
->
MOD
=
0
;
// Return Normal operating
}
}
static
void
lpccan_baud_set
(
rt_uint32_t
id
,
rt_uint32_t
baud
)
static
rt_err_t
lpccan_baud_set
(
rt_uint32_t
id
,
rt_uint32_t
baud
)
{
{
uint32_t
result
=
0
;
uint32_t
result
=
0
;
uint8_t
NT
,
TSEG1
,
TSEG2
;
uint8_t
NT
,
TSEG1
,
TSEG2
;
uint32_t
CANPclk
=
0
;
uint32_t
CANPclk
=
0
;
uint32_t
BRP
;
uint32_t
BRP
;
LPC_CAN_TypeDef
*
pCan
=
lcpcan_get_reg_base
(
id
);
LPC_CAN_TypeDef
*
pCan
=
lcpcan_get_reg_base
(
id
);
CANPclk
=
CLKPWR_GetCLK
(
CLKPWR_CLKTYPE_PER
);
CANPclk
=
CLKPWR_GetCLK
(
CLKPWR_CLKTYPE_PER
);
result
=
CANPclk
/
LPCBAUDTAB
[
baud
];
result
=
CANPclk
/
baud
;
/* Calculate suitable nominal time value
* NT (nominal time) = (TSEG1 + TSEG2 + 3)
/* Calculate suitable nominal time value
* NT <= 24
* NT (nominal time) = (TSEG1 + TSEG2 + 3)
* TSEG1 >= 2*TSEG2
* NT <= 24
*/
* TSEG1 >= 2*TSEG2
for
(
NT
=
24
;
NT
>
0
;
NT
=
NT
-
2
)
*/
{
for
(
NT
=
24
;
NT
>
0
;
NT
=
NT
-
2
)
if
((
result
%
NT
)
==
0
)
{
{
if
((
result
%
NT
)
==
0
)
BRP
=
result
/
NT
-
1
;
{
NT
--
;
BRP
=
result
/
NT
-
1
;
TSEG2
=
(
NT
/
3
)
-
1
;
NT
--
;
TSEG1
=
NT
-
(
NT
/
3
)
-
1
;
TSEG2
=
(
NT
/
3
)
-
1
;
break
;
TSEG1
=
NT
-
(
NT
/
3
)
-
1
;
}
break
;
}
}
/* Enter reset mode */
}
pCan
->
MOD
=
0x01
;
/* Set bit timing
/* Enter reset mode */
* Default: SAM = 0x00;
pCan
->
MOD
=
0x01
;
* SJW = 0x03;
/* Set bit timing
*/
* Default: SAM = 0x00;
pCan
->
BTR
=
(
TSEG2
<<
20
)
|
(
TSEG1
<<
16
)
|
(
3
<<
14
)
|
BRP
;
* SJW = 0x03;
/* Return to normal operating */
*/
pCan
->
MOD
=
0
;
pCan
->
BTR
=
(
TSEG2
<<
20
)
|
(
TSEG1
<<
16
)
|
(
3
<<
14
)
|
BRP
;
/* Return to normal operating */
pCan
->
MOD
=
0
;
return
RT_EOK
;
}
}
static
void
lpccan_init_alut_ram
(
void
)
static
void
lpccan_init_alut_ram
(
void
)
{
{
//Reset CANAF value
//Reset CANAF value
LPC_CANAF
->
AFMR
=
0x01
;
LPC_CANAF
->
AFMR
=
0x01
;
//clear ALUT RAM
//clear ALUT RAM
rt_memset
((
void
*
)
LPC_CANAF_RAM
->
mask
,
0
,
2048
);
rt_memset
((
void
*
)
LPC_CANAF_RAM
->
mask
,
0
,
2048
);
LPC_CANAF
->
SFF_sa
=
0
;
LPC_CANAF
->
SFF_sa
=
0
;
LPC_CANAF
->
SFF_GRP_sa
=
0
;
LPC_CANAF
->
SFF_GRP_sa
=
0
;
LPC_CANAF
->
EFF_sa
=
0
;
LPC_CANAF
->
EFF_sa
=
0
;
LPC_CANAF
->
EFF_GRP_sa
=
0
;
LPC_CANAF
->
EFF_GRP_sa
=
0
;
LPC_CANAF
->
ENDofTable
=
0
;
LPC_CANAF
->
ENDofTable
=
0
;
LPC_CANAF
->
AFMR
=
0x00
;
LPC_CANAF
->
AFMR
=
0x00
;
// Set AF Mode
// Set AF Mode
CAN_SetAFMode
(
CAN_NORMAL
);
CAN_SetAFMode
(
CAN_NORMAL
);
}
}
#ifdef RT_USING_LPCCAN1
#ifdef RT_USING_LPCCAN1
static
void
lpccan1_turnon_clk
(
void
)
static
void
lpccan1_turnon_clk
(
void
)
{
{
CLKPWR_ConfigPPWR
(
CLKPWR_PCONP_PCAN1
,
ENABLE
);
CLKPWR_ConfigPPWR
(
CLKPWR_PCONP_PCAN1
,
ENABLE
);
}
}
static
void
lpccan1_filter_init
(
struct
rt_can_device
*
can
)
static
void
lpccan1_filter_init
(
struct
rt_can_device
*
can
)
{
{
}
}
static
void
lpccan1_hw_init
(
enum
CANBAUD
baud
,
CAN_MODE_Type
mode
)
static
void
lpccan1_hw_init
(
uint32_t
baud
,
CAN_MODE_Type
mode
)
{
{
if
(
mode
!=
CAN_SELFTEST_MODE
)
{
if
(
mode
!=
CAN_SELFTEST_MODE
)
{
#ifndef LPCCAN1_USEING_GPIO_SECOND
#ifndef LPCCAN1_USEING_GPIO_SECOND
PINSEL_ConfigPin
(
0
,
0
,
1
);
PINSEL_ConfigPin
(
0
,
0
,
1
);
PINSEL_ConfigPin
(
0
,
1
,
1
);
PINSEL_ConfigPin
(
0
,
1
,
1
);
#else
#else
PINSEL_ConfigPin
(
0
,
21
,
4
);
PINSEL_ConfigPin
(
0
,
21
,
4
);
PINSEL_ConfigPin
(
0
,
22
,
4
);
PINSEL_ConfigPin
(
0
,
22
,
4
);
#endif
#endif
}
}
lpccan1_turnon_clk
();
lpccan1_turnon_clk
();
lpccan_irqstate_init
(
CAN_1
);
lpccan_irqstate_init
(
CAN_1
);
lpccan_init_alut_ram
();
lpccan_init_alut_ram
();
lpccan1_turnon_clk
();
lpccan1_turnon_clk
();
lpccan_baud_set
(
CAN_1
,
baud
);
lpccan_baud_set
(
CAN_1
,
baud
);
CAN_ModeConfig
(
CAN_1
,
mode
,
ENABLE
);
CAN_ModeConfig
(
CAN_1
,
mode
,
ENABLE
);
if
(
mode
==
CAN_SELFTEST_MODE
)
{
if
(
mode
==
CAN_SELFTEST_MODE
)
//CAN_ModeConfig(CAN_1, CAN_TEST_MODE, ENABLE);
{
CAN_SetAFMode
(
CAN_ACC_BP
);
//CAN_ModeConfig(CAN_1, CAN_TEST_MODE, ENABLE);
}
CAN_SetAFMode
(
CAN_ACC_BP
);
}
}
}
#endif
/*RT_USING_LPCCAN1*/
#endif
/*RT_USING_LPCCAN1*/
#ifdef RT_USING_LPCCAN2
#ifdef RT_USING_LPCCAN2
static
void
lpccan2_turnon_clk
(
void
)
static
void
lpccan2_turnon_clk
(
void
)
{
{
CLKPWR_ConfigPPWR
(
CLKPWR_PCONP_PCAN2
,
ENABLE
);
CLKPWR_ConfigPPWR
(
CLKPWR_PCONP_PCAN2
,
ENABLE
);
}
}
static
void
lpccan2_filter_init
(
struct
rt_can_device
*
can
)
static
void
lpccan2_filter_init
(
struct
rt_can_device
*
can
)
{
{
}
}
static
void
lpccan2_hw_init
(
enum
CANBAUD
baud
,
CAN_MODE_Type
mode
)
static
void
lpccan2_hw_init
(
uint32_t
baud
,
CAN_MODE_Type
mode
)
{
{
if
(
mode
!=
CAN_SELFTEST_MODE
)
{
if
(
mode
!=
CAN_SELFTEST_MODE
)
{
#ifndef LPCCAN2_USEING_GPIO_SECOND
#ifndef LPCCAN2_USEING_GPIO_SECOND
PINSEL_ConfigPin
(
0
,
4
,
2
);
PINSEL_ConfigPin
(
0
,
4
,
2
);
PINSEL_ConfigPin
(
0
,
5
,
2
);
PINSEL_ConfigPin
(
0
,
5
,
2
);
#else
#else
PINSEL_ConfigPin
(
2
,
7
,
1
);
PINSEL_ConfigPin
(
2
,
7
,
1
);
PINSEL_ConfigPin
(
2
,
8
,
1
);
PINSEL_ConfigPin
(
2
,
8
,
1
);
#endif
#endif
}
}
lpccan2_turnon_clk
();
lpccan2_turnon_clk
();
lpccan_irqstate_init
(
CAN_2
);
lpccan_irqstate_init
(
CAN_2
);
#ifndef RT_USING_LPCCAN1
#ifndef RT_USING_LPCCAN1
lpccan_init_alut_ram
();
lpccan_init_alut_ram
();
#endif
/*RT_USING_LPCCAN1*/
#endif
/*RT_USING_LPCCAN1*/
lpccan_baud_set
(
CAN_2
,
baud
);
lpccan_baud_set
(
CAN_2
,
baud
);
CAN_ModeConfig
(
CAN_2
,
mode
,
ENABLE
);
CAN_ModeConfig
(
CAN_2
,
mode
,
ENABLE
);
if
(
mode
==
CAN_SELFTEST_MODE
)
{
if
(
mode
==
CAN_SELFTEST_MODE
)
CAN_SetAFMode
(
CAN_ACC_BP
);
{
}
CAN_SetAFMode
(
CAN_ACC_BP
);
}
}
}
#endif
/*RT_USING_LPCCAN2*/
#endif
/*RT_USING_LPCCAN2*/
static
rt_err_t
configure
(
struct
rt_can_device
*
can
,
struct
can_configure
*
cfg
)
static
rt_err_t
configure
(
struct
rt_can_device
*
can
,
struct
can_configure
*
cfg
)
{
{
CAN_MODE_Type
mode
;
CAN_MODE_Type
mode
;
switch
(
cfg
->
mode
)
{
rt_uint32_t
canid
;
case
RT_CAN_MODE_NORMAL
:
mode
=
CAN_OPERATING_MODE
;
switch
(
cfg
->
mode
)
break
;
{
case
RT_CAN_MODE_LISEN
:
case
RT_CAN_MODE_NORMAL
:
mode
=
CAN_LISTENONLY_MODE
;
mode
=
CAN_OPERATING_MODE
;
break
;
break
;
case
RT_CAN_MODE_LOOPBACKANLISEN
:
case
RT_CAN_MODE_LISEN
:
mode
=
CAN_SELFTEST_MODE
;
mode
=
CAN_LISTENONLY_MODE
;
break
;
break
;
default:
case
RT_CAN_MODE_LOOPBACKANLISEN
:
return
RT_EIO
;
mode
=
CAN_SELFTEST_MODE
;
}
break
;
rt_uint32_t
canid
;
default:
canid
=
((
struct
lpccandata
*
)
can
->
parent
.
user_data
)
->
id
;
return
RT_EIO
;
#ifdef RT_USING_LPCCAN1
}
if
(
canid
==
CAN_1
)
{
canid
=
((
struct
lpccandata
*
)
can
->
parent
.
user_data
)
->
id
;
lpccan1_hw_init
(
cfg
->
baud_rate
,
mode
);
#ifdef RT_USING_LPCCAN1
lpccan1_filter_init
(
can
);
if
(
canid
==
CAN_1
)
}
{
lpccan1_hw_init
(
cfg
->
baud_rate
,
mode
);
lpccan1_filter_init
(
can
);
}
#endif
/*RT_USING_LPCCAN1*/
#endif
/*RT_USING_LPCCAN1*/
#ifdef RT_USING_LPCCAN2
#ifdef RT_USING_LPCCAN2
#ifdef RT_USING_LPCCAN1
#ifdef RT_USING_LPCCAN1
else
else
#endif
/*RT_USING_LPCCAN1*/
#endif
/*RT_USING_LPCCAN1*/
{
{
lpccan2_hw_init
(
cfg
->
baud_rate
,
mode
);
lpccan2_hw_init
(
cfg
->
baud_rate
,
mode
);
lpccan2_filter_init
(
can
);
lpccan2_filter_init
(
can
);
}
}
#endif
/*RT_USING_LPCCAN2*/
#endif
/*RT_USING_LPCCAN2*/
return
RT_EOK
;
return
RT_EOK
;
}
}
static
CAN_ERROR
findfilter
(
struct
lpccandata
*
plpccan
,
struct
rt_can_filter_item
*
pitem
,
rt_int32_t
*
pos
)
static
CAN_ERROR
findfilter
(
struct
lpccandata
*
plpccan
,
struct
rt_can_filter_item
*
pitem
,
rt_int32_t
*
pos
)
{
{
extern
uint16_t
CANAF_FullCAN_cnt
;
extern
uint16_t
CANAF_FullCAN_cnt
;
extern
uint16_t
CANAF_std_cnt
;
extern
uint16_t
CANAF_std_cnt
;
extern
uint16_t
CANAF_gstd_cnt
;
extern
uint16_t
CANAF_gstd_cnt
;
extern
uint16_t
CANAF_ext_cnt
;
extern
uint16_t
CANAF_ext_cnt
;
extern
uint16_t
CANAF_gext_cnt
;
extern
uint16_t
CANAF_gext_cnt
;
rt_uint32_t
buf0
=
0
,
buf1
=
0
;
rt_uint32_t
buf0
=
0
,
buf1
=
0
;
rt_int16_t
cnt1
=
0
,
cnt2
=
0
,
bound1
=
0
;
rt_int16_t
cnt1
=
0
,
cnt2
=
0
,
bound1
=
0
;
CAN_ID_FORMAT_Type
format
;
CAN_ID_FORMAT_Type
format
;
*
pos
=
-
1
;
*
pos
=
-
1
;
if
(
pitem
->
ide
)
{
if
(
pitem
->
ide
)
format
=
EXT_ID_FORMAT
;
{
}
else
{
format
=
EXT_ID_FORMAT
;
format
=
STD_ID_FORMAT
;
}
}
else
if
(
pitem
->
mode
)
{
{
rt_uint32_t
id
=
pitem
->
id
;
format
=
STD_ID_FORMAT
;
if
(
format
==
STD_ID_FORMAT
)
}
{
if
(
pitem
->
mode
)
id
&=
0x07FF
;
{
rt_uint32_t
id
=
pitem
->
id
;
id
|=
plpccan
->
id
<<
13
;
/* Add controller number */
if
(
format
==
STD_ID_FORMAT
)
{
if
(
CANAF_std_cnt
==
0
)
id
&=
0x07FF
;
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
id
|=
plpccan
->
id
<<
13
;
/* Add controller number */
}
else
if
(
CANAF_std_cnt
==
1
)
if
(
CANAF_std_cnt
==
0
)
{
{
cnt2
=
(
CANAF_FullCAN_cnt
+
1
)
>>
1
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
if
(
id
!=
LPC_CANAF_RAM
->
mask
[
cnt2
]
>>
16
)
{
}
return
CAN_ENTRY_NOT_EXIT_ERROR
;
else
if
(
CANAF_std_cnt
==
1
)
}
{
}
cnt2
=
(
CANAF_FullCAN_cnt
+
1
)
>>
1
;
else
if
(
id
!=
LPC_CANAF_RAM
->
mask
[
cnt2
]
>>
16
)
{
{
cnt1
=
(
CANAF_FullCAN_cnt
+
1
)
>>
1
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
bound1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
);
}
else
while
(
cnt1
<
bound1
)
{
{
cnt1
=
(
CANAF_FullCAN_cnt
+
1
)
>>
1
;
/* Loop through standard existing IDs */
if
(((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
16
)
&
0xE7FF
)
==
id
)
bound1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
);
{
*
pos
=
cnt1
*
2
;
while
(
cnt1
<
bound1
)
return
CAN_OK
;
{
}
/* Loop through standard existing IDs */
if
(((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
16
)
&
0xE7FF
)
==
id
)
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
&
0x0000E7FF
)
==
id
)
{
{
*
pos
=
cnt1
*
2
;
*
pos
=
cnt1
*
2
+
1
;
return
CAN_OK
;
return
CAN_OK
;
}
}
if
(((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
16
)
&
0xE7FF
)
>
id
)
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
&
0x0000E7FF
)
==
id
)
{
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
*
pos
=
cnt1
*
2
+
1
;
}
return
CAN_OK
;
}
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
&
0x0000E7FF
)
>
id
)
if
(((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
16
)
&
0xE7FF
)
>
id
)
{
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
}
cnt1
++
;
}
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
&
0x0000E7FF
)
>
id
)
return
CAN_ENTRY_NOT_EXIT_ERROR
;
{
}
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
}
/*********** Add Explicit Extended Identifier Frame Format entry *********/
cnt1
++
;
else
}
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
/* Add controller number */
}
id
|=
plpccan
->
id
<<
29
;
}
/*********** Add Explicit Extended Identifier Frame Format entry *********/
cnt1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
(((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
);
else
{
cnt2
=
0
;
/* Add controller number */
id
|=
plpccan
->
id
<<
29
;
while
(
cnt2
<
CANAF_ext_cnt
)
{
cnt1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
(((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
);
/* Loop through extended existing masks*/
if
(
LPC_CANAF_RAM
->
mask
[
cnt1
]
==
id
)
cnt2
=
0
;
{
*
pos
=
cnt2
;
while
(
cnt2
<
CANAF_ext_cnt
)
return
CAN_OK
;
{
}
/* Loop through extended existing masks*/
if
(
LPC_CANAF_RAM
->
mask
[
cnt1
]
>
id
)
if
(
LPC_CANAF_RAM
->
mask
[
cnt1
]
==
id
)
{
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
*
pos
=
cnt2
;
}
return
CAN_OK
;
cnt1
++
;
}
cnt2
++
;
if
(
LPC_CANAF_RAM
->
mask
[
cnt1
]
>
id
)
}
{
}
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
else
{
}
rt_uint32_t
lowerID
=
pitem
->
id
;
cnt1
++
;
rt_uint32_t
upperID
=
pitem
->
mask
;
cnt2
++
;
rt_uint32_t
LID
,
UID
;
}
if
(
lowerID
>
upperID
)
}
return
CAN_CONFLICT_ID_ERROR
;
}
if
(
format
==
STD_ID_FORMAT
)
else
{
{
lowerID
&=
0x7FF
;
//mask ID
rt_uint32_t
lowerID
=
pitem
->
id
;
upperID
&=
0x7FF
;
rt_uint32_t
upperID
=
pitem
->
mask
;
cnt1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
);
rt_uint32_t
LID
,
UID
;
if
(
CANAF_gstd_cnt
==
0
)
if
(
lowerID
>
upperID
)
{
return
CAN_CONFLICT_ID_ERROR
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
if
(
format
==
STD_ID_FORMAT
)
}
{
else
lowerID
&=
0x7FF
;
//mask ID
{
upperID
&=
0x7FF
;
bound1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
;
cnt1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
);
while
(
cnt1
<
bound1
)
if
(
CANAF_gstd_cnt
==
0
)
{
//compare controller first
{
while
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
<
(
plpccan
->
id
))
//increase until meet greater or equal controller
return
CAN_ENTRY_NOT_EXIT_ERROR
;
cnt1
++
;
}
buf0
=
LPC_CANAF_RAM
->
mask
[
cnt1
];
else
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
>
(
plpccan
->
id
))
//meet greater controller
{
{
bound1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
while
(
cnt1
<
bound1
)
}
{
else
//meet equal controller
//compare controller first
{
while
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
<
(
plpccan
->
id
))
//increase until meet greater or equal controller
LID
=
(
buf0
>>
16
)
&
0x7FF
;
cnt1
++
;
UID
=
buf0
&
0x7FF
;
buf0
=
LPC_CANAF_RAM
->
mask
[
cnt1
];
if
(
upperID
==
LID
&&
lowerID
==
UID
)
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
>
(
plpccan
->
id
))
//meet greater controller
{
{
*
pos
=
cnt1
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
return
CAN_OK
;
}
}
else
//meet equal controller
if
(
upperID
<
LID
)
{
{
LID
=
(
buf0
>>
16
)
&
0x7FF
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
UID
=
buf0
&
0x7FF
;
}
if
(
upperID
==
LID
&&
lowerID
==
UID
)
else
if
(
lowerID
>=
UID
)
{
{
*
pos
=
cnt1
;
cnt1
++
;
return
CAN_OK
;
}
}
else
if
(
upperID
<
LID
)
return
CAN_CONFLICT_ID_ERROR
;
{
}
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
}
if
(
cnt1
>=
bound1
)
else
if
(
lowerID
>=
UID
)
{
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
cnt1
++
;
}
}
}
else
}
return
CAN_CONFLICT_ID_ERROR
;
/*********Add Group of Extended Identifier Frame Format************/
}
else
}
{
if
(
cnt1
>=
bound1
)
lowerID
&=
0x1FFFFFFF
;
//mask ID
{
upperID
&=
0x1FFFFFFF
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
cnt1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
+
CANAF_ext_cnt
;
}
//if this is the first Group standard ID entry
}
if
(
CANAF_gext_cnt
==
0
)
}
{
/*********Add Group of Extended Identifier Frame Format************/
return
CAN_ENTRY_NOT_EXIT_ERROR
;
else
}
{
else
lowerID
&=
0x1FFFFFFF
;
//mask ID
{
upperID
&=
0x1FFFFFFF
;
bound1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
\
cnt1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
+
CANAF_ext_cnt
;
+
CANAF_ext_cnt
+
(
CANAF_gext_cnt
<<
1
);
//if this is the first Group standard ID entry
while
(
cnt1
<
bound1
)
if
(
CANAF_gext_cnt
==
0
)
{
{
while
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
<
plpccan
->
id
)
//increase until meet greater or equal controller
return
CAN_ENTRY_NOT_EXIT_ERROR
;
cnt1
++
;
}
buf0
=
LPC_CANAF_RAM
->
mask
[
cnt1
];
else
buf1
=
LPC_CANAF_RAM
->
mask
[
cnt1
+
1
];
{
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
>
plpccan
->
id
)
//meet greater controller
bound1
=
((
CANAF_FullCAN_cnt
+
1
)
>>
1
)
+
((
CANAF_std_cnt
+
1
)
>>
1
)
+
CANAF_gstd_cnt
\
{
+
CANAF_ext_cnt
+
(
CANAF_gext_cnt
<<
1
);
return
CAN_ENTRY_NOT_EXIT_ERROR
;
while
(
cnt1
<
bound1
)
}
{
else
//meet equal controller
while
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
<
plpccan
->
id
)
//increase until meet greater or equal controller
{
cnt1
++
;
LID
=
buf0
&
0x1FFFFFFF
;
//mask ID
buf0
=
LPC_CANAF_RAM
->
mask
[
cnt1
];
UID
=
buf1
&
0x1FFFFFFF
;
buf1
=
LPC_CANAF_RAM
->
mask
[
cnt1
+
1
];
if
(
upperID
==
LID
&&
lowerID
==
UID
)
if
((
LPC_CANAF_RAM
->
mask
[
cnt1
]
>>
29
)
>
plpccan
->
id
)
//meet greater controller
{
{
*
pos
=
cnt1
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
return
CAN_OK
;
}
}
else
//meet equal controller
if
(
upperID
<
LID
)
{
{
LID
=
buf0
&
0x1FFFFFFF
;
//mask ID
return
CAN_ENTRY_NOT_EXIT_ERROR
;
UID
=
buf1
&
0x1FFFFFFF
;
}
if
(
upperID
==
LID
&&
lowerID
==
UID
)
else
if
(
lowerID
>=
UID
)
{
{
*
pos
=
cnt1
;
//load next entry to compare
return
CAN_OK
;
cnt1
+=
2
;
}
}
if
(
upperID
<
LID
)
else
{
return
CAN_CONFLICT_ID_ERROR
;
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
}
}
else
if
(
lowerID
>=
UID
)
if
(
cnt1
>=
bound1
)
{
{
//load next entry to compare
return
CAN_ENTRY_NOT_EXIT_ERROR
;
cnt1
+=
2
;
}
}
}
else
}
return
CAN_CONFLICT_ID_ERROR
;
}
}
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
if
(
cnt1
>=
bound1
)
{
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
}
}
}
return
CAN_ENTRY_NOT_EXIT_ERROR
;
}
}
static
rt_err_t
setfilter
(
struct
lpccandata
*
plpccan
,
struct
rt_can_filter_config
*
pconfig
)
static
rt_err_t
setfilter
(
struct
lpccandata
*
plpccan
,
struct
rt_can_filter_config
*
pconfig
)
{
{
struct
rt_can_filter_item
*
pitem
=
pconfig
->
items
;
struct
rt_can_filter_item
*
pitem
=
pconfig
->
items
;
rt_uint32_t
count
=
pconfig
->
count
;
rt_uint32_t
count
=
pconfig
->
count
;
rt_int32_t
pos
;
rt_int32_t
pos
;
CAN_ID_FORMAT_Type
format
;
CAN_ID_FORMAT_Type
format
;
CAN_ERROR
lpccanres
;
CAN_ERROR
lpccanres
;
while
(
count
)
{
while
(
count
)
if
(
pitem
->
ide
)
{
{
format
=
EXT_ID_FORMAT
;
if
(
pitem
->
ide
)
}
else
{
{
format
=
STD_ID_FORMAT
;
format
=
EXT_ID_FORMAT
;
}
}
lpccanres
=
findfilter
(
plpccan
,
pitem
,
&
pos
);
else
if
(
pconfig
->
actived
&&
lpccanres
!=
CAN_OK
)
{
{
if
(
pitem
->
mode
)
{
format
=
STD_ID_FORMAT
;
lpccanres
=
CAN_LoadGroupEntry
(
plpccan
->
id
,
pitem
->
id
,
pitem
->
mask
,
format
);
}
}
else
{
lpccanres
=
findfilter
(
plpccan
,
pitem
,
&
pos
);
lpccanres
=
CAN_LoadExplicitEntry
(
plpccan
->
id
,
pitem
->
id
,
format
);
if
(
pconfig
->
actived
&&
lpccanres
!=
CAN_OK
)
}
{
}
else
if
(
!
pconfig
->
actived
&&
lpccanres
==
CAN_OK
)
{
if
(
pitem
->
mode
)
AFLUT_ENTRY_Type
type
;
{
if
(
pitem
->
mode
)
{
lpccanres
=
CAN_LoadGroupEntry
(
plpccan
->
id
,
pitem
->
id
,
pitem
->
mask
,
format
);
if
(
format
==
EXT_ID_FORMAT
)
{
}
type
=
GROUP_EXTEND_ENTRY
;
else
}
else
{
{
type
=
GROUP_STANDARD_ENTRY
;
lpccanres
=
CAN_LoadExplicitEntry
(
plpccan
->
id
,
pitem
->
id
,
format
);
}
}
}
else
{
}
if
(
format
==
EXT_ID_FORMAT
)
{
else
if
(
!
pconfig
->
actived
&&
lpccanres
==
CAN_OK
)
type
=
EXPLICIT_EXTEND_ENTRY
;
{
}
else
{
AFLUT_ENTRY_Type
type
;
type
=
EXPLICIT_STANDARD_ENTRY
;
if
(
pitem
->
mode
)
}
{
}
if
(
format
==
EXT_ID_FORMAT
)
lpccanres
=
CAN_RemoveEntry
(
type
,
(
rt_uint16_t
)(
pos
));
{
}
else
if
(
!
pconfig
->
actived
&&
lpccanres
!=
CAN_OK
)
{
type
=
GROUP_EXTEND_ENTRY
;
lpccanres
=
CAN_OK
;
}
}
else
if
(
lpccanres
!=
CAN_OK
)
{
{
return
RT_EIO
;
type
=
GROUP_STANDARD_ENTRY
;
}
}
pitem
++
;
}
count
--
;
else
}
{
return
RT_EOK
;
if
(
format
==
EXT_ID_FORMAT
)
{
type
=
EXPLICIT_EXTEND_ENTRY
;
}
else
{
type
=
EXPLICIT_STANDARD_ENTRY
;
}
}
lpccanres
=
CAN_RemoveEntry
(
type
,
(
rt_uint16_t
)(
pos
));
}
else
if
(
!
pconfig
->
actived
&&
lpccanres
!=
CAN_OK
)
{
lpccanres
=
CAN_OK
;
}
if
(
lpccanres
!=
CAN_OK
)
{
return
RT_EIO
;
}
pitem
++
;
count
--
;
}
return
RT_EOK
;
}
}
static
rt_err_t
control
(
struct
rt_can_device
*
can
,
int
cmd
,
void
*
arg
)
static
rt_err_t
control
(
struct
rt_can_device
*
can
,
int
cmd
,
void
*
arg
)
{
{
struct
lpccandata
*
plpccan
;
struct
lpccandata
*
plpccan
;
rt_uint32_t
argval
;
rt_uint32_t
argval
;
CAN_MODE_Type
mode
;
CAN_MODE_Type
mode
;
plpccan
=
(
struct
lpccandata
*
)
can
->
parent
.
user_data
;
RT_ASSERT
(
plpccan
!=
RT_NULL
);
plpccan
=
(
struct
lpccandata
*
)
can
->
parent
.
user_data
;
switch
(
cmd
)
RT_ASSERT
(
plpccan
!=
RT_NULL
);
{
case
RT_DEVICE_CTRL_CLR_INT
:
switch
(
cmd
)
argval
=
(
rt_uint32_t
)
arg
;
{
if
(
argval
==
RT_DEVICE_FLAG_INT_RX
)
case
RT_DEVICE_CTRL_CLR_INT
:
{
argval
=
(
rt_uint32_t
)
arg
;
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_RIE
,
DISABLE
);
if
(
argval
==
RT_DEVICE_FLAG_INT_RX
)
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_DOIE
,
DISABLE
);
{
}
else
if
(
argval
==
RT_DEVICE_FLAG_INT_TX
)
{
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_RIE
,
DISABLE
);
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE1
,
DISABLE
);
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_DOIE
,
DISABLE
);
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE2
,
DISABLE
);
}
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE3
,
DISABLE
);
else
if
(
argval
==
RT_DEVICE_FLAG_INT_TX
)
}
else
if
(
argval
==
RT_DEVICE_CAN_INT_ERR
)
{
{
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_EIE
,
DISABLE
);
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE1
,
DISABLE
);
}
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE2
,
DISABLE
);
break
;
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE3
,
DISABLE
);
case
RT_DEVICE_CTRL_SET_INT
:
}
argval
=
(
rt_uint32_t
)
arg
;
else
if
(
argval
==
RT_DEVICE_CAN_INT_ERR
)
if
(
argval
==
RT_DEVICE_FLAG_INT_RX
)
{
{
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_EIE
,
DISABLE
);
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_RIE
,
ENABLE
);
}
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_DOIE
,
ENABLE
);
break
;
}
else
if
(
argval
==
RT_DEVICE_FLAG_INT_TX
)
{
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE1
,
ENABLE
);
case
RT_DEVICE_CTRL_SET_INT
:
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE2
,
ENABLE
);
argval
=
(
rt_uint32_t
)
arg
;
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE3
,
ENABLE
);
if
(
argval
==
RT_DEVICE_FLAG_INT_RX
)
}
else
if
(
argval
==
RT_DEVICE_CAN_INT_ERR
)
{
{
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_EIE
,
ENABLE
);
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_RIE
,
ENABLE
);
}
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_DOIE
,
ENABLE
);
break
;
}
case
RT_CAN_CMD_SET_FILTER
:
else
if
(
argval
==
RT_DEVICE_FLAG_INT_TX
)
return
setfilter
(
plpccan
,
(
struct
rt_can_filter_config
*
)
arg
);
{
case
RT_CAN_CMD_SET_MODE
:
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE1
,
ENABLE
);
argval
=
(
rt_uint32_t
)
arg
;
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE2
,
ENABLE
);
if
(
argval
!=
RT_CAN_MODE_NORMAL
||
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_TIE3
,
ENABLE
);
argval
!=
RT_CAN_MODE_LISEN
)
{
}
return
RT_ERROR
;
else
if
(
argval
==
RT_DEVICE_CAN_INT_ERR
)
}
{
if
(
argval
!=
can
->
config
.
mode
)
CAN_IRQCmd
(
plpccan
->
id
,
CANINT_EIE
,
ENABLE
);
{
}
can
->
config
.
mode
=
argval
;
break
;
switch
(
argval
)
{
case
RT_CAN_MODE_NORMAL
:
case
RT_CAN_CMD_SET_FILTER
:
mode
=
CAN_OPERATING_MODE
;
return
setfilter
(
plpccan
,
(
struct
rt_can_filter_config
*
)
arg
);
break
;
case
RT_CAN_MODE_LISEN
:
case
RT_CAN_CMD_SET_MODE
:
mode
=
CAN_LISTENONLY_MODE
;
argval
=
(
rt_uint32_t
)
arg
;
break
;
if
(
argval
!=
RT_CAN_MODE_NORMAL
||
case
RT_CAN_MODE_LOOPBACKANLISEN
:
argval
!=
RT_CAN_MODE_LISEN
)
mode
=
CAN_SELFTEST_MODE
;
{
break
;
return
RT_ERROR
;
default:
}
return
RT_EIO
;
if
(
argval
!=
can
->
config
.
mode
)
}
{
CAN_ModeConfig
(
plpccan
->
id
,
mode
,
ENABLE
);
can
->
config
.
mode
=
argval
;
if
(
mode
==
CAN_SELFTEST_MODE
)
{
switch
(
argval
)
//CAN_ModeConfig(CAN_1, CAN_TEST_MODE, ENABLE);
{
CAN_SetAFMode
(
CAN_ACC_BP
);
case
RT_CAN_MODE_NORMAL
:
}
mode
=
CAN_OPERATING_MODE
;
}
break
;
break
;
case
RT_CAN_MODE_LISEN
:
case
RT_CAN_CMD_SET_BAUD
:
mode
=
CAN_LISTENONLY_MODE
;
argval
=
(
rt_uint32_t
)
arg
;
break
;
if
(
argval
!=
CAN1MBaud
&&
case
RT_CAN_MODE_LOOPBACKANLISEN
:
argval
!=
CAN800kBaud
&&
mode
=
CAN_SELFTEST_MODE
;
argval
!=
CAN500kBaud
&&
break
;
argval
!=
CAN250kBaud
&&
default:
argval
!=
CAN125kBaud
&&
return
RT_EIO
;
argval
!=
CAN100kBaud
&&
}
argval
!=
CAN50kBaud
&&
CAN_ModeConfig
(
plpccan
->
id
,
mode
,
ENABLE
);
argval
!=
CAN20kBaud
&&
if
(
mode
==
CAN_SELFTEST_MODE
)
argval
!=
CAN10kBaud
)
{
{
return
RT_ERROR
;
//CAN_ModeConfig(CAN_1, CAN_TEST_MODE, ENABLE);
}
CAN_SetAFMode
(
CAN_ACC_BP
);
if
(
argval
!=
can
->
config
.
baud_rate
)
}
{
}
can
->
config
.
baud_rate
=
argval
;
break
;
lpccan_baud_set
(
plpccan
->
id
,
(
rt_uint32_t
)
arg
);
}
case
RT_CAN_CMD_SET_BAUD
:
break
;
argval
=
(
rt_uint32_t
)
arg
;
case
RT_CAN_CMD_SET_PRIV
:
if
(
argval
!=
can
->
config
.
baud_rate
)
argval
=
(
rt_uint32_t
)
arg
;
{
if
(
argval
!=
RT_CAN_MODE_PRIV
||
can
->
config
.
baud_rate
=
argval
;
argval
!=
RT_CAN_MODE_NOPRIV
)
{
return
lpccan_baud_set
(
plpccan
->
id
,
(
rt_uint32_t
)
arg
);
return
RT_ERROR
;
}
}
break
;
if
(
argval
!=
can
->
config
.
privmode
)
{
case
RT_CAN_CMD_SET_PRIV
:
can
->
config
.
privmode
=
argval
;
argval
=
(
rt_uint32_t
)
arg
;
CAN_ModeConfig
(
plpccan
->
id
,
CAN_TXPRIORITY_MODE
,
ENABLE
);
if
(
argval
!=
RT_CAN_MODE_PRIV
||
}
argval
!=
RT_CAN_MODE_NOPRIV
)
break
;
{
case
RT_CAN_CMD_GET_STATUS
:
return
RT_ERROR
;
{
}
rt_uint32_t
errtype
;
if
(
argval
!=
can
->
config
.
privmode
)
can
->
status
.
rcverrcnt
=
0
;
{
can
->
status
.
snderrcnt
=
0
;
can
->
config
.
privmode
=
argval
;
can
->
status
.
errcode
=
0
;
CAN_ModeConfig
(
plpccan
->
id
,
CAN_TXPRIORITY_MODE
,
ENABLE
);
if
(
arg
!=
&
can
->
status
)
{
}
rt_memcpy
(
arg
,
&
can
->
status
,
sizeof
(
can
->
status
));
break
;
}
}
case
RT_CAN_CMD_GET_STATUS
:
break
;
{
}
can
->
status
.
rcverrcnt
=
0
;
return
RT_EOK
;
can
->
status
.
snderrcnt
=
0
;
can
->
status
.
errcode
=
0
;
if
(
arg
!=
&
can
->
status
)
{
rt_memcpy
(
arg
,
&
can
->
status
,
sizeof
(
can
->
status
));
}
}
break
;
}
return
RT_EOK
;
}
}
static
int
sendmsg
(
struct
rt_can_device
*
can
,
const
void
*
buf
,
rt_uint32_t
boxno
)
static
int
sendmsg
(
struct
rt_can_device
*
can
,
const
void
*
buf
,
rt_uint32_t
boxno
)
{
{
struct
lpccandata
*
plpccan
;
struct
lpccandata
*
plpccan
;
plpccan
=
(
struct
lpccandata
*
)
can
->
parent
.
user_data
;
LPC_CAN_TypeDef
*
pCan
;
RT_ASSERT
(
plpccan
!=
RT_NULL
);
struct
rt_can_msg
*
pmsg
;
LPC_CAN_TypeDef
*
pCan
=
lcpcan_get_reg_base
(
plpccan
->
id
);
rt_uint32_t
SR_Mask
;
RT_ASSERT
(
pCan
!=
RT_NULL
);
rt_uint32_t
CMRMsk
;
struct
rt_can_msg
*
pmsg
=
(
struct
rt_can_msg
*
)
buf
;
rt_uint32_t
SR_Mask
;
plpccan
=
(
struct
lpccandata
*
)
can
->
parent
.
user_data
;
if
(
boxno
>
2
)
{
RT_ASSERT
(
plpccan
!=
RT_NULL
);
return
RT_ERROR
;
}
pCan
=
lcpcan_get_reg_base
(
plpccan
->
id
);
rt_uint32_t
CMRMsk
=
0x01
|
(
0x01
<<
(
boxno
+
5
));
RT_ASSERT
(
pCan
!=
RT_NULL
);
SR_Mask
=
0x01
<<
(
boxno
*
8
+
2
);
volatile
unsigned
int
*
pTFI
=
(
&
pCan
->
TFI1
+
0
+
4
*
boxno
);
pmsg
=
(
struct
rt_can_msg
*
)
buf
;
volatile
unsigned
int
*
pTID
=
(
&
pCan
->
TFI1
+
1
+
4
*
boxno
);
volatile
unsigned
int
*
pTDA
=
(
&
pCan
->
TFI1
+
2
+
4
*
boxno
);
if
(
boxno
>
2
)
volatile
unsigned
int
*
pTDB
=
(
&
pCan
->
TFI1
+
3
+
4
*
boxno
);
{
rt_uint32_t
data
;
return
RT_ERROR
;
if
(
pCan
->
SR
&
SR_Mask
)
{
}
/* Transmit Channel 1 is available */
/* Write frame informations and frame data into its CANxTFI1,
CMRMsk
=
0x01
|
(
0x01
<<
(
boxno
+
5
));
* CANxTID1, CANxTDA1, CANxTDB1 register */
SR_Mask
=
0x01
<<
(
boxno
*
8
+
2
);
*
pTFI
&=
~
0x000F0000
;
*
pTFI
|=
(
pmsg
->
len
)
<<
16
;
if
(
pCan
->
SR
&
SR_Mask
)
if
(
pmsg
->
rtr
==
REMOTE_FRAME
)
{
{
volatile
unsigned
int
*
pTFI
=
(
&
pCan
->
TFI1
+
0
+
4
*
boxno
);
*
pTFI
|=
(
1
<<
30
);
//set bit RTR
volatile
unsigned
int
*
pTID
=
(
&
pCan
->
TFI1
+
1
+
4
*
boxno
);
}
volatile
unsigned
int
*
pTDA
=
(
&
pCan
->
TFI1
+
2
+
4
*
boxno
);
else
volatile
unsigned
int
*
pTDB
=
(
&
pCan
->
TFI1
+
3
+
4
*
boxno
);
{
rt_uint32_t
data
;
*
pTFI
&=
~
(
1
<<
30
);
}
/* Transmit Channel 1 is available */
/* Write frame informations and frame data into its CANxTFI1,
if
(
pmsg
->
ide
==
EXT_ID_FORMAT
)
* CANxTID1, CANxTDA1, CANxTDB1 register */
{
*
pTFI
&=
~
0x000F0000
;
*
pTFI
|=
(((
uint32_t
)
1
)
<<
31
);
//set bit FF
*
pTFI
|=
(
pmsg
->
len
)
<<
16
;
}
if
(
pmsg
->
rtr
==
REMOTE_FRAME
)
else
{
{
*
pTFI
|=
(
1
<<
30
);
//set bit RTR
*
pTFI
&=
~
(((
uint32_t
)
1
)
<<
31
);
}
}
else
if
(
can
->
config
.
privmode
)
{
{
*
pTFI
&=
~
0x000000FF
;
*
pTFI
&=
~
(
1
<<
30
);
*
pTFI
|=
pmsg
->
priv
;
}
}
/* Write CAN ID*/
if
(
pmsg
->
ide
==
EXT_ID_FORMAT
)
*
pTID
=
pmsg
->
id
;
{
/*Write first 4 data bytes*/
*
pTFI
|=
(((
uint32_t
)
1
)
<<
31
);
//set bit FF
data
=
(
pmsg
->
data
[
0
])
|
(((
pmsg
->
data
[
1
]))
<<
8
)
|
((
pmsg
->
data
[
2
])
<<
16
)
|
((
pmsg
->
data
[
3
])
<<
24
);
}
*
pTDA
=
data
;
else
/*Write second 4 data bytes*/
{
data
=
(
pmsg
->
data
[
4
])
|
(((
pmsg
->
data
[
5
]))
<<
8
)
|
((
pmsg
->
data
[
6
])
<<
16
)
|
((
pmsg
->
data
[
7
])
<<
24
);
*
pTFI
&=
~
(((
uint32_t
)
1
)
<<
31
);
*
pTDB
=
data
;
}
/*Write transmission request*/
if
(
can
->
config
.
privmode
)
pCan
->
CMR
=
CMRMsk
;
{
return
RT_EOK
;
*
pTFI
&=
~
0x000000FF
;
}
else
{
*
pTFI
|=
pmsg
->
priv
;
return
RT_ERROR
;
}
}
/* Write CAN ID*/
*
pTID
=
pmsg
->
id
;
/*Write first 4 data bytes*/
data
=
(
pmsg
->
data
[
0
])
|
(((
pmsg
->
data
[
1
]))
<<
8
)
|
((
pmsg
->
data
[
2
])
<<
16
)
|
((
pmsg
->
data
[
3
])
<<
24
);
*
pTDA
=
data
;
/*Write second 4 data bytes*/
data
=
(
pmsg
->
data
[
4
])
|
(((
pmsg
->
data
[
5
]))
<<
8
)
|
((
pmsg
->
data
[
6
])
<<
16
)
|
((
pmsg
->
data
[
7
])
<<
24
);
*
pTDB
=
data
;
/*Write transmission request*/
pCan
->
CMR
=
CMRMsk
;
return
RT_EOK
;
}
else
{
return
RT_ERROR
;
}
}
}
static
int
recvmsg
(
struct
rt_can_device
*
can
,
void
*
buf
,
rt_uint32_t
boxno
)
static
int
recvmsg
(
struct
rt_can_device
*
can
,
void
*
buf
,
rt_uint32_t
boxno
)
{
{
struct
lpccandata
*
plpccan
;
struct
lpccandata
*
plpccan
;
plpccan
=
(
struct
lpccandata
*
)
can
->
parent
.
user_data
;
LPC_CAN_TypeDef
*
pCan
;
RT_ASSERT
(
plpccan
!=
RT_NULL
);
LPC_CAN_TypeDef
*
pCan
=
lcpcan_get_reg_base
(
plpccan
->
id
);
plpccan
=
(
struct
lpccandata
*
)
can
->
parent
.
user_data
;
RT_ASSERT
(
pCan
!=
RT_NULL
);
RT_ASSERT
(
plpccan
!=
RT_NULL
);
//CAN_ReceiveMsg
pCan
=
lcpcan_get_reg_base
(
plpccan
->
id
);
uint32_t
data
;
RT_ASSERT
(
pCan
!=
RT_NULL
);
struct
rt_can_msg
*
pmsg
=
(
struct
rt_can_msg
*
)
buf
;
//check status of Receive Buffer
//CAN_ReceiveMsg
if
((
pCan
->
SR
&
0x00000001
))
//check status of Receive Buffer
{
if
((
pCan
->
SR
&
0x00000001
))
/* Receive message is available */
{
/* Read frame informations */
uint32_t
data
;
pmsg
->
ide
=
(
uint8_t
)(((
pCan
->
RFS
)
&
0x80000000
)
>>
31
);
struct
rt_can_msg
*
pmsg
=
(
struct
rt_can_msg
*
)
buf
;
pmsg
->
rtr
=
(
uint8_t
)(((
pCan
->
RFS
)
&
0x40000000
)
>>
30
);
pmsg
->
len
=
(
uint8_t
)(((
pCan
->
RFS
)
&
0x000F0000
)
>>
16
);
/* Receive message is available */
/* Read CAN message identifier */
/* Read frame informations */
pmsg
->
id
=
pCan
->
RID
;
pmsg
->
ide
=
(
uint8_t
)(((
pCan
->
RFS
)
&
0x80000000
)
>>
31
);
/* Read the data if received message was DATA FRAME */
pmsg
->
rtr
=
(
uint8_t
)(((
pCan
->
RFS
)
&
0x40000000
)
>>
30
);
if
(
!
pmsg
->
rtr
)
pmsg
->
len
=
(
uint8_t
)(((
pCan
->
RFS
)
&
0x000F0000
)
>>
16
);
{
/* Read CAN message identifier */
/* Read first 4 data bytes */
pmsg
->
id
=
pCan
->
RID
;
data
=
pCan
->
RDA
;
/* Read the data if received message was DATA FRAME */
pmsg
->
data
[
0
]
=
data
&
0x000000FF
;
if
(
!
pmsg
->
rtr
)
pmsg
->
data
[
1
]
=
(
data
&
0x0000FF00
)
>>
8
;
{
pmsg
->
data
[
2
]
=
(
data
&
0x00FF0000
)
>>
16
;
/* Read first 4 data bytes */
pmsg
->
data
[
3
]
=
(
data
&
0xFF000000
)
>>
24
;
data
=
pCan
->
RDA
;
/* Read second 4 data bytes */
pmsg
->
data
[
0
]
=
data
&
0x000000FF
;
if
(
pmsg
->
len
>
4
)
{
pmsg
->
data
[
1
]
=
(
data
&
0x0000FF00
)
>>
8
;
data
=
pCan
->
RDB
;
pmsg
->
data
[
2
]
=
(
data
&
0x00FF0000
)
>>
16
;
pmsg
->
data
[
4
]
=
data
&
0x000000FF
;
pmsg
->
data
[
3
]
=
(
data
&
0xFF000000
)
>>
24
;
pmsg
->
data
[
5
]
=
(
data
&
0x0000FF00
)
>>
8
;
/* Read second 4 data bytes */
pmsg
->
data
[
6
]
=
(
data
&
0x00FF0000
)
>>
16
;
if
(
pmsg
->
len
>
4
)
pmsg
->
data
[
7
]
=
(
data
&
0xFF000000
)
>>
24
;
{
}
data
=
pCan
->
RDB
;
pmsg
->
hdr
=
0
;
pmsg
->
data
[
4
]
=
data
&
0x000000FF
;
/*release receive buffer*/
pmsg
->
data
[
5
]
=
(
data
&
0x0000FF00
)
>>
8
;
pCan
->
CMR
=
0x04
;
pmsg
->
data
[
6
]
=
(
data
&
0x00FF0000
)
>>
16
;
}
pmsg
->
data
[
7
]
=
(
data
&
0xFF000000
)
>>
24
;
else
}
{
pmsg
->
hdr
=
0
;
/* Received Frame is a Remote Frame, not have data, we just receive
/*release receive buffer*/
* message information only */
pCan
->
CMR
=
0x04
;
pCan
->
CMR
=
0x04
;
/*release receive buffer*/
}
return
SUCCESS
;
else
}
{
}
/* Received Frame is a Remote Frame, not have data, we just receive
else
* message information only */
{
pCan
->
CMR
=
0x04
;
/*release receive buffer*/
// no receive message available
return
SUCCESS
;
return
ERROR
;
}
}
}
return
RT_EOK
;
else
{
// no receive message available
return
ERROR
;
}
return
RT_EOK
;
}
}
static
const
struct
rt_can_ops
canops
=
static
const
struct
rt_can_ops
canops
=
{
{
configure
,
configure
,
control
,
control
,
sendmsg
,
sendmsg
,
recvmsg
,
recvmsg
,
};
};
#ifdef RT_USING_LPCCAN1
#ifdef RT_USING_LPCCAN1
#ifdef RT_CAN_USING_LED
#ifdef RT_CAN_USING_LED
#endif
#endif
static
struct
lpccandata
lpccandata1
=
{
static
struct
lpccandata
lpccandata1
=
CAN_1
,
{
CAN_ID_1
,
};
};
static
struct
rt_can_device
lpccan1
;
static
struct
rt_can_device
lpccan1
;
#endif
/*RT_USINGLPCCAN1*/
#endif
/*RT_USINGLPCCAN1*/
...
@@ -726,11 +809,13 @@ static struct rt_can_device lpccan1;
...
@@ -726,11 +809,13 @@ static struct rt_can_device lpccan1;
#ifdef RT_USING_LPCCAN2
#ifdef RT_USING_LPCCAN2
#ifdef RT_CAN_USING_LED
#ifdef RT_CAN_USING_LED
#endif
#endif
static
struct
lpccandata
lpccandata2
=
{
static
struct
lpccandata
lpccandata2
=
CAN_2
,
{
CAN_ID_2
,
};
};
static
struct
rt_can_device
lpccan2
;
static
struct
rt_can_device
lpccan2
;
#endif
/*RT_USINGLPCCAN2*/
#endif
/*RT_USINGLPCCAN2*/
/*----------------- INTERRUPT SERVICE ROUTINES --------------------------*/
/*----------------- INTERRUPT SERVICE ROUTINES --------------------------*/
/*********************************************************************//**
/*********************************************************************//**
* @brief Event Router IRQ Handler
* @brief Event Router IRQ Handler
...
@@ -739,234 +824,267 @@ static struct rt_can_device lpccan2;
...
@@ -739,234 +824,267 @@ static struct rt_can_device lpccan2;
**********************************************************************/
**********************************************************************/
void
CAN_IRQHandler
(
void
)
void
CAN_IRQHandler
(
void
)
{
{
rt_uint32_t
IntStatus
;
rt_uint32_t
IntStatus
;
#ifdef RT_USING_LPCCAN1
#ifdef RT_USING_LPCCAN1
IntStatus
=
CAN_IntGetStatus
(
CAN_1
);
IntStatus
=
CAN_IntGetStatus
(
CAN_1
);
//check receive interrupt
//check receive interrupt
if
((
IntStatus
>>
0
)
&
0x01
)
if
((
IntStatus
>>
0
)
&
0x01
)
{
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_RX_IND
|
0
<<
8
);
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_RX_IND
|
0
<<
8
);
}
}
//check Transmit Interrupt interrupt1
//check Transmit Interrupt interrupt1
if
((
IntStatus
>>
1
)
&
0x01
)
if
((
IntStatus
>>
1
)
&
0x01
)
{
{
rt_uint32_t
state
=
0
;
rt_uint32_t
state
=
0
;
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_STS
);
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_STS
);
if
(
state
&
(
0x01
<<
3
))
if
(
state
&
(
0x01
<<
3
))
{
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
0
<<
8
);
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
0
<<
8
);
}
else
{
}
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
0
<<
8
);
else
}
{
}
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
0
<<
8
);
//check Error Warning Interrupt
}
if
((
IntStatus
>>
2
)
&
0x01
)
}
{
//check Error Warning Interrupt
rt_uint32_t
errtype
;
if
((
IntStatus
>>
2
)
&
0x01
)
errtype
=
(
IntStatus
>>
16
);
{
if
(
errtype
&
0x1F
&&
lpccan1
.
status
.
lasterrtype
==
(
errtype
&
0x1F
))
{
rt_uint32_t
errtype
;
switch
((
errtype
&
0x1F
))
{
rt_uint32_t
state
;
case
00011
:
// Start of Frame
case
00010
:
// ID28 ... ID21
errtype
=
(
IntStatus
>>
16
);
case
00110
:
//ID20 ... ID18
if
(
errtype
&
0x1F
&&
lpccan1
.
status
.
lasterrtype
==
(
errtype
&
0x1F
))
case
00100
:
// SRTR Bit
{
case
00101
:
// IDE bit
switch
((
errtype
&
0x1F
))
case
00111
:
// ID17 ... 13
{
case
01111
:
// ID12 ... ID5
case
00011
:
// Start of Frame
case
01110
:
// ID4 ... ID0
case
00010
:
// ID28 ... ID21
case
01100
:
// RTR Bit
case
00110
:
//ID20 ... ID18
case
01011
:
// Data Length Code
case
00100
:
// SRTR Bit
case
01010
:
// Data Field
case
00101
:
// IDE bit
lpccan1
.
status
.
formaterrcnt
++
;
case
00111
:
// ID17 ... 13
break
;
case
01111
:
// ID12 ... ID5
case
01101
:
// Reserved Bit 1
case
01110
:
// ID4 ... ID0
case
01001
:
// Reserved Bit 0
case
01100
:
// RTR Bit
lpccan1
.
status
.
bitpaderrcnt
++
;
case
01011
:
// Data Length Code
break
;
case
01010
:
// Data Field
case
01000
:
// CRC Sequence
lpccan1
.
status
.
formaterrcnt
++
;
case
11000
:
// CRC Delimiter
break
;
lpccan1
.
status
.
crcerrcnt
++
;
case
01101
:
// Reserved Bit 1
break
;
case
01001
:
// Reserved Bit 0
case
11001
:
// Acknowledge Slot
lpccan1
.
status
.
bitpaderrcnt
++
;
case
11011
:
// Acknowledge Delimiter
break
;
lpccan1
.
status
.
ackerrcnt
++
;
case
01000
:
// CRC Sequence
break
;
case
11000
:
// CRC Delimiter
case
11010
:
// End of Frame
lpccan1
.
status
.
crcerrcnt
++
;
case
10010
:
// Intermission
break
;
lpccan1
.
status
.
formaterrcnt
++
;
case
11001
:
// Acknowledge Slot
break
;
case
11011
:
// Acknowledge Delimiter
}
lpccan1
.
status
.
ackerrcnt
++
;
lpccan1
.
status
.
lasterrtype
=
errtype
&
0x1F
;
break
;
}
case
11010
:
// End of Frame
rt_uint32_t
state
=
0
;
case
10010
:
// Intermission
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_GLOBAL_STS
);
lpccan1
.
status
.
formaterrcnt
++
;
lpccan1
.
status
.
rcverrcnt
=
(
state
>>
16
)
&
0xFF
;
break
;
lpccan1
.
status
.
snderrcnt
=
(
state
>>
24
)
&
0xFF
;
}
lpccan1
.
status
.
errcode
=
(
state
>>
5
)
&
0x06
;
lpccan1
.
status
.
lasterrtype
=
errtype
&
0x1F
;
}
}
//check Data Overrun Interrupt Interrupt
if
((
IntStatus
>>
3
)
&
0x01
)
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_GLOBAL_STS
);
{
lpccan1
.
status
.
rcverrcnt
=
(
state
>>
16
)
&
0xFF
;
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_RXOF_IND
|
0
<<
8
);
lpccan1
.
status
.
snderrcnt
=
(
state
>>
24
)
&
0xFF
;
}
lpccan1
.
status
.
errcode
=
(
state
>>
5
)
&
0x06
;
//check Transmit Interrupt interrupt2
}
if
((
IntStatus
>>
9
)
&
0x01
)
//check Data Overrun Interrupt Interrupt
{
if
((
IntStatus
>>
3
)
&
0x01
)
rt_uint32_t
state
=
0
;
{
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_STS
);
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_RXOF_IND
|
0
<<
8
);
if
(
state
&
(
0x01
<<
11
))
}
{
//check Transmit Interrupt interrupt2
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
1
<<
8
);
if
((
IntStatus
>>
9
)
&
0x01
)
}
else
{
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
1
<<
8
);
rt_uint32_t
state
=
0
;
}
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_STS
);
}
if
(
state
&
(
0x01
<<
11
))
//check Transmit Interrupt interrupt3
{
if
((
IntStatus
>>
10
)
&
0x01
)
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
1
<<
8
);
{
}
rt_uint32_t
state
=
0
;
else
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_STS
);
{
if
(
state
&
(
0x01
<<
19
))
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
1
<<
8
);
{
}
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
2
<<
8
);
}
}
else
{
//check Transmit Interrupt interrupt3
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
2
<<
8
);
if
((
IntStatus
>>
10
)
&
0x01
)
}
{
}
rt_uint32_t
state
=
0
;
state
=
CAN_GetCTRLStatus
(
CAN_1
,
CANCTRL_STS
);
if
(
state
&
(
0x01
<<
19
))
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
2
<<
8
);
}
else
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
2
<<
8
);
}
}
#endif
/*RT_USING_LPCCAN1*/
#endif
/*RT_USING_LPCCAN1*/
#ifdef RT_USING_LPCCAN2
#ifdef RT_USING_LPCCAN2
IntStatus
=
CAN_IntGetStatus
(
CAN_2
);
IntStatus
=
CAN_IntGetStatus
(
CAN_2
);
//check receive interrupt
//check receive interrupt
if
((
IntStatus
>>
0
)
&
0x01
)
if
((
IntStatus
>>
0
)
&
0x01
)
{
{
rt_hw_can_isr
(
&
lpccan2
,
RT_CAN_EVENT_RX_IND
|
0
<<
8
);
rt_hw_can_isr
(
&
lpccan2
,
RT_CAN_EVENT_RX_IND
|
0
<<
8
);
}
}
//check Transmit Interrupt interrupt1
//check Transmit Interrupt interrupt1
if
((
IntStatus
>>
1
)
&
0x01
)
if
((
IntStatus
>>
1
)
&
0x01
)
{
{
rt_uint32_t
state
=
0
;
rt_uint32_t
state
=
0
;
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_STS
);
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_STS
);
if
(
state
&
(
0x01
<<
3
))
if
(
state
&
(
0x01
<<
3
))
{
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
0
<<
8
);
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
0
<<
8
);
}
else
{
}
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
0
<<
8
);
else
}
{
}
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
0
<<
8
);
//check Error Warning Interrupt
}
if
((
IntStatus
>>
2
)
&
0x01
)
}
{
rt_uint32_t
errtype
;
//check Error Warning Interrupt
errtype
=
(
IntStatus
>>
16
);
if
((
IntStatus
>>
2
)
&
0x01
)
if
(
errtype
&
0x1F
&&
lpccan2
.
status
.
lasterrtype
==
(
errtype
&
0x1F
))
{
{
switch
((
errtype
&
0x1F
))
{
rt_uint32_t
errtype
;
case
00011
:
// Start of Frame
errtype
=
(
IntStatus
>>
16
);
case
00010
:
// ID28 ... ID21
if
(
errtype
&
0x1F
&&
lpccan2
.
status
.
lasterrtype
==
(
errtype
&
0x1F
))
case
00110
:
//ID20 ... ID18
{
case
00100
:
// SRTR Bit
switch
((
errtype
&
0x1F
))
case
00101
:
// IDE bit
{
case
00111
:
// ID17 ... 13
case
00011
:
// Start of Frame
case
01111
:
// ID12 ... ID5
case
00010
:
// ID28 ... ID21
case
01110
:
// ID4 ... ID0
case
00110
:
//ID20 ... ID18
case
01100
:
// RTR Bit
case
00100
:
// SRTR Bit
case
01011
:
// Data Length Code
case
00101
:
// IDE bit
case
01010
:
// Data Field
case
00111
:
// ID17 ... 13
lpccan2
.
status
.
formaterrcnt
++
;
case
01111
:
// ID12 ... ID5
break
;
case
01110
:
// ID4 ... ID0
case
01101
:
// Reserved Bit 1
case
01100
:
// RTR Bit
case
01001
:
// Reserved Bit 0
case
01011
:
// Data Length Code
lpccan2
.
status
.
bitpaderrcnt
++
;
case
01010
:
// Data Field
break
;
lpccan2
.
status
.
formaterrcnt
++
;
case
01000
:
// CRC Sequence
break
;
case
11000
:
// CRC Delimiter
case
01101
:
// Reserved Bit 1
lpccan2
.
status
.
crcerrcnt
++
;
case
01001
:
// Reserved Bit 0
break
;
lpccan2
.
status
.
bitpaderrcnt
++
;
case
11001
:
// Acknowledge Slot
break
;
case
11011
:
// Acknowledge Delimiter
case
01000
:
// CRC Sequence
lpccan2
.
status
.
ackerrcnt
++
;
case
11000
:
// CRC Delimiter
break
;
lpccan2
.
status
.
crcerrcnt
++
;
case
11010
:
// End of Frame
break
;
case
10010
:
// Intermission
case
11001
:
// Acknowledge Slot
lpccan2
.
status
.
formaterrcnt
++
;
case
11011
:
// Acknowledge Delimiter
break
;
lpccan2
.
status
.
ackerrcnt
++
;
}
break
;
lpccan2
.
status
.
lasterrtype
=
errtype
&
0x1F
;
case
11010
:
// End of Frame
}
case
10010
:
// Intermission
rt_uint32_t
state
=
0
;
lpccan2
.
status
.
formaterrcnt
++
;
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_GLOBAL_STS
);
break
;
lpccan2
.
status
.
rcverrcnt
=
(
state
>>
16
)
&
0xFF
;
}
lpccan2
.
status
.
snderrcnt
=
(
state
>>
24
)
&
0xFF
;
lpccan2
.
status
.
lasterrtype
=
errtype
&
0x1F
;
lpccan2
.
status
.
errcode
=
(
state
>>
5
)
&
0x06
;
}
}
rt_uint32_t
state
=
0
;
//check Data Overrun Interrupt Interrupt
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_GLOBAL_STS
);
if
((
IntStatus
>>
3
)
&
0x01
)
lpccan2
.
status
.
rcverrcnt
=
(
state
>>
16
)
&
0xFF
;
{
lpccan2
.
status
.
snderrcnt
=
(
state
>>
24
)
&
0xFF
;
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_RXOF_IND
|
0
<<
8
);
lpccan2
.
status
.
errcode
=
(
state
>>
5
)
&
0x06
;
}
}
//check Transmit Interrupt interrupt2
if
((
IntStatus
>>
9
)
&
0x01
)
//check Data Overrun Interrupt Interrupt
{
if
((
IntStatus
>>
3
)
&
0x01
)
rt_uint32_t
state
=
0
;
{
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_STS
);
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_RXOF_IND
|
0
<<
8
);
if
(
state
&
(
0x01
<<
11
))
}
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
1
<<
8
);
//check Transmit Interrupt interrupt2
}
else
{
if
((
IntStatus
>>
9
)
&
0x01
)
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
1
<<
8
);
{
}
rt_uint32_t
state
=
0
;
}
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_STS
);
//check Transmit Interrupt interrupt3
if
(
state
&
(
0x01
<<
11
))
if
((
IntStatus
>>
10
)
&
0x01
)
{
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
1
<<
8
);
rt_uint32_t
state
=
0
;
}
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_STS
);
else
if
(
state
&
(
0x01
<<
19
))
{
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
1
<<
8
);
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
2
<<
8
);
}
}
else
{
}
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
2
<<
8
);
}
//check Transmit Interrupt interrupt3
}
if
((
IntStatus
>>
10
)
&
0x01
)
{
rt_uint32_t
state
=
0
;
state
=
CAN_GetCTRLStatus
(
CAN_2
,
CANCTRL_STS
);
if
(
state
&
(
0x01
<<
19
))
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_DONE
|
2
<<
8
);
}
else
{
rt_hw_can_isr
(
&
lpccan1
,
RT_CAN_EVENT_TX_FAIL
|
2
<<
8
);
}
}
#endif
/*RT_USING_LPCCAN2*/
#endif
/*RT_USING_LPCCAN2*/
}
}
int
lpc_can_init
(
void
)
int
lpc_can_init
(
void
)
{
{
#ifdef RT_USING_LPCCAN1
#ifdef RT_USING_LPCCAN1
lpccan1
.
config
.
baud_rate
=
CAN1MBaud
;
lpccan1
.
config
.
baud_rate
=
CAN1MBaud
;
lpccan1
.
config
.
msgboxsz
=
16
;
lpccan1
.
config
.
msgboxsz
=
16
;
lpccan1
.
config
.
sndboxnumber
=
3
;
lpccan1
.
config
.
sndboxnumber
=
3
;
lpccan1
.
config
.
mode
=
RT_CAN_MODE_NORMAL
;
lpccan1
.
config
.
mode
=
RT_CAN_MODE_NORMAL
;
lpccan1
.
config
.
privmode
=
0
;
lpccan1
.
config
.
privmode
=
0
;
#ifdef RT_CAN_USING_LED
#ifdef RT_CAN_USING_LED
#endif
#endif
lpccan1
.
config
.
ticks
=
50
;
lpccan1
.
config
.
ticks
=
50
;
#ifdef RT_CAN_USING_HDR
#ifdef RT_CAN_USING_HDR
#endif
//Enable CAN Interrupt
NVIC_EnableIRQ
(
CAN_IRQn
);
rt_hw_can_register
(
&
lpccan1
,
"lpccan1"
,
&
canops
,
&
lpccandata1
);
#endif
#endif
//Enable CAN Interrupt
NVIC_EnableIRQ
(
CAN_IRQn
);
rt_hw_can_register
(
&
lpccan1
,
"lpccan1"
,
&
canops
,
&
lpccandata1
);
#endif
/*RT_USING_LPCCAN1*/
#ifdef RT_USING_LPCCAN2
#ifdef RT_USING_LPCCAN2
lpccan2
.
config
.
baud_rate
=
CAN1MBaud
;
lpccan2
.
config
.
baud_rate
=
CAN1MBaud
;
lpccan2
.
config
.
msgboxsz
=
16
;
lpccan2
.
config
.
msgboxsz
=
16
;
lpccan2
.
config
.
sndboxnumber
=
3
;
lpccan2
.
config
.
sndboxnumber
=
3
;
lpccan2
.
config
.
mode
=
RT_CAN_MODE_NORMAL
;
lpccan2
.
config
.
mode
=
RT_CAN_MODE_NORMAL
;
lpccan2
.
config
.
privmode
=
0
;
lpccan2
.
config
.
privmode
=
0
;
#ifdef RT_CAN_USING_LED
#ifdef RT_CAN_USING_LED
#endif
lpccan2
.
config
.
ticks
=
50
;
#ifdef RT_CAN_USING_HDR
#endif
#ifndef RT_USING_LPCCAN1
//Enable CAN Interrupt
NVIC_EnableIRQ
(
CAN_IRQn
);
#endif
#endif
lpccan2
.
config
.
ticks
=
50
;
#ifdef RT_CAN_USING_HDR
#ifdef RT_CAN_USING_HDR
#endif
#endif
rt_hw_can_register
(
&
lpccan2
,
"lpccan2"
,
&
canops
,
&
lpccandata2
);
//Enable CAN Interrupt
NVIC_EnableIRQ
(
CAN_IRQn
);
#ifdef RT_CAN_USING_HDR
#endif
#endif
return
RT_EOK
;
rt_hw_can_register
(
&
lpccan2
,
"lpccan2"
,
&
canops
,
&
lpccandata2
);
#endif
/*RT_USING_LPCCAN2*/
return
RT_EOK
;
}
}
INIT_BOARD_EXPORT
(
lpc_can_init
);
INIT_BOARD_EXPORT
(
lpc_can_init
);
...
...
components/drivers/include/drivers/can.h
浏览文件 @
dee31a71
...
@@ -37,15 +37,15 @@
...
@@ -37,15 +37,15 @@
enum
CANBAUD
enum
CANBAUD
{
{
CAN1MBaud
=
0
,
/* 1 MBit/sec */
CAN1MBaud
=
1000UL
*
1000
,
/* 1 MBit/sec */
CAN800kBaud
,
/* 800 kBit/sec */
CAN800kBaud
=
1000UL
*
800
,
/* 800 kBit/sec */
CAN500kBaud
,
/* 500 kBit/sec */
CAN500kBaud
=
1000UL
*
500
,
/* 500 kBit/sec */
CAN250kBaud
,
/* 250 kBit/sec */
CAN250kBaud
=
1000UL
*
250
,
/* 250 kBit/sec */
CAN125kBaud
,
/* 125 kBit/sec */
CAN125kBaud
=
1000UL
*
125
,
/* 125 kBit/sec */
CAN100kBaud
,
/* 100 kBit/sec */
CAN100kBaud
=
1000UL
*
100
,
/* 100 kBit/sec */
CAN50kBaud
,
/* 50 kBit/sec */
CAN50kBaud
=
1000UL
*
50
,
/* 50 kBit/sec */
CAN20kBaud
,
/* 20 kBit/sec */
CAN20kBaud
=
1000UL
*
20
,
/* 20 kBit/sec */
CAN10kBaud
/* 10 kBit/sec */
CAN10kBaud
=
1000UL
*
10
/* 10 kBit/sec */
};
};
#define RT_CAN_MODE_NORMAL 0
#define RT_CAN_MODE_NORMAL 0
...
...
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