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dimamali |
// Filename : can_receive_basic.c
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//-- Description : Waits (polling) for a can frame in standard frame format
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//-- Author : Harald Obereder
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//-- Created On : Wed Okt 06 10.07
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//--
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//-- CVS entries:
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//-- $Author: hobe $
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//-- $Date: 2004/10/12 12:47:19 $
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//-- $Revision: 1.2 $
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//-- $State: Exp $
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// addressdefinition for basic can registers
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// tb...transmit buffer
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// rb...receive buffer
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#define basic
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#define extended
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#define CANADDR 0xfffc0000
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#ifdef basic
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#define control_register *((unsigned char *)(CANADDR+0x0000))
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#define command_register *((unsigned char *)(CANADDR+0x0001))
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#define status_register *((unsigned char *)(CANADDR+0x0002))
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#define interrupt_register *((unsigned char *)(CANADDR+0x0003))
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#define acceptance_code_register *((unsigned char *)(CANADDR+0x0004))
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#define acceptance_mask_register *((unsigned char *)(CANADDR+0x0005))
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#define bus_timing_0_register *((unsigned char *)(CANADDR+0x0006))
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#define bus_timing_1_register *((unsigned char *)(CANADDR+0x0007))
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#define output_control_register *((unsigned char *)(CANADDR+0x0008))
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#define test_register *((unsigned char *)(CANADDR+0x0009))
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#define tb_identifier_byte_0 *((unsigned char *)(CANADDR+0x000A))
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#define tb_identifier_byte_1 *((unsigned char *)(CANADDR+0x000B))
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#define tb_data_byte_1 *((unsigned char *)(CANADDR+0x000C))
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#define tb_data_byte_2 *((unsigned char *)(CANADDR+0x000D))
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#define tb_data_byte_3 *((unsigned char *)(CANADDR+0x000E))
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#define tb_data_byte_4 *((unsigned char *)(CANADDR+0x000F))
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#define tb_data_byte_5 *((unsigned char *)(CANADDR+0x0010))
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#define tb_data_byte_6 *((unsigned char *)(CANADDR+0x0011))
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#define tb_data_byte_7 *((unsigned char *)(CANADDR+0x0012))
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#define tb_data_byte_8 *((unsigned char *)(CANADDR+0x0013))
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#define rb_identifier_byte_0 *((unsigned char *)(CANADDR+0x0014))
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#define rb_identifier_byte_1 *((unsigned char *)(CANADDR+0x0015))
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#define rb_data_byte_1 *((unsigned char *)(CANADDR+0x0016))
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#define rb_data_byte_2 *((unsigned char *)(CANADDR+0x0017))
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#define rb_data_byte_3 *((unsigned char *)(CANADDR+0x0018))
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#define rb_data_byte_4 *((unsigned char *)(CANADDR+0x0019))
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#define rb_data_byte_5 *((unsigned char *)(CANADDR+0x001A))
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#define rb_data_byte_6 *((unsigned char *)(CANADDR+0x001B))
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#define rb_data_byte_7 *((unsigned char *)(CANADDR+0x001C))
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#define rb_data_byte_8 *((unsigned char *)(CANADDR+0x001D))
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#define Extra_register *((unsigned char *)(CANADDR+0x001E))
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#define clock_divider_register *((unsigned char *)(CANADDR+0x001F))
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#endif
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#ifdef extended
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#define control_register *((unsigned char *)(CANADDR+0x0000))
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#define command_register *((unsigned char *)(CANADDR+0x0001))
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#define status_register *((unsigned char *)(CANADDR+0x0002))
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#define interrupt_register *((unsigned char *)(CANADDR+0x0003))
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#define interrupt_enable_register *((unsigned char *)(CANADDR+0x0004))
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#define reserved_register *((unsigned char *)(CANADDR+0x0005))
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#define bus_timing_0_register *((unsigned char *)(CANADDR+0x0006))
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#define bus_timing_1_register *((unsigned char *)(CANADDR+0x0007))
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#define output_control_register *((unsigned char *)(CANADDR+0x0008))
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#define test_register *((unsigned char *)(CANADDR+0x0009))
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#define reserved_1_register *((unsigned char *)(CANADDR+0x000A))
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#define arbitration_lost_capture *((unsigned char *)(CANADDR+0x000B))
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#define error_code_capture *((unsigned char *)(CANADDR+0x000C))
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#define error_warning_limit *((unsigned char *)(CANADDR+0x000D))
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#define rx_error_counter *((unsigned char *)(CANADDR+0x000E))
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#define tx_error_counter *((unsigned char *)(CANADDR+0x000F))
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#define acceptance_code_0 *((unsigned char *)(CANADDR+0x0010))
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#define acceptance_code_1 *((unsigned char *)(CANADDR+0x0011))
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#define acceptance_code_2 *((unsigned char *)(CANADDR+0x0012))
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#define acceptance_code_3 *((unsigned char *)(CANADDR+0x0013))
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#define acceptance_mask_0 *((unsigned char *)(CANADDR+0x0014))
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#define acceptance_mask_1 *((unsigned char *)(CANADDR+0x0015))
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#define acceptance_mask_2 *((unsigned char *)(CANADDR+0x0016))
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#define acceptance_mask_3 *((unsigned char *)(CANADDR+0x0017))
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#define rx_frame_information_sff *((unsigned char *)(CANADDR+0x0010))
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#define rx_identifier_1_sff *((unsigned char *)(CANADDR+0x0011))
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#define rx_identifier_2_sff *((unsigned char *)(CANADDR+0x0012))
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#define rx_data_1_sff *((unsigned char *)(CANADDR+0x0013))
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#define rx_data_2_sff *((unsigned char *)(CANADDR+0x0014))
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#define rx_data_3_sff *((unsigned char *)(CANADDR+0x0015))
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#define rx_data_4_sff *((unsigned char *)(CANADDR+0x0016))
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#define rx_data_5_sff *((unsigned char *)(CANADDR+0x0017))
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#define rx_data_6_sff *((unsigned char *)(CANADDR+0x0018))
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#define rx_data_7_sff *((unsigned char *)(CANADDR+0x0019))
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#define rx_data_8_sff *((unsigned char *)(CANADDR+0x001A))
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#define rx_frame_information_eff *((unsigned char *)(CANADDR+0x0010))
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#define rx_identifier_1_eff *((unsigned char *)(CANADDR+0x0011))
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#define rx_identifier_2_eff *((unsigned char *)(CANADDR+0x0012))
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#define rx_identifier_3_eff *((unsigned char *)(CANADDR+0x0013))
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#define rx_identifier_4_eff *((unsigned char *)(CANADDR+0x0014))
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#define rx_data_1_eff *((unsigned char *)(CANADDR+0x0015))
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#define rx_data_2_eff *((unsigned char *)(CANADDR+0x0016))
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#define rx_data_3_eff *((unsigned char *)(CANADDR+0x0017))
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#define rx_data_4_eff *((unsigned char *)(CANADDR+0x0018))
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#define rx_data_5_eff *((unsigned char *)(CANADDR+0x0019))
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#define rx_data_6_eff *((unsigned char *)(CANADDR+0x001A))
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#define rx_data_7_eff *((unsigned char *)(CANADDR+0x001B))
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#define rx_data_8_eff *((unsigned char *)(CANADDR+0x001C))
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#define tx_frame_information_sff *((unsigned char *)(CANADDR+0x0010))
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#define tx_identifier_1_sff *((unsigned char *)(CANADDR+0x0011))
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#define tx_identifier_2_sff *((unsigned char *)(CANADDR+0x0012))
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#define tx_data_1_sff *((unsigned char *)(CANADDR+0x0013))
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#define tx_data_2_sff *((unsigned char *)(CANADDR+0x0014))
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#define tx_data_3_sff *((unsigned char *)(CANADDR+0x0015))
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#define tx_data_4_sff *((unsigned char *)(CANADDR+0x0016))
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#define tx_data_5_sff *((unsigned char *)(CANADDR+0x0017))
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#define tx_data_6_sff *((unsigned char *)(CANADDR+0x0018))
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#define tx_data_7_sff *((unsigned char *)(CANADDR+0x0019))
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#define tx_data_8_sff *((unsigned char *)(CANADDR+0x001A))
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#define tx_frame_information_eff *((unsigned char *)(CANADDR+0x0010))
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#define tx_identifier_1_eff *((unsigned char *)(CANADDR+0x0011))
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#define tx_identifier_2_eff *((unsigned char *)(CANADDR+0x0012))
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#define tx_identifier_3_eff *((unsigned char *)(CANADDR+0x0013))
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#define tx_identifier_4_eff *((unsigned char *)(CANADDR+0x0014))
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#define tx_data_1_eff *((unsigned char *)(CANADDR+0x0015))
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#define tx_data_2_eff *((unsigned char *)(CANADDR+0x0016))
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#define tx_data_3_eff *((unsigned char *)(CANADDR+0x0017))
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#define tx_data_4_eff *((unsigned char *)(CANADDR+0x0018))
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#define tx_data_5_eff *((unsigned char *)(CANADDR+0x0019))
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#define tx_data_6_eff *((unsigned char *)(CANADDR+0x001A))
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#define tx_data_7_eff *((unsigned char *)(CANADDR+0x001B))
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#define tx_data_8_eff *((unsigned char *)(CANADDR+0x001C))
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#define rx_message_counter *((unsigned char *)(CANADDR+0x001D))
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#define rx_buffer_start_address *((unsigned char *)(CANADDR+0x001E))
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#define clock_divider_register *((unsigned char *)(CANADDR+0x001F))
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#endif
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#define reset_mode_on 0x01
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#define reset_mode_off 0xFE
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#define enable_all_int 0x1E
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#define tx_request 0x01
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#define basic_mode 0x7F
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#define extended_mode 0x80
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#define release_buffer 0x04
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#define receive_interrupt 0x01
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#define self_test_mode 0x04
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#define self_reception 0x10
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#define enable_all_int_eff 0xFF
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// can mode "Basic" or "Extended"
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//const char * mode = "Basic";
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//const char * mode = "Extended";
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// waits for some time
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void kill_time(int rep) {
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int i;
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for (i=rep; i>0; --i)
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asm("nop");
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}
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void self_testing_mode()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("***** Set to self testing mode *****\n");
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printf("************************************\n");
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r_val = control_register | self_test_mode;
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control_register = r_val;
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printf( "control_register 0x%X \n\n",control_register);
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}
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void reset_all_irqs()
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{
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printf("************************************\n");
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printf("********** reset all irqs **********\n");
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printf("************************************\n");
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printf( "interrupt_register 0x%X \n\n",interrupt_register);
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}
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void disable_irq_sff()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("*********** disable irqs ***********\n");
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printf("************************************\n");
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r_val = interrupt_enable_register | enable_all_int_eff;
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interrupt_enable_register = r_val;
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printf( "interrupt_enable_register 0x%X \n\n",interrupt_enable_register);
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}
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void enable_irq_sff()
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{
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unsigned char r_val;
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//printf("************************************\n");
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//printf("*********** enable irqs ************\n");
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//printf("************************************\n");
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r_val = control_register | enable_all_int;
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control_register = r_val;
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printf( "control_register 0x%X \n\n",control_register);
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}
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void disable_irq_eff()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("*********** disable irqs ***********\n");
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printf("************************************\n");
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r_val = interrupt_enable_register | enable_all_int_eff;
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interrupt_enable_register = r_val;
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printf( "interrupt_enable_register 0x%X \n\n",interrupt_enable_register);
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}
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void enable_irq_eff()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("*********** enable irqs eff ********\n");
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printf("************************************\n");
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r_val = interrupt_enable_register | enable_all_int_eff;
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interrupt_enable_register = r_val;
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printf( "interrupt_enable_register 0x%X \n\n",interrupt_enable_register);
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}
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void tx_request_command()
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{
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unsigned char r_val;
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// printf("************************************\n");
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// printf("*********** tx requestet ***********\n");
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// printf("************************************\n");
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printf( "Send transmit-request \n");
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r_val = command_register | tx_request;
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command_register = r_val;
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printf( "command register: 0x%X \n\n",command_register);
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}
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void self_reception_request()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("***** self reception requestet *****\n");
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printf("************************************\n");
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r_val = command_register | self_reception;
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command_register = r_val;
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printf( "command register : 0x%X \n\n",command_register);
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}
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void release_receive_buffer()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("****** release receive buffer ******\n");
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printf("************************************\n");
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r_val = command_register | release_buffer;
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command_register = r_val;
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printf( "command register : 0x%X \n\n",command_register);
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}
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void read_receive_buffer_basic()
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{
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unsigned char r_val;
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printf("************************************\n");
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printf("******** read receive buffer *******\n");
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printf("************************************\n");
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printf( "identifier 0: 0x%X \n",rb_identifier_byte_0);
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printf( "identifier 1: 0x%X \n",rb_identifier_byte_1);
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printf( "data byte 1: 0x%X \n",rb_data_byte_1);
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printf( "data byte 2: 0x%X \n",rb_data_byte_2);
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|
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printf( "data byte 3: 0x%X \n",rb_data_byte_3);
|
306 |
|
|
|
307 |
|
|
printf( "data byte 4: 0x%X \n",rb_data_byte_4);
|
308 |
|
|
|
309 |
|
|
printf( "data byte 5: 0x%X \n",rb_data_byte_5);
|
310 |
|
|
|
311 |
|
|
printf( "data byte 6: 0x%X \n",rb_data_byte_6);
|
312 |
|
|
|
313 |
|
|
printf( "data byte 7: 0x%X \n",rb_data_byte_7);
|
314 |
|
|
|
315 |
|
|
printf( "data byte 8: 0x%X \n\n",rb_data_byte_8);
|
316 |
|
|
|
317 |
|
|
}
|
318 |
|
|
|
319 |
|
|
|
320 |
|
|
void read_receive_buffer_extended()
|
321 |
|
|
{
|
322 |
|
|
unsigned char r_val;
|
323 |
|
|
|
324 |
|
|
printf("************************************\n");
|
325 |
|
|
printf("******* read frame extended ********\n");
|
326 |
|
|
printf("************************************\n");
|
327 |
|
|
|
328 |
|
|
printf( "rx_frame_information_eff: 0x%X \n\n",rx_frame_information_eff);
|
329 |
|
|
|
330 |
|
|
printf( "identifier 0: 0x%X \n",rx_identifier_1_eff);
|
331 |
|
|
|
332 |
|
|
printf( "identifier 1: 0x%X \n",rx_identifier_2_eff);
|
333 |
|
|
|
334 |
|
|
printf( "identifier 2: 0x%X \n",rx_identifier_3_eff);
|
335 |
|
|
|
336 |
|
|
printf( "identifier 3: 0x%X \n\n",rx_identifier_4_eff);
|
337 |
|
|
|
338 |
|
|
printf( "data byte 1: 0x%X \n",rx_data_1_eff);
|
339 |
|
|
|
340 |
|
|
printf( "data byte 2: 0x%X \n",rx_data_2_eff);
|
341 |
|
|
|
342 |
|
|
printf( "data byte 3: 0x%X \n",rx_data_3_eff);
|
343 |
|
|
|
344 |
|
|
printf( "data byte 4: 0x%X \n",rx_data_4_eff);
|
345 |
|
|
|
346 |
|
|
printf( "data byte 5: 0x%X \n",rx_data_5_eff);
|
347 |
|
|
|
348 |
|
|
printf( "data byte 6: 0x%X \n",rx_data_6_eff);
|
349 |
|
|
|
350 |
|
|
printf( "data byte 7: 0x%X \n",rx_data_7_eff);
|
351 |
|
|
|
352 |
|
|
printf( "data byte 8: 0x%X \n\n",rx_data_8_eff);
|
353 |
|
|
|
354 |
|
|
}
|
355 |
|
|
|
356 |
|
|
/*void write_frame_basic()
|
357 |
|
|
{
|
358 |
|
|
unsigned char r_val;
|
359 |
|
|
|
360 |
|
|
printf("************************************\n");
|
361 |
|
|
printf("********* Send frame basic *********\n");
|
362 |
|
|
printf("************************************\n");
|
363 |
|
|
|
364 |
|
|
printf( "Set identifier - 0xEA 0x28\n");
|
365 |
|
|
tb_identifier_byte_0 = 0xEA;
|
366 |
|
|
printf( "identifier 0: 0x%X \n",tb_identifier_byte_0);
|
367 |
|
|
|
368 |
|
|
tb_identifier_byte_1 = 0x28;
|
369 |
|
|
printf( "identifier 1: 0x%X \n\n",tb_identifier_byte_1);
|
370 |
|
|
|
371 |
|
|
printf( "Set data byte 1 \n");
|
372 |
|
|
tb_data_byte_1 = 0x12;
|
373 |
|
|
printf( "data byte 1: 0x%X \n",tb_data_byte_1);
|
374 |
|
|
|
375 |
|
|
printf( "Set data byte 2 \n");
|
376 |
|
|
tb_data_byte_2 = 0x34;
|
377 |
|
|
printf( "data byte 2: 0x%X \n",tb_data_byte_2);
|
378 |
|
|
|
379 |
|
|
printf( "Set data byte 3 \n");
|
380 |
|
|
tb_data_byte_3 = 0x56;
|
381 |
|
|
printf( "data byte 3: 0x%X \n",tb_data_byte_3);
|
382 |
|
|
|
383 |
|
|
printf( "Set data byte 4 \n");
|
384 |
|
|
tb_data_byte_4 = 0x78;
|
385 |
|
|
printf( "data byte 4: 0x%X \n",tb_data_byte_4);
|
386 |
|
|
|
387 |
|
|
printf( "Set data byte 5 \n");
|
388 |
|
|
tb_data_byte_5 = 0x9A;
|
389 |
|
|
printf( "data byte 5: 0x%X \n",tb_data_byte_5);
|
390 |
|
|
|
391 |
|
|
printf( "Set data byte 6 \n");
|
392 |
|
|
tb_data_byte_6 = 0xBC;
|
393 |
|
|
printf( "data byte 6: 0x%X \n",tb_data_byte_6);
|
394 |
|
|
|
395 |
|
|
printf( "Set data byte 7 \n");
|
396 |
|
|
tb_data_byte_7 = 0xDE;
|
397 |
|
|
printf( "data byte 7: 0x%X \n",tb_data_byte_7);
|
398 |
|
|
|
399 |
|
|
printf( "Set data byte 8 \n");
|
400 |
|
|
tb_data_byte_8 = 0xF0;
|
401 |
|
|
printf( "data byte 8: 0x%X \n\n",tb_data_byte_8);
|
402 |
|
|
}
|
403 |
|
|
*/
|
404 |
|
|
/*void write_frame_extended()
|
405 |
|
|
{
|
406 |
|
|
unsigned char r_val;
|
407 |
|
|
|
408 |
|
|
printf("************************************\n");
|
409 |
|
|
printf("******* write frame extended *******\n");
|
410 |
|
|
printf("************************************\n");
|
411 |
|
|
|
412 |
|
|
|
413 |
|
|
tx_frame_information_eff = 0x88;
|
414 |
|
|
printf( "tx_frame_information_eff: 0x%X \n\n",tx_frame_information_eff);
|
415 |
|
|
|
416 |
|
|
|
417 |
|
|
printf( "Set identifier - 0xA6 0xB0 0x12 0x30\n");
|
418 |
|
|
tx_identifier_1_eff = 0xA6;
|
419 |
|
|
printf( "identifier 0: 0x%X \n",tx_identifier_1_eff);
|
420 |
|
|
|
421 |
|
|
tx_identifier_2_eff = 0xB0;
|
422 |
|
|
printf( "identifier 1: 0x%X \n",tx_identifier_2_eff);
|
423 |
|
|
|
424 |
|
|
tx_identifier_3_eff = 0x12;
|
425 |
|
|
printf( "identifier 2: 0x%X \n",tx_identifier_3_eff);
|
426 |
|
|
|
427 |
|
|
tx_identifier_4_eff = 0x30;
|
428 |
|
|
printf( "identifier 3: 0x%X \n\n",tx_identifier_4_eff);
|
429 |
|
|
|
430 |
|
|
printf( "Set data - 0x12 0x34 0x56 0x78 0x9A 0xBC 0xDE 0xF0\n");
|
431 |
|
|
tx_data_1_eff = 0x12;
|
432 |
|
|
printf( "data byte 1: 0x%X \n",tx_data_1_eff);
|
433 |
|
|
|
434 |
|
|
tx_data_2_eff = 0x34;
|
435 |
|
|
printf( "data byte 2: 0x%X \n",tx_data_2_eff);
|
436 |
|
|
|
437 |
|
|
tx_data_3_eff = 0x56;
|
438 |
|
|
printf( "data byte 3: 0x%X \n",tx_data_3_eff);
|
439 |
|
|
|
440 |
|
|
tx_data_4_eff = 0x78;
|
441 |
|
|
printf( "data byte 4: 0x%X \n",tx_data_4_eff);
|
442 |
|
|
|
443 |
|
|
tx_data_5_eff = 0x9A;
|
444 |
|
|
printf( "data byte 5: 0x%X \n",tx_data_5_eff);
|
445 |
|
|
|
446 |
|
|
tx_data_6_eff = 0xBC;
|
447 |
|
|
printf( "data byte 6: 0x%X \n",tx_data_6_eff);
|
448 |
|
|
|
449 |
|
|
tx_data_7_eff = 0xDE;
|
450 |
|
|
printf( "data byte 7: 0x%X \n",tx_data_7_eff);
|
451 |
|
|
|
452 |
|
|
tx_data_8_eff = 0xF0;
|
453 |
|
|
printf( "data byte 8: 0x%X \n\n",tx_data_8_eff);
|
454 |
|
|
|
455 |
|
|
}
|
456 |
|
|
*/
|
457 |
|
|
|
458 |
|
|
void init_can(char * mode, char * self_test)
|
459 |
|
|
{
|
460 |
|
|
unsigned char r_val;
|
461 |
|
|
|
462 |
|
|
if (mode == "Basic")
|
463 |
|
|
{
|
464 |
|
|
//printf("************************************\n");
|
465 |
|
|
printf("********** Basic Can Mode **********\n");
|
466 |
|
|
//printf("************************************\n");
|
467 |
|
|
|
468 |
|
|
printf( "Switch on Reset Mode\n");
|
469 |
|
|
r_val = control_register | reset_mode_on;
|
470 |
|
|
control_register = r_val;
|
471 |
|
|
//printf( "control_register: 0x%X \n\n",control_register);
|
472 |
|
|
|
473 |
|
|
//printf( "Set clock divider register to basic can mode\n");
|
474 |
|
|
r_val = clock_divider_register & basic_mode | 0x07;
|
475 |
|
|
clock_divider_register = r_val;
|
476 |
|
|
//printf( "clock_divider_register: 0x%X \n\n",clock_divider_register);
|
477 |
|
|
|
478 |
|
|
//printf( "Output control register \n");
|
479 |
|
|
//output_control_register = 0x01;
|
480 |
|
|
//printf( "output control register : 0x%X \n\n",output_control_register);
|
481 |
|
|
|
482 |
|
|
//printf( "Set bus timing register 0\n");
|
483 |
|
|
//printf( "Sync Jump Width = 2 Baudrate Prescaler = 1\n");
|
484 |
|
|
bus_timing_0_register = 0x83;
|
485 |
|
|
//printf( "bus timing register 0: 0x%X \n\n",bus_timing_0_register);
|
486 |
|
|
|
487 |
|
|
//printf( "Set bus timing register 1\n");
|
488 |
|
|
//printf( "SAM = 0 ---> Single Sampling\n");
|
489 |
|
|
bus_timing_1_register = 0x25;
|
490 |
|
|
//printf( "bus timing register 1: 0x%X \n\n",bus_timing_1_register);
|
491 |
|
|
|
492 |
|
|
//printf( "Set acceptance code register\n");
|
493 |
|
|
acceptance_code_register = 0x88;
|
494 |
|
|
//printf( "acceptance code register: 0x%X \n\n",acceptance_code_register);
|
495 |
|
|
|
496 |
|
|
//printf( "Set acceptance mask register\n");
|
497 |
|
|
acceptance_mask_register = 0xFF;
|
498 |
|
|
//printf( "acceptance mask register: 0x%X \n\n",acceptance_mask_register);
|
499 |
|
|
|
500 |
|
|
|
501 |
|
|
kill_time(50);
|
502 |
|
|
|
503 |
|
|
printf( "Switch off reset mode\n");
|
504 |
|
|
r_val = control_register & reset_mode_off;
|
505 |
|
|
control_register = r_val;
|
506 |
|
|
//printf( "control_register 0x%X \n\n",control_register);
|
507 |
|
|
|
508 |
|
|
kill_time(50);
|
509 |
|
|
|
510 |
|
|
}
|
511 |
|
|
else if (mode == "Extended")
|
512 |
|
|
{
|
513 |
|
|
printf("************************************\n");
|
514 |
|
|
printf("******** Extended Can Mode *********\n");
|
515 |
|
|
printf("************************************\n");
|
516 |
|
|
|
517 |
|
|
printf( "Switch on Reset Mode\n");
|
518 |
|
|
r_val = control_register | reset_mode_on;
|
519 |
|
|
control_register = r_val;
|
520 |
|
|
printf( "control_register: 0x%X \n\n",control_register);
|
521 |
|
|
|
522 |
|
|
|
523 |
|
|
kill_time(50);
|
524 |
|
|
|
525 |
|
|
|
526 |
|
|
printf( "Set clock divider register to extended can mode\n");
|
527 |
|
|
r_val = clock_divider_register | extended_mode | 0x07;
|
528 |
|
|
clock_divider_register = r_val;
|
529 |
|
|
printf( "clock_divider_register: 0x%X \n\n",clock_divider_register);
|
530 |
|
|
|
531 |
|
|
kill_time(50);
|
532 |
|
|
|
533 |
|
|
//printf( "Output control register \n");
|
534 |
|
|
//output_control_register = 0x01;
|
535 |
|
|
//printf( "output control register: 0x%X \n\n",output_control_register);
|
536 |
|
|
|
537 |
|
|
printf( "Set bus timing register 0\n");
|
538 |
|
|
printf( "Sync Jump Width = 2 Baudrate Prescaler = 1\n");
|
539 |
|
|
bus_timing_0_register = 0xA8;
|
540 |
|
|
printf( "bus timing register 0: 0x%X \n\n",bus_timing_0_register);
|
541 |
|
|
|
542 |
|
|
printf( "Set bus timing register 1\n");
|
543 |
|
|
printf( "SAM = 0 ---> Single Sampling\n");
|
544 |
|
|
bus_timing_1_register = 0x34;
|
545 |
|
|
printf( "bus timing register 1: 0x%X \n\n",bus_timing_1_register);
|
546 |
|
|
|
547 |
|
|
printf( "Set acceptance code register\n");
|
548 |
|
|
acceptance_code_0 = 0xA6;
|
549 |
|
|
printf( "acceptance code register 0: 0x%X \n",acceptance_code_0);
|
550 |
|
|
|
551 |
|
|
acceptance_code_1 = 0xB0;
|
552 |
|
|
printf( "acceptance code register 1: 0x%X \n",acceptance_code_1);
|
553 |
|
|
|
554 |
|
|
acceptance_code_2 = 0x12;
|
555 |
|
|
printf( "acceptance code register 2: 0x%X \n",acceptance_code_2);
|
556 |
|
|
|
557 |
|
|
acceptance_code_3 = 0x30;
|
558 |
|
|
printf( "acceptance code register 3: 0x%X \n\n",acceptance_code_3);
|
559 |
|
|
|
560 |
|
|
|
561 |
|
|
printf( "Set acceptance mask register\n");
|
562 |
|
|
acceptance_mask_0 = 0x00;
|
563 |
|
|
printf( "acceptance mask register: 0x%X \n",acceptance_mask_0);
|
564 |
|
|
|
565 |
|
|
acceptance_mask_1 = 0x00;
|
566 |
|
|
printf( "acceptance mask register: 0x%X \n",acceptance_mask_1);
|
567 |
|
|
|
568 |
|
|
acceptance_mask_2 = 0x00;
|
569 |
|
|
printf( "acceptance mask register: 0x%X \n",acceptance_mask_2);
|
570 |
|
|
|
571 |
|
|
acceptance_mask_3 = 0x00;
|
572 |
|
|
printf( "acceptance mask register: 0x%X \n\n",acceptance_mask_3);
|
573 |
|
|
|
574 |
|
|
if (self_test == "self_test")
|
575 |
|
|
{
|
576 |
|
|
self_testing_mode();
|
577 |
|
|
}
|
578 |
|
|
|
579 |
|
|
printf( "Switch off reset mode\n");
|
580 |
|
|
r_val = control_register & reset_mode_off;
|
581 |
|
|
control_register = r_val;
|
582 |
|
|
printf( "control_register 0x%X \n\n",control_register);
|
583 |
|
|
|
584 |
|
|
kill_time(50);
|
585 |
|
|
}
|
586 |
|
|
|
587 |
|
|
|
588 |
|
|
}
|
589 |
|
|
|
590 |
|
|
|
591 |
|
|
void self_reception_test()
|
592 |
|
|
{
|
593 |
|
|
unsigned char r_val;
|
594 |
|
|
|
595 |
|
|
printf( "Switch on Reset Mode\n");
|
596 |
|
|
control_register = 0x01;
|
597 |
|
|
printf( "control 0x%X \n\n",control_register);
|
598 |
|
|
|
599 |
|
|
// witch to extended mode
|
600 |
|
|
clock_divider_register = 0x80;
|
601 |
|
|
printf( "clock_divider 0x%X \n\n",clock_divider_register);
|
602 |
|
|
|
603 |
|
|
// set bus timing
|
604 |
|
|
//bus_timing_0_register = 0xBF;
|
605 |
|
|
bus_timing_0_register = 0x80;
|
606 |
|
|
|
607 |
|
|
bus_timing_1_register = 0x34;
|
608 |
|
|
|
609 |
|
|
// set acceptance and mask register
|
610 |
|
|
acceptance_code_0 = 0xA6;
|
611 |
|
|
printf( "acceptance 0 0x%X \n",acceptance_code_0);
|
612 |
|
|
|
613 |
|
|
acceptance_code_1 = 0xB0;
|
614 |
|
|
printf( "acceptance 1 0x%X \n",acceptance_code_1);
|
615 |
|
|
|
616 |
|
|
acceptance_code_2 = 0x12;
|
617 |
|
|
printf( "acceptance 2 0x%X \n",acceptance_code_2);
|
618 |
|
|
|
619 |
|
|
acceptance_code_3 = 0x30;
|
620 |
|
|
printf( "acceptance 3 0x%X \n\n",acceptance_code_3);
|
621 |
|
|
|
622 |
|
|
acceptance_mask_0 = 0x00;
|
623 |
|
|
printf( "acceptance mask 0x%X \n",acceptance_mask_0);
|
624 |
|
|
|
625 |
|
|
acceptance_mask_1 = 0x00;
|
626 |
|
|
printf( "acceptance mask 0x%X \n",acceptance_mask_1);
|
627 |
|
|
|
628 |
|
|
acceptance_mask_2 = 0x00;
|
629 |
|
|
printf( "acceptance mask 0x%X \n",acceptance_mask_2);
|
630 |
|
|
|
631 |
|
|
acceptance_mask_3 = 0x00;
|
632 |
|
|
printf( "acceptance mask 0x%X \n\n",acceptance_mask_3);
|
633 |
|
|
|
634 |
|
|
// Setting the "self test mode"
|
635 |
|
|
control_register = 0x05;
|
636 |
|
|
printf( "control 0x%X \n\n",control_register);
|
637 |
|
|
|
638 |
|
|
kill_time(50);
|
639 |
|
|
// Switch-off reset mode
|
640 |
|
|
control_register = 0X04;
|
641 |
|
|
printf( "control_register 0x%X \n\n",control_register);
|
642 |
|
|
|
643 |
|
|
kill_time(150);
|
644 |
|
|
|
645 |
|
|
// Send frame
|
646 |
|
|
tx_frame_information_eff = 0x88;
|
647 |
|
|
|
648 |
|
|
printf( "Set identifier - 0xA6 0xB0 0x12 0x30\n");
|
649 |
|
|
tx_identifier_1_eff = 0xA6;
|
650 |
|
|
//printf( "identifier 0: 0x%X \n",tx_identifier_1_eff);
|
651 |
|
|
|
652 |
|
|
tx_identifier_2_eff = 0xB0;
|
653 |
|
|
//printf( "identifier 1: 0x%X \n",tx_identifier_2_eff);
|
654 |
|
|
|
655 |
|
|
tx_identifier_3_eff = 0x12;
|
656 |
|
|
//printf( "identifier 2: 0x%X \n",tx_identifier_3_eff);
|
657 |
|
|
|
658 |
|
|
tx_identifier_4_eff = 0x30;
|
659 |
|
|
//printf( "identifier 3: 0x%X \n\n",tx_identifier_4_eff);
|
660 |
|
|
|
661 |
|
|
printf( "Set data - 0x12 0x34 0x56 0x78 0x9A 0xBC 0xDE 0xF0\n");
|
662 |
|
|
tx_data_1_eff = 0x12;
|
663 |
|
|
//printf( "data byte 1: 0x%X \n",tx_data_1_eff);
|
664 |
|
|
|
665 |
|
|
tx_data_2_eff = 0x34;
|
666 |
|
|
//printf( "data byte 2: 0x%X \n",tx_data_2_eff);
|
667 |
|
|
|
668 |
|
|
tx_data_3_eff = 0x56;
|
669 |
|
|
//printf( "data byte 3: 0x%X \n",tx_data_3_eff);
|
670 |
|
|
|
671 |
|
|
tx_data_4_eff = 0x78;
|
672 |
|
|
//printf( "data byte 4: 0x%X \n",tx_data_4_eff);
|
673 |
|
|
|
674 |
|
|
tx_data_5_eff = 0x9A;
|
675 |
|
|
//printf( "data byte 5: 0x%X \n",tx_data_5_eff);
|
676 |
|
|
|
677 |
|
|
tx_data_6_eff = 0xBC;
|
678 |
|
|
//printf( "data byte 6: 0x%X \n",tx_data_6_eff);
|
679 |
|
|
|
680 |
|
|
tx_data_7_eff = 0xDE;
|
681 |
|
|
//printf( "data byte 7: 0x%X \n",tx_data_7_eff);
|
682 |
|
|
|
683 |
|
|
tx_data_8_eff = 0xF0;
|
684 |
|
|
//printf( "data byte 8: 0x%X \n\n",tx_data_8_eff);
|
685 |
|
|
|
686 |
|
|
|
687 |
|
|
// Enable ints
|
688 |
|
|
interrupt_enable_register = 0xFF;
|
689 |
|
|
kill_time(50);
|
690 |
|
|
//tx_request_command();
|
691 |
|
|
self_reception_request();
|
692 |
|
|
|
693 |
|
|
|
694 |
|
|
//tx_request_command();
|
695 |
|
|
printf( "Finnished \n");
|
696 |
|
|
|
697 |
|
|
printf( "control_register 0x%X \n\n",control_register);
|
698 |
|
|
|
699 |
|
|
//kill_time(10000);
|
700 |
|
|
|
701 |
|
|
printf( "interrupt_register 0x%X \n\n",interrupt_register);
|
702 |
|
|
|
703 |
|
|
printf( "control_register 0x%X \n\n",control_register);
|
704 |
|
|
|
705 |
|
|
//read_receive_buffer_extended();
|
706 |
|
|
}
|
707 |
|
|
|
708 |
|
|
void write_frame_basic(unsigned char write_field[])
|
709 |
|
|
{
|
710 |
|
|
int i = 0;
|
711 |
|
|
|
712 |
|
|
//printf("************************************\n");
|
713 |
|
|
//printf("******** write frame basic *********\n");
|
714 |
|
|
//printf("************************************\n");
|
715 |
|
|
|
716 |
|
|
for (i=0; i<10; i++)
|
717 |
|
|
{
|
718 |
|
|
*((unsigned char *)(CANADDR+0x000A+i)) = write_field[i];
|
719 |
|
|
kill_time(10);
|
720 |
|
|
printf( "write data: %i , 0x%X , 0x%X \n",i,write_field[i],*((unsigned char *)(CANADDR+0x000A+i)));
|
721 |
|
|
}
|
722 |
|
|
|
723 |
|
|
}
|
724 |
|
|
|
725 |
|
|
void write_frame_extended(unsigned char write_field[])
|
726 |
|
|
{
|
727 |
|
|
int i = 0;
|
728 |
|
|
//printf("************************************\n");
|
729 |
|
|
printf("******* write frame extended *******\n");
|
730 |
|
|
//printf("************************************\n");
|
731 |
|
|
|
732 |
|
|
for (i=0; i<13; i++)
|
733 |
|
|
{
|
734 |
|
|
*((unsigned char *)(CANADDR+0x0010+i)) = write_field[i];
|
735 |
|
|
kill_time(10);
|
736 |
|
|
printf( "write data %i: 0x%X , 0x%X \n",i,write_field[i],*((unsigned char *)(CANADDR+0x0010+i)));
|
737 |
|
|
}
|
738 |
|
|
|
739 |
|
|
}
|
740 |
|
|
|
741 |
|
|
int test_read_frame_extended(unsigned char write_field[])
|
742 |
|
|
{
|
743 |
|
|
unsigned char read_field[13];
|
744 |
|
|
int i = 0;
|
745 |
|
|
|
746 |
|
|
for (i=0; i<13; i++)
|
747 |
|
|
{
|
748 |
|
|
read_field[i] = *((unsigned char *)(CANADDR+0x0010+i));
|
749 |
|
|
}
|
750 |
|
|
|
751 |
|
|
for (i=0; i<13; i++)
|
752 |
|
|
{
|
753 |
|
|
if (read_field[i] != write_field[i])
|
754 |
|
|
{
|
755 |
|
|
return 0;
|
756 |
|
|
}
|
757 |
|
|
}
|
758 |
|
|
|
759 |
|
|
return 1;
|
760 |
|
|
}
|
761 |
|
|
|
762 |
|
|
|
763 |
|
|
main()
|
764 |
|
|
{
|
765 |
|
|
int i;
|
766 |
|
|
|
767 |
|
|
unsigned char frame_basic0[10] = {0xEA,0x28,0x12,0x34,0x56,0x78,0x9A,0xBC,0xDE,0xF0};
|
768 |
|
|
|
769 |
|
|
unsigned char frame_basic1[10] = {0xEB,0x28,0x12,0x34,0x56,0x78,0x9A,0xBC,0xDE,0xF0};
|
770 |
|
|
|
771 |
|
|
unsigned char frame_basic2[10] = {0xEC,0x28,0x12,0x34,0x56,0x78,0x9A,0xBC,0xDE,0xF0};
|
772 |
|
|
|
773 |
|
|
unsigned char frame_basic3[10] = {0xED,0x28,0x12,0x34,0x56,0x78,0x9A,0xBC,0xDE,0xF0};
|
774 |
|
|
|
775 |
|
|
unsigned char frame_extended[13] = {0x88,0xA6,0xB0,0x12,0x30,0x12,0x34,0x56,0x78,0x9A,0xBC,0xDE,0xF0};
|
776 |
|
|
|
777 |
|
|
|
778 |
|
|
|
779 |
|
|
unsigned char r_val;
|
780 |
|
|
|
781 |
|
|
|
782 |
|
|
init_can("Basic","normal");
|
783 |
|
|
|
784 |
|
|
|
785 |
|
|
enable_irq_sff();
|
786 |
|
|
|
787 |
|
|
|
788 |
|
|
release_receive_buffer();
|
789 |
|
|
release_receive_buffer();
|
790 |
|
|
release_receive_buffer();
|
791 |
|
|
release_receive_buffer();
|
792 |
|
|
release_receive_buffer();
|
793 |
|
|
release_receive_buffer();
|
794 |
|
|
release_receive_buffer();
|
795 |
|
|
release_receive_buffer();
|
796 |
|
|
release_receive_buffer();
|
797 |
|
|
release_receive_buffer();
|
798 |
|
|
release_receive_buffer();
|
799 |
|
|
release_receive_buffer();
|
800 |
|
|
release_receive_buffer();
|
801 |
|
|
release_receive_buffer();
|
802 |
|
|
release_receive_buffer();
|
803 |
|
|
release_receive_buffer();
|
804 |
|
|
|
805 |
|
|
printf("interrupt register 0x%X \n",interrupt_register);
|
806 |
|
|
|
807 |
|
|
while(1)
|
808 |
|
|
{
|
809 |
|
|
|
810 |
|
|
if ((interrupt_register & receive_interrupt) == 0)
|
811 |
|
|
{
|
812 |
|
|
kill_time(4000000);
|
813 |
|
|
printf("No data!\n");
|
814 |
|
|
}
|
815 |
|
|
else
|
816 |
|
|
{
|
817 |
|
|
read_receive_buffer_basic();
|
818 |
|
|
release_receive_buffer();
|
819 |
|
|
}
|
820 |
|
|
}
|
821 |
|
|
|
822 |
|
|
}
|
823 |
|
|
|
824 |
|
|
|