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CAN_SAM3X.cpp
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/*
Copyright (c) 2013 Arduino. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/* Copyright (C) 2014
Contributors: Pedro Cevallos & Neil McNeight
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Acknowledgements:
Fabian Greif for the initial libraries for MCP2515, SJA1000 and AT90CAN
http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek
as well as his updates at https://github.com/dergraaf/avr-can-lib
David Harding for his version of the MCP2515 library
http://forum.arduino.cc/index.php/topic,8730.0.html
Kyle Crockett CANduino library with 16Mhz oscillator
http://code.google.com/p/canduino/
Nuno Alves for the help on Extended ID messaging
Stevenh for his work on library and all of the MCP research/work
http://modelrail.otenko.com/arduino/arduino-controller-area-network-can
Collin Kidder (collin80) for his work on the Arduino Due CAN interface
https://github.com/collin80/due_can
Daniel Kasamis (togglebit) both for his code at
https://github.com/togglebit/ArduinoDUE_OBD_FreeRunningCAN as well as his
DUE CANshield http://togglebit.net/product/arduino-due-can-shield/
Cory Fowler (coryjfowler) for 16 MHz bitrate timing information
https://github.com/coryjfowler/MCP2515_lib
teachop for the FlexCAN library for the Teensy 3.1
https://github.com/teachop/FlexCAN_Library
-------------------------------------------------------------------------------
Change Log
DATE VER WHO WHAT
07/07/13 0.1 PC Modified and merge all MCP2515 libraries found. Stripped
away most unused functions and corrected MCP2515 defs
09/12/13 0.2 PC Added selectable CS SPI for CAN controller to use 1 IC
to control several mcp2515
02/05/14 0.3 PC Added filter and mask controls
05/01/14 0.4 PC Cleaned up functions, variables and added message
structures for J1939, CANopen and CAN.
05/07/14 1.0 PC Released Library to the public through GitHub
06/18/14 1.9 NEM Preparing a unified CAN library across three different
CAN controllers
-------------------------------------------------------------------------------
*/
#if defined(__SAM3X8E__) // Arduino Due
#include <Arduino.h>
#include <variant.h>
#include "CAN.h"
#include "CAN_SAM3X.h"
#include "sn65hvd234.h"
// Taken from libsam/source/can.c
/** Define the timemark mask. */
#define TIMEMARK_MASK 0x0000ffff
/* CAN timeout for synchronization. */
#define CAN_TIMEOUT 100000
/** The max value for CAN bitrate prescale. */
#define CAN_BITRATE_MAX_DIV 128
/** Define the scope for TQ. */
#define CAN_MIN_TQ_NUM 8
#define CAN_MAX_TQ_NUM 25
/** Define the fixed bit time value. */
#define CAN_BIT_SYNC 1
#define CAN_BIT_IPT 2
typedef struct
{
uint8_t uc_tq; //! CAN_BIT_SYNC + uc_prog + uc_phase1 + uc_phase2 = uc_tq, 8 <= uc_tq <= 25.
uint8_t uc_prog; //! Propagation segment, (3-bits + 1), 1~8;
uint8_t uc_phase1; //! Phase segment 1, (3-bits + 1), 1~8;
uint8_t uc_phase2; //! Phase segment 2, (3-bits + 1), 1~8, CAN_BIT_IPT <= uc_phase2;
uint8_t uc_sjw; //! Resynchronization jump width, (2-bits + 1), min(uc_phase1, 4);
uint8_t uc_sp; //! Sample point value, 0~100 in percent.
} can_bit_timing_t;
/** Values of bit time register for different bitrates, Sample point = ((1 + uc_prog + uc_phase1) / uc_tq) * 100%. */
const can_bit_timing_t can_bit_time[] =
{
{8, (2 + 1), (1 + 1), (1 + 1), (2 + 1), 75},
{9, (1 + 1), (2 + 1), (2 + 1), (1 + 1), 67},
{10, (2 + 1), (2 + 1), (2 + 1), (2 + 1), 70},
{11, (3 + 1), (2 + 1), (2 + 1), (3 + 1), 72},
{12, (2 + 1), (3 + 1), (3 + 1), (3 + 1), 67},
{13, (3 + 1), (3 + 1), (3 + 1), (3 + 1), 77},
{14, (3 + 1), (3 + 1), (4 + 1), (3 + 1), 64},
{15, (3 + 1), (4 + 1), (4 + 1), (3 + 1), 67},
{16, (4 + 1), (4 + 1), (4 + 1), (3 + 1), 69},
{17, (5 + 1), (4 + 1), (4 + 1), (3 + 1), 71},
{18, (4 + 1), (5 + 1), (5 + 1), (3 + 1), 67},
{19, (5 + 1), (5 + 1), (5 + 1), (3 + 1), 68},
{20, (6 + 1), (5 + 1), (5 + 1), (3 + 1), 70},
{21, (7 + 1), (5 + 1), (5 + 1), (3 + 1), 71},
{22, (6 + 1), (6 + 1), (6 + 1), (3 + 1), 68},
{23, (7 + 1), (7 + 1), (6 + 1), (3 + 1), 70},
{24, (6 + 1), (7 + 1), (7 + 1), (3 + 1), 67},
{25, (7 + 1), (7 + 1), (7 + 1), (3 + 1), 68}
};
/**
* \brief constructor for the class
*
* \param Rs pin to use for transceiver Rs control
* \param En pin to use for transceiver enable
*/
CAN_SAM3X::CAN_SAM3X()
{
// Default to CAN bus 0
m_pCan = CAN0;
_init(SAM3X_CAN0_RS, SAM3X_CAN0_EN);
}
CAN_SAM3X::CAN_SAM3X(uint8_t bus)
{
if (bus == 0)
{
m_pCan = CAN0;
_init(SAM3X_CAN0_RS, SAM3X_CAN0_EN);
}
else if (bus == 1)
{
m_pCan = CAN1;
_init(SAM3X_CAN1_RS, SAM3X_CAN1_EN);
}
else
{
// Don't know what to tell you here...
}
}
/**
* \brief Initialize CAN controller.
*
* \param ul_mck CAN module input clock.
* \param ul_bitrate CAN communication bitrates in kbps.
*
* \retval 0 If failed to initialize the CAN module; otherwise successful.
*
* \note PMC clock for CAN peripheral should be enabled before calling this function.
*/
bool CAN_SAM3X::_init(uint8_t Rs, uint8_t En)
{
m_Transceiver = new SSN65HVD234(Rs, En);
//arduino 1.5.2 doesn't init canbus so make sure to do it here.
#ifdef ARDUINO156
PIO_Configure(PIOA, PIO_PERIPH_A, PIO_PA1A_CANRX0 | PIO_PA0A_CANTX0, PIO_DEFAULT);
PIO_Configure(PIOB, PIO_PERIPH_A, PIO_PB15A_CANRX1 | PIO_PB14A_CANTX1, PIO_DEFAULT);
#endif
if (m_pCan == CAN0) pmc_enable_periph_clk(ID_CAN0);
if (m_pCan == CAN1) pmc_enable_periph_clk(ID_CAN1);
m_Transceiver->DisableLowPower();
m_Transceiver->Enable();
}
void CAN_SAM3X::begin(uint32_t bitrate, uint8_t mode)
{
uint32_t ul_flag;
uint32_t ul_tick;
/* Initialize the bitrate for CAN module. */
ul_flag = set_bitrate(bitrate);
if (ul_flag == 0)
{
//return 0;
}
/* Reset the CAN eight message mailbox. */
reset_all_mailbox();
//Also disable all interrupts by default
disable_interrupt(CAN_DISABLE_ALL_INTERRUPT_MASK);
//By default use one mailbox for TX
setNumTXBoxes(1);
/* Enable the CAN controller. */
enable();
/* Wait until the CAN is synchronized with the bus activity. */
ul_flag = 0;
ul_tick = 0;
while (!(ul_flag & CAN_SR_WAKEUP) && (ul_tick < CAN_TIMEOUT))
{
ul_flag = m_pCan->CAN_SR;
ul_tick++;
}
NVIC_EnableIRQ(m_pCan == CAN0 ? CAN0_IRQn : CAN1_IRQn); //tell the nested interrupt controller to turn on our interrupt
/* Timeout or the CAN module has been synchronized with the bus. */
// if (CAN_TIMEOUT == ul_tick) {
// return 0;
// } else {
// return 1;
// }
//By default there are 7 mailboxes for each device that are RX boxes
//This sets each mailbox to have an open filter that will accept extended
//or standard frames
int filter;
//extended
for (filter = 0; filter < 3; filter++)
{
CAN.setRXFilter(filter, 0, 0, true);
// Worry about multiple buses later
//CANbus1.setRXFilter(filter, 0, 0, true);
}
//standard
for (int filter = 3; filter < 7; filter++)
{
CAN.setRXFilter(filter, 0, 0, false);
// Worry about multiple buses later
//CANbus1.setRXFilter(filter, 0, 0, false);
}
}
void CAN_SAM3X::end()
{
/* Disable the CAN controller. */
disable();
}
/**
* \brief Check whether there are received canbus frames in the buffer
*/
uint8_t CAN_SAM3X::available()
{
return (rx_buffer_head != rx_buffer_tail) ? true : false;
}
CAN_Frame CAN_SAM3X::read()
{
CAN_Frame buffer;
if (rx_buffer_head == rx_buffer_tail)
{
buffer.valid = 0;
}
else
{
buffer.valid = 1;
buffer.id = rx_frame_buff[rx_buffer_tail].id;
buffer.extended = rx_frame_buff[rx_buffer_tail].extended;
buffer.length = rx_frame_buff[rx_buffer_tail].length;
for (int c = 0; c < 8; c++)
{
buffer.data[c] = rx_frame_buff[rx_buffer_tail].data[c];
}
rx_buffer_tail = (rx_buffer_tail + 1) % SAM3X_SIZE_RX_BUFFER;
}
return buffer;
}
void CAN_SAM3X::flush()
{
reset_all_mailbox();
}
/*
Does one of two things, either sends the given frame out on the first
TX mailbox that's open or queues the frame for sending later via interrupts.
This vastly simplifies the sending of frames - It does, however, assume
that you're going to use interrupt driven transmission - It forces it really.
*/
uint8_t CAN_SAM3X::write(const CAN_Frame& txFrame)
{
for (int i = 0; i < 8; i++)
{
if (((m_pCan->CAN_MB[i].CAN_MMR >> 24) & 7) == CAN_MB_TX_MODE)
{
//is this mailbox set up as a TX box?
if (m_pCan->CAN_MB[i].CAN_MSR & CAN_MSR_MRDY)
{
//is it also available (not sending anything?)
mailbox_set_id(i, txFrame.id, txFrame.extended);
mailbox_set_datalen(i, txFrame.length);
mailbox_set_priority(i, txFrame.priority);
for (uint8_t cnt = 0; cnt < 8; cnt++)
{
mailbox_set_databyte(i, cnt, txFrame.data[cnt]);
}
enable_interrupt(0x01u << i); //enable the TX interrupt for this box
global_send_transfer_cmd((0x1u << i));
return 1; //we've sent it. mission accomplished.
}
}
}
//if execution got to this point then no free mailbox was found above
//so, queue the frame.
tx_frame_buff[tx_buffer_tail].id = txFrame.id;
tx_frame_buff[tx_buffer_tail].extended = txFrame.extended;
tx_frame_buff[tx_buffer_tail].length = txFrame.length;
tx_frame_buff[tx_buffer_tail].data[0] = txFrame.data[0];
tx_frame_buff[tx_buffer_tail].data[1] = txFrame.data[1];
tx_frame_buff[tx_buffer_tail].data[2] = txFrame.data[2];
tx_frame_buff[tx_buffer_tail].data[3] = txFrame.data[3];
tx_frame_buff[tx_buffer_tail].data[4] = txFrame.data[4];
tx_frame_buff[tx_buffer_tail].data[5] = txFrame.data[5];
tx_frame_buff[tx_buffer_tail].data[6] = txFrame.data[6];
tx_frame_buff[tx_buffer_tail].data[7] = txFrame.data[7];
tx_buffer_tail = (tx_buffer_tail + 1) % SAM3X_SIZE_TX_BUFFER;
}
/**
* \brief Handle all interrupt reasons
*/
void CAN_SAM3X::interruptHandler()
{
uint32_t ul_status = m_pCan->CAN_SR; //get status of interrupts
if (ul_status & CAN_SR_MB0) //mailbox 0 event
{
mailbox_int_handler(0, ul_status);
}
if (ul_status & CAN_SR_MB1) //mailbox 1 event
{
mailbox_int_handler(1, ul_status);
}
if (ul_status & CAN_SR_MB2) //mailbox 2 event
{
mailbox_int_handler(2, ul_status);
}
if (ul_status & CAN_SR_MB3) //mailbox 3 event
{
mailbox_int_handler(3, ul_status);
}
if (ul_status & CAN_SR_MB4) //mailbox 4 event
{
mailbox_int_handler(4, ul_status);
}
if (ul_status & CAN_SR_MB5) //mailbox 5 event
{
mailbox_int_handler(5, ul_status);
}
if (ul_status & CAN_SR_MB6) //mailbox 6 event
{
mailbox_int_handler(6, ul_status);
}
if (ul_status & CAN_SR_MB7) //mailbox 7 event
{
mailbox_int_handler(7, ul_status);
}
if (ul_status & CAN_SR_ERRA) //error active
{
}
if (ul_status & CAN_SR_WARN) //warning limit
{
}
if (ul_status & CAN_SR_ERRP) //error passive
{
}
if (ul_status & CAN_SR_BOFF) //bus off
{
}
if (ul_status & CAN_SR_SLEEP) //controller in sleep mode
{
}
if (ul_status & CAN_SR_WAKEUP) //controller woke up
{
}
if (ul_status & CAN_SR_TOVF) //timer overflow
{
}
if (ul_status & CAN_SR_TSTP) //timestamp - start or end of frame
{
}
if (ul_status & CAN_SR_CERR) //CRC error in mailbox
{
}
if (ul_status & CAN_SR_SERR) //stuffing error in mailbox
{
}
if (ul_status & CAN_SR_AERR) //ack error
{
}
if (ul_status & CAN_SR_FERR) //form error
{
}
if (ul_status & CAN_SR_BERR) //bit error
{
}
}
/**
* \brief Configure CAN bitrate.
*
* \param ul_bitrate bitrate value (kB/s), allowed values:
* 1000, 800, 500, 250, 125, 50, 25, 10, 5.
*
* \retval Set the bitrate successfully or not.
*/
uint32_t CAN_SAM3X::set_bitrate(uint32_t ul_bitrate)
{
uint8_t uc_tq;
uint8_t uc_prescale;
uint32_t ul_mod;
uint32_t ul_cur_mod;
can_bit_timing_t *p_bit_time;
static uint32_t ul_mck = SystemCoreClock;
/* Check whether the bitrate prescale will be greater than the max divide value. */
if (((ul_mck + (ul_bitrate * CAN_MAX_TQ_NUM - 1)) /
(ul_bitrate * CAN_MAX_TQ_NUM)) > CAN_BITRATE_MAX_DIV)
{
return 0;
}
/* Check whether the input MCK is too small. */
if (ul_mck < ul_bitrate * CAN_MIN_TQ_NUM)
{
return 0;
}
/* Initialize it as the minimum Time Quantum. */
uc_tq = CAN_MIN_TQ_NUM;
/* Initialize the remainder as the max value. When the remainder is 0, get the right TQ number. */
ul_mod = 0xffffffff;
/* Find out the approximate Time Quantum according to the bitrate. */
for (uint8_t i = CAN_MIN_TQ_NUM; i <= CAN_MAX_TQ_NUM; i++)
{
if ((ul_mck / (ul_bitrate * i)) <= CAN_BITRATE_MAX_DIV)
{
ul_cur_mod = ul_mck % (ul_bitrate * i);
if (ul_cur_mod < ul_mod)
{
ul_mod = ul_cur_mod;
uc_tq = i;
if (!ul_mod)
{
break;
}
}
}
}
/* Calculate the bitrate prescale value. */
uc_prescale = ul_mck / (ul_bitrate * uc_tq);
/* Get the right CAN BIT Timing group. */
p_bit_time = (can_bit_timing_t *)&can_bit_time[uc_tq - CAN_MIN_TQ_NUM];
/* Before modifying the CANBR register, disable the CAN controller. */
//can_disable(m_pCan);
m_pCan->CAN_MR &= ~CAN_MR_CANEN;
/* Write into the CAN bitrate register. */
m_pCan->CAN_BR = CAN_BR_PHASE2(p_bit_time->uc_phase2 - 1) |
CAN_BR_PHASE1(p_bit_time->uc_phase1 - 1) |
CAN_BR_PROPAG(p_bit_time->uc_prog - 1) |
CAN_BR_SJW(p_bit_time->uc_sjw - 1) |
CAN_BR_BRP(uc_prescale - 1);
return 1;
}
void CAN_SAM3X::setNumTXBoxes(int txboxes)
{
int c;
if (txboxes > 8) txboxes = 8;
if (txboxes < 0) txboxes = 0;
numTXBoxes = txboxes;
//Initialize RX boxen
for (c = 0; c < 8 - numTXBoxes; c++)
{
mailbox_set_mode(c, CAN_MB_RX_MODE);
mailbox_set_id(c, 0x0, false);
mailbox_set_accept_mask(c, 0x7FF, false);
}
//Initialize TX boxen
for (c = 8 - numTXBoxes; c < 8; c++)
{
mailbox_set_mode(c, CAN_MB_TX_MODE);
mailbox_set_priority(c, 10);
mailbox_set_accept_mask(c, 0x7FF, false);
}
}
/**
* \brief Enable CAN Controller.
*
*/
void CAN_SAM3X::enable()
{
m_pCan->CAN_MR |= CAN_MR_CANEN;
m_Transceiver->Enable();
}
/**
* \brief Disable CAN Controller.
*
*/
void CAN_SAM3X::disable()
{
m_pCan->CAN_MR &= ~CAN_MR_CANEN;
m_Transceiver->EnableLowPower();
m_Transceiver->Disable();
}
/**
* \brief Disable CAN Controller low power mode.
*
*/
void CAN_SAM3X::disable_low_power_mode()
{
m_pCan->CAN_MR &= ~CAN_MR_LPM;
}
/**
* \brief Enable CAN Controller low power mode.
*
*/
void CAN_SAM3X::enable_low_power_mode()
{
m_pCan->CAN_MR |= CAN_MR_LPM;
}
/**
* \brief Disable CAN Controller autobitrate/listen mode.
*
*/
void CAN_SAM3X::disable_autobitrate_listen_mode()
{
m_pCan->CAN_MR &= ~CAN_MR_ABM;
}
/**
* \brief Enable CAN Controller autobitrate/listen mode.
*
*/
void CAN_SAM3X::enable_autobitrate_listen_mode()
{
m_pCan->CAN_MR |= CAN_MR_ABM;
}
/**
* \brief CAN Controller won't generate overload frame.
*
*/
void CAN_SAM3X::disable_overload_frame()
{
m_pCan->CAN_MR &= ~CAN_MR_OVL;
}
/**
* \brief CAN Controller will generate an overload frame after each successful
* reception for mailboxes configured in Receive mode, Producer and Consumer.
*
*/
void CAN_SAM3X::enable_overload_frame()
{
m_pCan->CAN_MR |= CAN_MR_OVL;
}
/**
* \brief Configure the timestamp capture point, at the start or the end of frame.
*
* \param m_pCan Pointer to a CAN peripheral instance.
* \param ul_flag 0: Timestamp is captured at each start of frame;
* 1: Timestamp is captured at each end of frame.
*/
void CAN_SAM3X::set_timestamp_capture_point(uint32_t ul_flag)
{
if (ul_flag)
{
m_pCan->CAN_MR |= CAN_MR_TEOF;
}
else
{
m_pCan->CAN_MR &= ~CAN_MR_TEOF;
}
}
/**
* \brief Disable CAN Controller time triggered mode.
*
*/
void CAN_SAM3X::disable_time_triggered_mode()
{
m_pCan->CAN_MR &= ~CAN_MR_TTM;
}
/**
* \brief Enable CAN Controller time triggered mode.
*
*/
void CAN_SAM3X::enable_time_triggered_mode()
{
m_pCan->CAN_MR |= CAN_MR_TTM;
}
/**
* \brief Disable CAN Controller timer freeze.
*
*/
void CAN_SAM3X::disable_timer_freeze()
{
m_pCan->CAN_MR &= ~CAN_MR_TIMFRZ;
}
/**
* \brief Enable CAN Controller timer freeze.
*
*/
void CAN_SAM3X::enable_timer_freeze()
{
m_pCan->CAN_MR |= CAN_MR_TIMFRZ;
}
/**
* \brief Disable CAN Controller transmit repeat function.
*
*/
void CAN_SAM3X::disable_tx_repeat()
{
m_pCan->CAN_MR |= CAN_MR_DRPT;
}
/**
* \brief Enable CAN Controller transmit repeat function.
*
*/
void CAN_SAM3X::enable_tx_repeat()
{
m_pCan->CAN_MR &= ~CAN_MR_DRPT;
}
/**
* \brief Configure CAN Controller reception synchronization stage.
*
* \param ul_stage The reception stage to be configured.
*
* \note This is just for debug purpose only.
*/
void CAN_SAM3X::set_rx_sync_stage(uint32_t ul_stage)
{
m_pCan->CAN_MR = (m_pCan->CAN_MR & ~CAN_MR_RXSYNC_Msk) | ul_stage;
}
/**
* \brief Enable CAN interrupt.
*
* \param dw_mask Interrupt to be enabled.
*/
void CAN_SAM3X::enable_interrupt(uint32_t dw_mask)
{
m_pCan->CAN_IER = dw_mask;
}
/**
* \brief Disable CAN interrupt.
*
* \param dw_mask Interrupt to be disabled.
*/
void CAN_SAM3X::disable_interrupt(uint32_t dw_mask)
{
m_pCan->CAN_IDR = dw_mask;
}
/**
* \brief Get CAN Interrupt Mask.
*
*
* \retval CAN interrupt mask.
*/
uint32_t CAN_SAM3X::get_interrupt_mask()
{
return (m_pCan->CAN_IMR);
}
/**
* \brief Get CAN status.
*
*
* \retval CAN status.
*/
uint32_t CAN_SAM3X::get_status()
{
return (m_pCan->CAN_SR);
}
/**
* \brief Get the 16-bit free-running internal timer count.
*
*
* \retval The internal CAN free-running timer counter.
*/
uint32_t CAN_SAM3X::get_internal_timer_value()
{
return (m_pCan->CAN_TIM);
}
/**
* \brief Get CAN timestamp register value.
*
*
* \retval The timestamp value.
*/
uint32_t CAN_SAM3X::get_timestamp_value()
{
return (m_pCan->CAN_TIMESTP);
}
/**
* \brief Get CAN transmit error counter.
*
*
* \retval Transmit error counter.
*/
uint8_t CAN_SAM3X::get_tx_error_cnt()
{
return (uint8_t) (m_pCan->CAN_ECR >> CAN_ECR_TEC_Pos);
}
/**
* \brief Get CAN receive error counter.
*
*
* \retval Receive error counter.
*/
uint8_t CAN_SAM3X::get_rx_error_cnt()
{
return (uint8_t) (m_pCan->CAN_ECR >> CAN_ECR_REC_Pos);
}
/**
* \brief Reset the internal free-running 16-bit timer.
*
*
* \note If the internal timer counter is frozen, this function automatically
* re-enables it.
*/
void CAN_SAM3X::reset_internal_timer()
{
m_pCan->CAN_TCR |= CAN_TCR_TIMRST;
}
/**
* \brief Send global transfer request.
*
* \param uc_mask Mask for mailboxes that are requested to transfer.
*/
void CAN_SAM3X::global_send_transfer_cmd(uint8_t uc_mask)
{
uint32_t ul_reg;
ul_reg = m_pCan->CAN_TCR & ((uint32_t)~GLOBAL_MAILBOX_MASK);
m_pCan->CAN_TCR = ul_reg | uc_mask;
}
/**
* \brief Send global abort request.
*
* \param uc_mask Mask for mailboxes that are requested to abort.
*/
void CAN_SAM3X::global_send_abort_cmd(uint8_t uc_mask)
{
uint32_t ul_reg;
ul_reg = m_pCan->CAN_ACR & ((uint32_t)~GLOBAL_MAILBOX_MASK);
m_pCan->CAN_ACR = ul_reg | uc_mask;
}
/**
* \brief Configure the timemark for the mailbox.
*
* \param uc_index Indicate which mailbox is to be configured.
* \param us_cnt The timemark to be set.
*
* \note The timemark is active in Time Triggered mode only.
*/
void CAN_SAM3X::mailbox_set_timemark(uint8_t uc_index, uint16_t us_cnt)
{
uint32_t ul_reg;
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
ul_reg = m_pCan->CAN_MB[uc_index].CAN_MMR & ((uint32_t)~TIMEMARK_MASK);
m_pCan->CAN_MB[uc_index].CAN_MMR = ul_reg | us_cnt;
}
/**
* \brief Get status of the mailbox.
*
* \param uc_index Indicate which mailbox is to be read.
*
* \retval The mailbox status.
*/
uint32_t CAN_SAM3X::mailbox_get_status(uint8_t uc_index)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
return (m_pCan->CAN_MB[uc_index].CAN_MSR);
}
/**
* \brief Send single mailbox transfer request.
*
* \param uc_index Indicate which mailbox is to be configured.
*/
void CAN_SAM3X::mailbox_send_transfer_cmd(uint8_t uc_index)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
m_pCan->CAN_MB[uc_index].CAN_MCR |= CAN_MCR_MTCR;
}
/**
* \brief Send single mailbox abort request.
*
* \param uc_index Indicate which mailbox is to be configured.
*/
void CAN_SAM3X::mailbox_send_abort_cmd(uint8_t uc_index)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
m_pCan->CAN_MB[uc_index].CAN_MCR |= CAN_MCR_MACR;
}
/**
* \brief Initialize the mailbox to a default, known state.
*
* \param p_mailbox Pointer to a CAN mailbox instance.
*/
void CAN_SAM3X::mailbox_init(uint8_t uc_index)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
m_pCan->CAN_MB[uc_index].CAN_MMR = 0;
m_pCan->CAN_MB[uc_index].CAN_MAM = 0;
m_pCan->CAN_MB[uc_index].CAN_MID = 0;
m_pCan->CAN_MB[uc_index].CAN_MDL = 0;
m_pCan->CAN_MB[uc_index].CAN_MDH = 0;
m_pCan->CAN_MB[uc_index].CAN_MCR = 0;
}
/**
* \brief Reset the eight mailboxes.
*
* \param m_pCan Pointer to a CAN peripheral instance.
*/
void CAN_SAM3X::reset_all_mailbox()
{
for (uint8_t i = 0; i < CANMB_NUMBER; i++)
{
mailbox_init(i);
}
}
/**
* \brief Read a frame from out of the mailbox and into a software buffer
*
* \param uc_index which mailbox to read
* \param rxframe Pointer to a receive frame structure which we'll fill out
*
* \retval Different CAN mailbox transfer status.
*
*/
uint32_t CAN_SAM3X::mailbox_read(uint8_t uc_index, volatile CAN_Frame *rxframe)
{
uint32_t ul_status;
uint32_t ul_retval;
uint32_t ul_id;
uint32_t ul_datal, ul_datah;
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
ul_retval = 0;
ul_status = m_pCan->CAN_MB[uc_index].CAN_MSR;
/* Check whether there is overwriting happening in Receive with Overwrite mode,
or there're messages lost in Receive mode. */
if ((ul_status & CAN_MSR_MRDY) && (ul_status & CAN_MSR_MMI))
{
ul_retval = CAN_MAILBOX_RX_OVER;
}
ul_id = m_pCan->CAN_MB[uc_index].CAN_MID;
if ((ul_id & CAN_MID_MIDE) == CAN_MID_MIDE) //extended id
{
rxframe->id = ul_id & CAN_EXTENDED_ID_MASK;
rxframe->extended = true;
}
else //standard ID
{
rxframe->id = (ul_id >> CAN_MID_MIDvA_Pos) & CAN_STANDARD_ID_MASK;
rxframe->extended = false;
}
rxframe->fid = m_pCan->CAN_MB[uc_index].CAN_MFID;
rxframe->length = (ul_status & CAN_MSR_MDLC_Msk) >> CAN_MSR_MDLC_Pos;
ul_datal = m_pCan->CAN_MB[uc_index].CAN_MDL;
ul_datah = m_pCan->CAN_MB[uc_index].CAN_MDH;
rxframe->data[0] = (uint8_t)(ul_datal & 0xFF);
rxframe->data[1] = (uint8_t)((ul_datal >> 8) & 0xFF);
rxframe->data[2] = (uint8_t)((ul_datal >> 16) & 0xFF);
rxframe->data[3] = (uint8_t)((ul_datal >> 24) & 0xFF);
rxframe->data[4] = (uint8_t)(ul_datah & 0xFF);
rxframe->data[5] = (uint8_t)((ul_datah >> 8) & 0xFF);
rxframe->data[6] = (uint8_t)((ul_datah >> 16) & 0xFF);
rxframe->data[7] = (uint8_t)((ul_datah >> 24) & 0xFF);
/* Read the mailbox status again to check whether the software needs to re-read mailbox data register. */
ul_status = m_pCan->CAN_MB[uc_index].CAN_MSR;
if (ul_status & CAN_MSR_MMI)
{
ul_retval |= CAN_MAILBOX_RX_NEED_RD_AGAIN;
}
else
{
ul_retval |= CAN_MAILBOX_TRANSFER_OK;
}
/* Enable next receive process. */
mailbox_send_transfer_cmd(uc_index);
return ul_retval;
}
void CAN_SAM3X::mailbox_set_id(uint8_t uc_index, uint32_t id, bool extended)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
if (extended)
{
m_pCan->CAN_MB[uc_index].CAN_MID = id | CAN_MID_MIDE;
}
else
{
m_pCan->CAN_MB[uc_index].CAN_MID = CAN_MID_MIDvA(id);
}
}
uint32_t CAN_SAM3X::mailbox_get_id(uint8_t uc_index)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
if (m_pCan->CAN_MB[uc_index].CAN_MID & CAN_MID_MIDE)
{
return m_pCan->CAN_MB[uc_index].CAN_MID;
}
else
{
return (m_pCan->CAN_MB[uc_index].CAN_MID >> CAN_MID_MIDvA_Pos) & 0x7ffu;
}
}
void CAN_SAM3X::mailbox_set_priority(uint8_t uc_index, uint8_t pri)
{
if (uc_index > CANMB_NUMBER - 1) uc_index = CANMB_NUMBER - 1;
m_pCan->CAN_MB[uc_index].CAN_MMR = (m_pCan->CAN_MB[uc_index].CAN_MMR & ~CAN_MMR_PRIOR_Msk) | (pri << CAN_MMR_PRIOR_Pos);
}