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ECAN.c
1242 lines (1057 loc) · 39.2 KB
/
ECAN.c
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/*********************************************************************
*
* ECAN C Library Source Code
*
*********************************************************************
* FileName: ECAN.C
* Dependencies: p18cxxx.h/pic18.h, ECAN.h
* Processor: PIC18CXX8X
* Compiler: Microchip C 2.10.06 or higher
* Company: Microchip Technology, Inc.
*
* Software License Agreement
*
* The software supplied herewith by Microchip Technology Incorporated
* (the “Company”) for its PICmicro® Microcontroller is intended and
* supplied to you, the Company’s customer, for use solely and
* exclusively on Microchip PICmicro Microcontroller products. The
* software is owned by the Company and/or its supplier, and is
* protected under applicable copyright laws. All rights are reserved.
* Any use in violation of the foregoing restrictions may subject the
* user to criminal sanctions under applicable laws, as well as to
* civil liability for the breach of the terms and conditions of this
* license.
*
* THIS SOFTWARE IS PROVIDED IN AN “AS IS” CONDITION. NO WARRANTIES,
* WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED
* TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
* PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE COMPANY SHALL NOT,
* IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
*
* Author Date Comment
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* Caio Gubel 5/5/03 ECAN Version 1.0 - Initial Release
* Nilesh R. 7/22/03 Improved.
********************************************************************/
#include "vscp_compiler.h"
#include "vscp_projdefs.h"
#include <p18cxxx.h>
#include "ECAN.h"
void _CANIDToRegs(BYTE* ptr,
unsigned long val,
BYTE type);
void _RegsToCANID(BYTE* ptr,
unsigned long *val,
BYTE type);
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || \
(ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_FIXED) && (ECAN_FUNC_MODE_VAL == ECAN_MODE_2) )
static BYTE* _ECANPointBuffer(BYTE b);
#endif
BYTE_VAL _ECANRxFilterHitInfo;
#define _SetStdRXFnValue(f, val) \
##f##SIDH = (long)ECAN_##f##_VAL >> 3L; \
##f##SIDL = (long)ECAN_##f##_VAL >> 5L
#define _SetXtdRXFnValue(f, val) \
##f##SIDH = (long)ECAN_##f##_VAL >> 21L; \
##f##SIDL = (((long)ECAN_##f##_VAL >> 13L) & 0xe0) | \
((long)(ECAN_##f##_VAL) & 0x03L) | \
0x08; \
##f##EIDH = (long)ECAN_##f##_VAL >> 8L; \
##f##EIDL = ECAN_##f##_VAL;
#define _SetStdRXMnValue(m, val) \
RXM##m##SIDH = (long)ECAN_RXM##m##_VAL >> 3L; \
RXM##m##SIDL = (long)ECAN_RXM##m##_VAL >> 5L
#define _SetXtdRXMnValue(m, val) \
RXM##m##SIDH = (long)ECAN_RXM##m##_VAL >> 21L; \
RXM##m##SIDL = (((long)ECAN_RXM##m##_VAL >> 13L) & 0xe0) | \
((long)(ECAN_RXM##m##_VAL) & 0x03L);\
RXM##m##EIDH = (long)ECAN_RXM##m##_VAL >> 8L;\
RXM##m##EIDL = ECAN_RXM##m##_VAL;
#define RXF0 0
#define RXF1 1
#define RXF2 2
#define RXF3 3
#define RXF4 4
#define RXF5 5
#define RXF6 6
#define RXF7 7
#define RXF8 8
#define RXF9 9
#define RXF10 10
#define RXF11 11
#define RXF12 12
#define RXF13 13
#define RXF14 14
#define RXF15 15
/*
* Compile-time validation ECAN options as per ECAN and ECAN rules.
*/
#if ( ECAN_SJW_VAL > 4 )
#error Invalid SJW value received.
#endif
#if ( ECAN_BRP_VAL > 64 )
#error Invalid BRP value received.
#endif
#if ( ECAN_PHSEG1_VAL > 8 )
#error Invalid PHSEG1 value received.
#endif
#if ( ECAN_PHSEG2_VAL > 8 )
#error Invalid PHSEG2 value received.
#endif
#if ( ECAN_PROPSEG_VAL > 8 )
#error Invalid PROPSEG value received.
#endif
// In Mode 1 & 2, double buffering on RXB0 is not available.
/*
* In Mode 0, RXF0-RXF5 are always enabled.
*/
#if ( ECAN_FUNC_MODE_VAL == ECAN_MODE_0 )
#undef ECAN_RXF0_MODE_VAL
#define ECAN_RXF0_MODE_VAL ECAN_RXF0_ENABLE
#undef ECAN_RXF1_MODE_VAL
#define ECAN_RXF1_MODE_VAL ECAN_RXF1_ENABLE
#undef ECAN_RXF2_MODE_VAL
#define ECAN_RXF2_MODE_VAL ECAN_RXF2_ENABLE
#undef ECAN_RXF3_MODE_VAL
#define ECAN_RXF3_MODE_VAL ECAN_RXF3_ENABLE
#undef ECAN_RXF4_MODE_VAL
#define ECAN_RXF4_MODE_VAL ECAN_RXF4_ENABLE
#undef ECAN_RXF5_MODE_VAL
#define ECAN_RXF5_MODE_VAL ECAN_RXF5_ENABLE
#endif
/*********************************************************************
* Function: void ECANInitialize(void)
*
* Overview: Use this function to initialize ECAN module with
* options defined in ECAN.def file.
* You may manually edit ECAN.def file as per your
* requirements, or use Microchip Application
* Maestro tool.
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: All pending transmissions are aborted.
********************************************************************/
void ECANInitialize(void)
{
// Put module into Configuration mode.
ECANSetOperationMode(ECAN_OP_MODE_CONFIG);
// Set Bit rate values as per defines.
BRGCON1 = ((ECAN_SJW_VAL-1) << 6) | (ECAN_BRP_VAL-1);
BRGCON2 = (ECAN_PHSEG2_MODE_VAL << 7) | \
(ECAN_BUS_SAMPLE_MODE_VAL << 6) | \
((ECAN_PHSEG1_VAL-1) << 3) | \
(ECAN_PROPSEG_VAL-1);
BRGCON3 = (ECAN_WAKEUP_MODE_VAL << 7) |
(ECAN_FILTER_MODE_VAL << 6) |
(ECAN_PHSEG2_VAL-1);
// Set CANTX2, TXDRIVE and CAN Capture modes.
CIOCON = ECAN_TX2_SOURCE_VAL << 7 | \
ECAN_TX2_MODE_VAL << 6 | \
ECAN_TXDRIVE_MODE_VAL << 5 | \
ECAN_CAPTURE_MODE_VAL;
// Set WCAN functional mode.
ECANCON_MDSEL1 = ECAN_FUNC_MODE_VAL >> 7;
ECANCON_MDSEL0 = ECAN_FUNC_MODE_VAL >> 6;
// Set RXB0 and RXB1 buffer modes.
#if ( ECAN_FUNC_MODE_VAL == ECAN_MODE_0 )
RXB0CON = (ECAN_RXB0_MODE_VAL << 5) | (ECAN_RXB0_DBL_BUFFER_MODE_VAL << 2);
RXB1CON = ECAN_RXB1_MODE_VAL << 5;
#else
// In Mode1 & 2, Map 2-bit RXM bits into 1 RXM1 bit.
#if ( ECAN_RXB0_MODE_VAL == ECAN_RECEIVE_ALL )
RXB0CON = 0x40;
#else
RXB0CON = 0;
#endif
#if ( ECAN_RXB1_MODE_VAL == ECAN_RECEIVE_ALL )
RXB1CON = 0x40;
#else
RXB1CON = 0;
#endif
#endif
// B0-B5 are available in Mode 1 and 2 only.
#if (ECAN_FUNC_MODE_VAL != ECAN_MODE_0)
#if (ECAN_B0_TXRX_MODE_VAL != ECAN_BUFFER_TX)
#if ( ECAN_B0_MODE_VAL == ECAN_RECEIVE_ALL )
B0CON = 0x40;
#else
B0CON = 0;
#endif
#else
B0CON = ECAN_B0_AUTORTR_MODE << 2;
#endif
#if (ECAN_B1_TXRX_MODE_VAL != ECAN_BUFFER_TX)
#if ( ECAN_B1_MODE_VAL == ECAN_RECEIVE_ALL )
B1CON = 0x40;
#else
B1CON = 0;
#endif
#else
B1CON = ECAN_B1_AUTORTR_MODE << 2;
#endif
#if (ECAN_B2_TXRX_MODE_VAL != ECAN_BUFFER_TX)
#if ( ECAN_B2_MODE_VAL == ECAN_RECEIVE_ALL )
B2CON = 0x40;
#else
B2CON = 0;
#endif
#else
B2CON = ECAN_B2_AUTORTR_MODE << 2;
#endif
#if (ECAN_B3_TXRX_MODE_VAL != ECAN_BUFFER_TX)
#if ( ECAN_B3_MODE_VAL == ECAN_RECEIVE_ALL )
B3CON = 0x40;
#else
B3CON = 0;
#endif
#else
B3CON = ECAN_B3_AUTORTR_MODE << 2;
#endif
#if (ECAN_B4_TXRX_MODE_VAL != ECAN_BUFFER_TX)
#if ( ECAN_B4_MODE_VAL == ECAN_RECEIVE_ALL )
B4CON = 0x40;
#else
B4CON = 0;
#endif
#else
B4CON = ECAN_B4_AUTORTR_MODE << 2;
#endif
#if (ECAN_B5_TXRX_MODE_VAL != ECAN_BUFFER_TX)
#if ( ECAN_B5_MODE_VAL == ECAN_RECEIVE_ALL )
B5CON = 0x40;
#else
B5CON = 0;
#endif
#else
B5CON = ECAN_B5_AUTORTR_MODE << 2;
#endif
// Enable/disable buffers B0-B5.
BSEL0 = ECAN_B5_TXRX_MODE_VAL << 7 | \
ECAN_B4_TXRX_MODE_VAL << 6 | \
ECAN_B3_TXRX_MODE_VAL << 5 | \
ECAN_B2_TXRX_MODE_VAL << 4 | \
ECAN_B1_TXRX_MODE_VAL << 3 | \
ECAN_B0_TXRX_MODE_VAL << 2;
#endif
// Assign value to RXF0 only if Mode0 is used or RXF0 itself is enabled.
#if ( (ECAN_RXF0_MODE_VAL == ECAN_RXFn_ENABLE) || (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
// Set Standard or Extended value.
#if ( ECAN_RXF0_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF0, ECAN_RXF0_VAL);
#else
_SetXtdRXFnValue(RXF0, ECAN_RXF0_VAL);
#endif
#endif
#if ( (ECAN_RXF1_MODE_VAL == ECAN_RXFn_ENABLE) || (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
#if ( ECAN_RXF1_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF1, ECAN_RXF1_VAL);
#else
_SetXtdRXFnValue(RXF1, ECAN_RXF1_VAL);
#endif
#endif
#if ( (ECAN_RXF2_MODE_VAL == ECAN_RXFn_ENABLE) || (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
#if ( ECAN_RXF2_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF2, ECAN_RXF2_VAL);
#else
_SetXtdRXFnValue(RXF3, ECAN_RXF3_VAL);
#endif
#endif
#if ( (ECAN_RXF3_MODE_VAL == ECAN_RXFn_ENABLE) || (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
#if ( ECAN_RXF3_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF3, ECAN_RXF3_VAL);
#else
_SetXtdRXFnValue(RXF3, ECAN_RXF3_VAL);
#endif
#endif
#if ( (ECAN_RXF4_MODE_VAL == ECAN_RXFn_ENABLE) || (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
#if ( ECAN_RXF4_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF4, ECAN_RXF4_VAL);
#else
_SetXtdRXFnValue(RXF4, ECAN_RXF4_VAL);
#endif
#endif
#if ( (ECAN_RXF5_MODE_VAL == ECAN_RXFn_ENABLE) || (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
#if ( ECAN_RXF5_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF5, ECAN_RXF4_VAL);
#else
_SetXtdRXFnValue(RXF5, ECAN_RXF5_VAL);
#endif
#endif
// Filters 6-15 are available in Modes 1 and 2 only.
#if (ECAN_FUNC_MODE_VAL != ECAN_MODE_0)
#if ( ECAN_RXF6_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF6_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF6, ECAN_RXF6_VAL);
#else
_SetXtdRXFnValue(RXF6, ECAN_RXF6_VAL);
#endif
#endif
#if ( ECAN_RXF7_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF7_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF7, ECAN_RXF7_VAL);
#else
_SetXtdRXFnValue(RXF7, ECAN_RXF7_VAL);
#endif
#endif
#if ( ECAN_RXF8_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF8_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF8, ECAN_RXF9_VAL);
#else
_SetXtdRXFnValue(RXF8, ECAN_RXF9_VAL);
#endif
#endif
#if ( ECAN_RXF9_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF9_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF9, ECAN_RXF9_VAL);
#else
_SetXtdRXFnValue(RXF9, ECAN_RXF9_VAL);
#endif
#endif
#if ( ECAN_RXF10_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF10_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF10, ECAN_RXF10_VAL);
#else
_SetXtdRXFnValue(RXF10, ECAN_RXF10_VAL);
#endif
#endif
#if ( ECAN_RXF11_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF11_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF11, ECAN_RXF11_VAL);
#else
_SetXtdRXFnValue(RXF11, ECAN_RXF11_VAL);
#endif
#endif
#if ( ECAN_RXF12_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF12_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF12, ECAN_RXF12_VAL);
#else
_SetXtdRXFnValue(RXF12, ECAN_RXF12_VAL);
#endif
#endif
#if ( ECAN_RXF13_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF13_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF13, ECAN_RXF13_VAL);
#else
_SetXtdRXFnValue(RXF13, ECAN_RXF13_VAL);
#endif
#endif
#if ( ECAN_RXF14_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF14_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF14, ECAN_RXF14_VAL);
#else
_SetXtdRXFnValue(RXF14, ECAN_RXF14_VAL);
#endif
#endif
#if ( ECAN_RXF15_MODE_VAL == ECAN_RXFn_ENABLE )
#if ( ECAN_RXF15_MSG_TYPE_VAL == ECAN_MSG_STD )
_SetStdRXFnValue(RXF15, ECAN_RXF15_VAL);
#else
_SetXtdRXFnValue(RXF15, ECAN_RXF15_VAL);
#endif
#endif
#endif
// Enable/Disable filters in Modes 1 and 2 only.
#if ( ECAN_FUNC_MODE_VAL != ECAN_MODE_0 )
RXFCON0 = (ECAN_RXF7_MODE_VAL << 7) | \
(ECAN_RXF6_MODE_VAL << 6) | \
(ECAN_RXF5_MODE_VAL << 5) | \
(ECAN_RXF4_MODE_VAL << 4) | \
(ECAN_RXF3_MODE_VAL << 3) | \
(ECAN_RXF2_MODE_VAL << 2) | \
(ECAN_RXF1_MODE_VAL << 1) | \
(ECAN_RXF0_MODE_VAL);
RXFCON1 = (ECAN_RXF15_MODE_VAL << 7) | \
(ECAN_RXF14_MODE_VAL << 6) | \
(ECAN_RXF13_MODE_VAL << 5) | \
(ECAN_RXF12_MODE_VAL << 4) | \
(ECAN_RXF11_MODE_VAL << 3) | \
(ECAN_RXF10_MODE_VAL << 2) | \
(ECAN_RXF9_MODE_VAL << 1) | \
(ECAN_RXF8_MODE_VAL);
#endif
// Link each filter to corresponding buffer only if we are in Mode 1 or 2.
#if ( ECAN_FUNC_MODE_VAL != ECAN_MODE_0 )
ECANLinkRXF0F1ToBuffer(ECAN_RXF0_BUFFER_VAL, ECAN_RXF1_BUFFER_VAL);
ECANLinkRXF2F3ToBuffer(ECAN_RXF2_BUFFER_VAL, ECAN_RXF3_BUFFER_VAL);
ECANLinkRXF4F5ToBuffer(ECAN_RXF4_BUFFER_VAL, ECAN_RXF5_BUFFER_VAL);
ECANLinkRXF6F7ToBuffer(ECAN_RXF6_BUFFER_VAL, ECAN_RXF7_BUFFER_VAL);
ECANLinkRXF8F9ToBuffer(ECAN_RXF8_BUFFER_VAL, ECAN_RXF9_BUFFER_VAL);
ECANLinkRXF10F11ToBuffer(ECAN_RXF10_BUFFER_VAL, ECAN_RXF11_BUFFER_VAL);
ECANLinkRXF12F13ToBuffer(ECAN_RXF12_BUFFER_VAL, ECAN_RXF13_BUFFER_VAL);
ECANLinkRXF14F15ToBuffer(ECAN_RXF14_BUFFER_VAL, ECAN_RXF15_BUFFER_VAL);
ECANLinkRXF0Thru3ToMask(ECAN_RXF0_MASK_VAL, \
ECAN_RXF1_MASK_VAL, \
ECAN_RXF2_MASK_VAL, \
ECAN_RXF3_MASK_VAL);
ECANLinkRXF4Thru7ToMask(ECAN_RXF4_MASK_VAL, \
ECAN_RXF5_MASK_VAL, \
ECAN_RXF6_MASK_VAL, \
ECAN_RXF7_MASK_VAL);
ECANLinkRXF8Thru11ToMask(ECAN_RXF8_MASK_VAL, \
ECAN_RXF9_MASK_VAL, \
ECAN_RXF10_MASK_VAL, \
ECAN_RXF11_MASK_VAL);
ECANLinkRXF12Thru15ToMask(ECAN_RXF12_MASK_VAL, \
ECAN_RXF13_MASK_VAL, \
ECAN_RXF14_MASK_VAL, \
ECAN_RXF15_MASK_VAL);
#endif
#if ( ECAN_RXM0_MSG_TYPE == ECAN_MSG_STD )
_SetStdRXMnValue(0, ECAN_RXM0_VAL);
RXM0SIDL_EXIDEN = 0;
#else
_SetXtdRXMnValue(0, ECAN_RXM0_VAL);
RXM0SIDL_EXIDEN = 1;
#endif
#if ECAN_RXM1_MSG_TYPE == ECAN_MSG_STD
_SetStdRXMnValue(1, ECAN_RXM1_VAL);
RXM1SIDL_EXIDEN = 0;
#else
_SetXtdRXMnValue(1, ECAN_RXM1_VAL);
RXM1SIDL_EXIDEN = 1;
#endif
// SDFLC value
// Exit with speicfied mode. If selected mode is Configuration,
// we do not need to do anything.
#if ( ECAN_INIT_MODE != ECAN_INIT_CONFIGURATION )
ECANSetOperationMode(ECAN_INIT_MODE);
#endif
}
/*********************************************************************
* Function: BOOL ECANLoadRTRBuffer(BYTE buffer,
* unsigned long id,
* BYTE *data,
* BYTE dataLen,
* BYTE type)
*
* Overview: Use this function to update automatic RTR buffer.
*
*
* PreCondition: None
*
* Input: buffer - Buffer number that is to be loaded
* id - CAN message identifier.
* Only 11 or 29 bits may be used
* depending on standard or extended
* message type as specified in
* type parameter.
* data - Data bytes of upto 8 bytes in length
* dataLen - Data length from 0 thru 8.
* If 0, data may be NULL.
* type - Buffer type
* Must be ECAN_MSG_STD for Standard
* ECAN_MSG_XTD for Extended
*
* Output: TRUE, if given data was successfully loaded
* FALSE, if RTR buffer was in process of transmitting
* automated response.
*
* Side Effects: None
*
********************************************************************/
#if ( defined(ECAN_ENABLE_AUTO_RTR) )
BOOL ECANLoadRTRBuffer(BYTE buffer,
unsigned long id,
BYTE *data,
BYTE dataLen,
BYTE type)
{
BYTE *pBuffer;
BYTE *pSavedBuffer;
BYTE i;
pSavedBuffer = pBuffer;
#if defined(ECAN_CHECKED_BUILD)
// Make sure that this buffer is configured for RTR handling.
if ( !((BYTE_VAL*)pBuffer)->bits.b2 )
return FALSE;
#endif
/*
* Make sure that RTR response is not currently being transmitted.
*/
if ( ((BYTE_VAL*)pBuffer)->bits.b4 )
return FALSE;
// Start with zero length.
*(pBuffer+5) = 0;
// Save given id into ID registers..
_CANIDToRegs((BYTE*)(pBuffer+1), id, type);
// Prepare for data byte access.
pBuffer += 6;
// Copy given number of data bytes.
for ( i = 0; i < dataLen; i++ )
*pBuffer++ = *data++;
// At last, update DLC value.
*(pSavedBuffer + 5) = dataLen;
return TRUE;
}
#endif
/*********************************************************************
* Function: BOOL ECANSendMessage(unsigned long id,
* BYTE *data,
* BYTE dataLen,
* ECAN_TX_MSG_FLAGS msgFlags)
*
* Overview: Use this function to transmit a CAN message.
* This function searches for empty transmit buffer
* and loads it with given messages. Buffer is then
* marked for ready to transmit.
*
* PreCondition: None
*
* Input: id - CAN message identifier.
* Only 11 or 29 bits may be used
* depending on standard or extended
* message type as specified in
* msgFlags parameter.
* data - Data bytes of upto 8 bytes in length
* dataLen - Data length from 0 thru 8.
* If 0, data may be NULL.
* msgFlags - One or ECAN_TX_MSG_FLAGS values ORed
* together
*
* Output: TRUE, if an empty buffer was found and loaded with
* given data
* FALSE, if otherwise.
*
* Side Effects: None
*
********************************************************************/
BOOL ECANSendMessage( unsigned long id,
BYTE* data,
BYTE dataLen,
ECAN_TX_MSG_FLAGS msgFlags)
{
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
BYTE mode;
BYTE buffers;
#elif ( ECAN_FUNC_MODE == ECAN_MODE_0 )
#define buffers 2
#else
#define buffers 8
#endif
BYTE i,j;
BYTE *ptr, *tempPtr;
BYTE* pb[9];
BYTE temp;
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || (ECAN_FUNC_MODE != ECAN_MODE_0) )
BYTE_VAL tempBSEL0;
#endif
/*
* Since there are more than one transmit buffers and they are scattered in
* SFR map, prepare table of all transmit buffers.
*/
pb[0]=(BYTE*)&TXB0CON;
pb[1]=(BYTE*)&TXB1CON;
pb[2]=(BYTE*)&TXB2CON;
/*
* Include programmable buffers only if mode 1 or 2 is used.
*/
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || (ECAN_FUNC_MODE != ECAN_MODE_0) )
pb[3]=(BYTE*)&B0CON;
pb[4]=(BYTE*)&B1CON;
pb[5]=(BYTE*)&B2CON;
pb[6]=(BYTE*)&B3CON;
pb[7]=(BYTE*)&B4CON;
pb[8]=(BYTE*)&B5CON;
#endif
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
mode = ECANCON&0xC0;
if ( mode == ECAN_MODE_0 )
buffers = 2;
else
buffers = 8;
#endif
/*
* Depending on whether only mode 0 is used or not, we would only need to check
* either 3 or all buffers.
*/
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_FIXED) && (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
for ( i = 0; i < buffers; i++ )
#else
/*
* In Mode 1 & 2, programmable buffers must be checked for buffer mode.
* By remembering BSEL0 (programmable buffer mode type info), we can
* reduce code required to check invidual buffer type as we scan through
* all buffers.
*/
tempBSEL0.Val = BSEL0 >> 1;
for ( i = 0; i < buffers; i++ )
#endif
{
/*
* Use local poiter to reduce overall code.
* It will be more efficient to access using pointer instead of index.
*/
ptr = pb[i];
tempPtr = ptr;
/*
* In Mode 1 & 2, if buffer number is above TXB2, we must also check to
* see if this buffer is configured for transmit mode.
*/
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || (ECAN_FUNC_MODE_VAL != ECAN_MODE_0) )
if ( i > 2 )
{
/*
* Use previously saved BSEL0 value.
*/
tempBSEL0.Val >>= 1;
/*
* If this is not transmit buffer, continue with next buffer.
*/
if ( !tempBSEL0.bits.b0 )
continue;
}
#endif
/*
* Check to see if this buffer is empty by looking at BnCON.TXREQ bit (bit3).
*/
if ( !(*ptr & 0x08) )
{
// Set transmit priority in BnCON register.
*ptr &= ~ECAN_TX_PRIORITY_BITS;
*ptr |= msgFlags & ECAN_TX_PRIORITY_BITS;
// Also save DLC value.
if ( msgFlags & ECAN_TX_RTR_BIT )
temp = 0x40 | dataLen;
else
temp = dataLen;
// Use temp to reduce evaluation of *(ptr+5) to only once.
*(ptr+5) = temp;
// Set standard or extended message type.
if ( msgFlags & ECAN_TX_FRAME_BIT )
temp = ECAN_MSG_XTD;
else
temp = ECAN_MSG_STD;
// And rearrange given id accordingly.
_CANIDToRegs((BYTE*)(ptr+1), id, temp);
// Prepare for data byte access.
ptr += 6;
// Copy given number of data bytes.
for ( j = 0 ; j < dataLen; j++ )
*ptr++ = *data++;
// If this buffer is configured to automatically handle RTR messages,
// do not set TXREQ bit. TXREQ bit will be set whenever matching RTR is received.
if ( !(*tempPtr & 0x04) )
*tempPtr |= 0x08;
return TRUE;
}
}
// There were no empty buffers.
return FALSE;
}
/*********************************************************************
* Function: BOOL ECANReceiveMessage(unsigned long *id,
* BYTE *data,
* BYTE *dataLen,
* ECAN_RX_MSG_FLAGS *msgFlags)
*
* Overview: Use this function to check for full receive buffer
* and extract received data into local buffers.
*
* PreCondition: None
*
* Input: id - Pointer to buffer that will be
* populated with receive ID.
* data - Pointer to buffer that will be
* populated with data if there is any
* dataLen - Pointer to buffer that will be
* populated with count of bytes
* copied in data buffer.
* msgFlags - Pointer to buffer that will be
* copied with information about
* received message. More than
* one information is ORed together.
*
* Output: TRUE, if a full receive buffer was found and
* given parameters were populated.
* FALSE, if otherwise.
*
* Side Effects: None
*
* Note: If you need to know the filter number that caused
* this message to get accepted, call
* ECANGetFilterHitInfo().
*
********************************************************************/
BOOL ECANReceiveMessage(unsigned long *id,
BYTE *data,
BYTE *dataLen,
ECAN_RX_MSG_FLAGS *msgFlags)
{
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
BYTE mode;
#endif
BYTE *ptr, *savedPtr;
char i;
BYTE_VAL temp;
_ECANRxFilterHitInfo.Val = 0;
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
mode = ECANCON&0xC0;
if ( mode == ECAN_MODE_0 )
#endif
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || \
(ECAN_LIB_MODE_VAL == ECAN_LIB_FIXED) && (ECAN_FUNC_MODE_VAL == ECAN_MODE_0) )
{
// Find which buffer is ready.
if ( RXB0CON_RXFUL )
{
// Clear the received flag.
PIR3_RXB0IF = 0;
// Record and forget any previous overflow
if ( COMSTAT_RXB0OVFL )
{
*msgFlags |= ECAN_RX_OVERFLOW;
COMSTAT_RXB0OVFL = 0;
}
_ECANRxFilterHitInfo.bits.b0 = RXB0CON_FILHIT0;
ptr = (BYTE*)&RXB0CON;
}
else if ( RXB1CON_RXFUL )
{
// Clear the received flag.
PIR3_RXB1IF = 0;
// Record and forget any previous overflow
if ( COMSTAT_RXB1OVFL )
{
*msgFlags |= ECAN_RX_OVERFLOW;
COMSTAT_RXB1OVFL = 0;
}
_ECANRxFilterHitInfo.Val = RXB1CON & 0x07;
if ( _ECANRxFilterHitInfo.Val < 0x02 )
*msgFlags |= ECAN_RX_DBL_BUFFERED;
ptr = (BYTE*)&RXB1CON;
}
else
return FALSE;
goto _SaveMessage;
}
#endif
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
else if ( mode == ECAN_MODE_1 )
#endif
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || \
(ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_FIXED) && (ECAN_FUNC_MODE_VAL == ECAN_MODE_1) )
{
if ( RXB0CON_RXFUL )
ptr = (BYTE*)&RXB0CON;
else if (RXB1CON_RXFUL)
ptr = (BYTE*)&RXB1CON;
else if ( (BSEL0_B0TXEN==0) && B0CON_RXFUL )
ptr = (BYTE*)&B0CON;
else if ( (BSEL0_B1TXEN==0) && B1CON_RXFUL )
ptr = (BYTE*)&B1CON;
else if ( (BSEL0_B2TXEN==0) && B2CON_RXFUL )
ptr = (BYTE*)&B2CON;
else if ( (BSEL0_B3TXEN==0) && B3CON_RXFUL )
ptr = (BYTE*)&B3CON;
else if ( (BSEL0_B4TXEN==0) && B4CON_RXFUL )
ptr = (BYTE*)&B4CON;
else if ( (BSEL0_B5TXEN==0) && B5CON_RXFUL )
ptr = (BYTE*)&B5CON;
else
return FALSE;
goto _SaveMode12Message;
}
#endif
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
else
#endif
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || \
(ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_FIXED) && (ECAN_FUNC_MODE_VAL == ECAN_MODE_2) )
{
if ( COMSTAT_FIFOEMPTY == 1 ) //if FIFO is NOT empty --> meaning there is a message to be read waiting in Bn or RXBn Buffer
{
ptr = (BYTE*)_ECANPointBuffer(CANCON&0x07); // get the pointer to the proper buffer
goto _SaveMode12Message;
}
return FALSE;
}
#endif
#if ( (ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME) || (ECAN_FUNC_MODE_VAL != ECAN_MODE_0) )
_SaveMode12Message:
_ECANRxFilterHitInfo.Val = *ptr & 0x1f;
PIR3_RXBnIF = 0;
if ( COMSTAT_RXBnOVFL )
{
*msgFlags |= ECAN_RX_OVERFLOW;
COMSTAT_RXBnOVFL = 0;
}
#endif
_SaveMessage:
savedPtr = ptr;
*msgFlags = 0;
// Retrieve message length.
temp.Val = *(ptr+5);
*dataLen = temp.Val & 0b00001111;
// Determine whether this was RTR or not.
if ( temp.bits.b6 )
*msgFlags |= ECAN_RX_RTR_FRAME;
// Retrieve EIDX bytes only if this is extended message
temp.Val = *(ptr+2);
if ( temp.bits.b3 )
{
*msgFlags |= ECAN_RX_XTD_FRAME;
temp.Val = ECAN_MSG_XTD;
}
else
temp.Val = ECAN_MSG_STD;
_RegsToCANID(ptr+1, id, temp.Val);
// Get message data itself
ptr += 6;
temp.Val = *dataLen;
for ( i = 0; i < temp.Val; i++ )
*data++ = *ptr++;
// Record and Clear any previous invalid message bit flag.
if ( PIR3_IRXIF )
{
*msgFlags |= ECAN_RX_INVALID_MSG;
PIR3_IRXIF = 0;
}
// Mark that this buffer is read and empty.
*savedPtr &= 0x7f;
#if ( ECAN_LIB_MODE_VAL == ECAN_LIB_MODE_RUN_TIME )
// Workaround for Rev A1 silicon
if ( mode == ECAN_MODE_2 )
COMSTAT_FIFOEMPTY = 0;
#elif ( ECAN_FUNC_MODE_VAL == ECAN_MODE_2 )
COMSTAT_FIFOEMPTY = 0;
#endif
return TRUE;
}
/*********************************************************************
* Function: void ECANSetOperationMode(ECAN_OP_MODE mode)
*
* Overview: Use this function to switch ECAN module into
* given operational mode.
*
* PreCondition: None
*