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[CAN] adding raw class first stage

This commit is contained in:
Thibaut VIARD 2013-02-07 18:13:44 +01:00
parent ecfea6da9f
commit 68fe402f8e
5 changed files with 141 additions and 161 deletions
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129
hardware/arduino/sam/libraries/CAN/CAN.cpp
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@ -1,129 +0,0 @@
#include "CAN.h"
#include "sn65hvd234.h"
/*----------------------------------------------------------------------------
* Variables
*----------------------------------------------------------------------------*/
/* CAN0 Transceiver */
SSN65HVD234_Data gCanTransceiver0 ;
/* CAN1 Transceiver */
SSN65HVD234_Data gCanTransceiver1 ;
/* CAN0 Transfer */
SCanTransfer gCanTransfer0 ;
/* CAN1 Transfer */
SCanTransfer gCanTransfer1 ;
/*----------------------------------------------------------------------------
* Local functions
*----------------------------------------------------------------------------*/
uint32_t CAN_InitShieldHardware( uint32_t )
{
// Initialize CAN0 pins
PIO_Configure(
g_APinDescription[PINS_CAN0].pPort,
g_APinDescription[PINS_CAN0].ulPinType,
g_APinDescription[PINS_CAN0].ulPin,
g_APinDescription[PINS_CAN0].ulPinConfiguration);
/* Initialize CAN0 Transceiver */
SN65HVD234_Init( &gCanTransceiver0 ) ;
SN65HVD234_SetRs( &gCanTransceiver0, PIOB, PIO_PB20 ) ;
SN65HVD234_SetEN( &gCanTransceiver0, PIOB, PIO_PB21 ) ;
/* Enable CAN0 Transceiver */
SN65HVD234_DisableLowPower( &gCanTransceiver0 ) ;
SN65HVD234_Enable( &gCanTransceiver0 ) ;
// Initialize CAN1 pins
PIO_Configure(
g_APinDescription[PINS_CAN1].pPort,
g_APinDescription[PINS_CAN1].ulPinType,
g_APinDescription[PINS_CAN1].ulPin,
g_APinDescription[PINS_CAN1].ulPinConfiguration);
/* Initialize CAN1 Transceiver */
SN65HVD234_Init( &gCanTransceiver1 ) ;
SN65HVD234_SetRs( &gCanTransceiver1, PIOE, PIO_PB15 ) ;
SN65HVD234_SetEN( &gCanTransceiver1, PIOE, PIO_PB16 ) ;
/* Enable CAN1 Transceiver */
SN65HVD234_DisableLowPower( &gCanTransceiver1 ) ;
SN65HVD234_Enable( &gCanTransceiver1 ) ;
}
uint32_t CAN_DeInitShieldHardware( uint32_t )
{
}
/*----------------------------------------------------------------------------
* Exported functions
*----------------------------------------------------------------------------*/
/**
* \brief Default interrupt handler for CAN 0.
*/
void CAN0_IrqHandler( void )
{
CAN_Handler( CAN0, &gCanTransfer0 ) ;
}
/**
* \brief Default interrupt handler for CAN 1.
*/
void CAN1_IrqHandler( void )
{
CAN_Handler( CAN1, &gCanTransfer1 ) ;
}
/**
* main function
*/
extern int main( void )
{
if ( ( CAN_Init( CAN0, BOARD_MCK, 1000, &gCanTransfer0 ) == 1 ) &&
( CAN_Init( CAN1, BOARD_MCK, 1000, &gCanTransfer1 ) == 1 ) )
{
puts( "CAN initialization complete."STRING_EOL ) ;
/* Run tests */
puts( "Press any key to start test"STRING_EOL ) ;
UART_GetChar() ;
_Test1() ;
puts( "Press any key to continue..."STRING_EOL ) ;
UART_GetChar() ;
_Test2() ;
puts( "Press any key to continue..."STRING_EOL ) ;
UART_GetChar() ;
_Test3() ;
puts( "Press any key to continue..."STRING_EOL ) ;
UART_GetChar() ;
_Test4() ;
/* Disable CAN0 Controller */
CAN_Disable(CAN0) ;
/* Disable CAN0 Transceiver */
SN65HVD234_EnableLowPower( &gCanTransceiver0 ) ;
SN65HVD234_Disable( &gCanTransceiver0 ) ;
/* Disable CAN1 Controller */
CAN_Disable(CAN1) ;
/* Disable CAN1 Transceiver */
SN65HVD234_EnableLowPower( &gCanTransceiver1 ) ;
SN65HVD234_Disable( &gCanTransceiver1 ) ;
puts( "End of all test"STRING_EOL ) ;
}
else
{
puts( "ERROR CAN initialisation (synchro)"STRING_EOL ) ;
}
return 0 ;
}

0
hardware/arduino/sam/libraries/CAN/CAN.h
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89
hardware/arduino/sam/libraries/CAN/CANRaw.cpp Normal file
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@ -0,0 +1,89 @@
#include "CANRaw.h"
#include "sn65hvd234.h"
CANRawClass::CANRawClass( Can* pCan )
{
m_pCan=pCan ;
}
uint32_t CANRawClass::begin( uint32_t dwPinEN, uint32_t dwPinRs, uint32_t dwBaudrate )
{
uint32_t dwPins ;
/* Initialize CAN pins */
if ( m_pCan == CAN0 )
{
dwPins=PINS_CAN0 ;
}
else
{
dwPins=PINS_CAN1 ;
}
PIO_Configure(
g_APinDescription[dwPins].pPort,
g_APinDescription[dwPins].ulPinType,
g_APinDescription[dwPins].ulPin,
g_APinDescription[dwPins].ulPinConfiguration);
/* Initialize CAN Transceiver */
SN65HVD234_Init( &m_Transceiver ) ;
SN65HVD234_SetRs( &m_Transceiver, dwPinRs ) ;
SN65HVD234_SetEN( &m_Transceiver, dwPinEN ) ;
/* Enable CAN Transceiver */
SN65HVD234_DisableLowPower( &m_Transceiver ) ;
SN65HVD234_Enable( &m_Transceiver ) ;
if ( can_init( m_pCan, SystemCoreClock, 1000 ) == 1 )
{
can_reset_all_mailbox( m_pCan ) ;
}
else
{
puts( "ERROR CAN initialisation (synchro)" ) ;
return -1 ;
}
return 0 ;
}
uint32_t CANRawClass::end( void )
{
/* Disable CAN Controller */
can_disable( m_pCan ) ;
/* Disable CAN Transceiver */
SN65HVD234_EnableLowPower( &m_Transceiver ) ;
SN65HVD234_Disable( &m_Transceiver ) ;
return 0 ;
}
/*----------------------------------------------------------------------------
* Exported objects
*----------------------------------------------------------------------------*/
CANRawClass CANRaw0( CAN0 ) ;
CANRawClass CANRaw1( CAN1 ) ;
/*----------------------------------------------------------------------------
* Exported functions
*----------------------------------------------------------------------------*/
/**
* \brief Default interrupt handler for CAN 0.
*/
void CAN0_IrqHandler( void )
{
CAN_Handler( CAN0, &gCanTransfer0 ) ;
}
/**
* \brief Default interrupt handler for CAN 1.
*/
void CAN1_IrqHandler( void )
{
CAN_Handler( CAN1, &gCanTransfer1 ) ;
}

32
hardware/arduino/sam/libraries/CAN/CANRaw.h Normal file
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@ -0,0 +1,32 @@
#ifndef _CAN_LIBRARY_
#define _CAN_LIBRARY_
#include "sn65hvd234.h"
class CANRawClass
{
protected:
/* CAN peripheral, set by constructor */
Can* m_pCan ;
/* CAN Transceiver */
SSN65HVD234_Data m_Transceiver ;
/** CAN Transfer */
can_mb_conf_t m_Mailbox ;
private:
public:
// Constructor
CANRawClass( Can* pCan ) ;
uint32_t begin( uint32_t dwPinEN, uint32_t dwPinRs, uint32_t dwBaudrate ) ;
uint32_t end( void ) ;
} ;
extern CANRawClass CANRaw0 ;
extern CANRawClass CANRaw1 ;
#endif // _CAN_LIBRARY_

52
hardware/arduino/sam/libraries/CAN/examples/Arduino_Due_CAN_Sample_1/Arduino_Due_CAN_Sample_1.ino
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@ -4,9 +4,8 @@
// Modified from Atmel ASF SAM3X-EK CAN sample by Wilfredo Molina 2012
// Required libraries
#include <can.h>
#include <sysclk.h>
#include <sam3x8e.h>
#include "variant.h"
#include "CAN.h"
#define TEST1_CAN_COMM_MB_IDX 0
#define TEST1_CAN_TRANSFER_ID 0x07
@ -25,52 +24,41 @@ can_mb_conf_t can1_mailbox;
void setup()
{
// start serial port at 9600 bps:
// start serial port at 9600 bps:
Serial.begin(9600);
Serial.println("Type CAN message to send");
while (Serial.available() == 0);
while (Serial.available() == 0);
}
void loop(){
while (Serial.available() > 0) {
CAN_MSG_1 = Serial.parseInt();
if (Serial.read() == '\n') {
if (Serial.read() == '\n') {
Serial.print("Sent value= ");
Serial.println(CAN_MSG_1);
delay(1000);
delay(1000);
}
}
uint32_t ul_sysclk;
/* Initialize the SAM system. */
sysclk_init();
board_init();
// Enable CAN0 & CAN1 clock
// Enable CAN0 & CAN1 clock
pmc_enable_periph_clk(ID_CAN0);
pmc_enable_periph_clk(ID_CAN1);
// Initialize CAN0 and CAN1, baudrate is 1Mb/s
ul_sysclk = sysclk_get_cpu_hz();
can_init(CAN0, ul_sysclk, CAN_BPS_1000K);
can_init(CAN1, ul_sysclk, CAN_BPS_1000K);
// Reset all CAN0 and CAN1 mailboxes
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
can_init(CAN0, SystemCoreClock, CAN_BPS_1000K);
can_init(CAN1, SystemCoreClock, CAN_BPS_1000K);
// Initialize CAN1 mailbox 0 as receiver, frame ID is 0x07
reset_mailbox_conf(&can1_mailbox);
can_reset_mailbox_data(&can1_mailbox);
can1_mailbox.ul_mb_idx = TEST1_CAN_COMM_MB_IDX;
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(TEST1_CAN_TRANSFER_ID);
can_mailbox_init(CAN1, &can1_mailbox);
// Initialize CAN0 mailbox 0 as transmitter, transmit priority is 15
reset_mailbox_conf(&can0_mailbox);
can_reset_mailbox_data(&can0_mailbox);
can0_mailbox.ul_mb_idx = TEST1_CAN_COMM_MB_IDX;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = TEST1_CAN0_TX_PRIO;
@ -78,16 +66,16 @@ void loop(){
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
// Prepare transmit ID, data and data length in CAN0 mailbox 0
// Prepare transmit ID, data and data length in CAN0 mailbox 0
can0_mailbox.ul_id = CAN_MID_MIDvA(TEST1_CAN_TRANSFER_ID);
can0_mailbox.ul_datal = CAN_MSG_1;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
// Send out the information in the mailbox
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB0);
// Wait for CAN1 mailbox 0 to receive the data
while (!(can_mailbox_get_status(CAN1, 0) & CAN_MSR_MRDY)) {
}
@ -97,4 +85,4 @@ void loop(){
Serial.println(can1_mailbox.ul_datal);
while (1) {}
}
}