can_example.c File Reference

CAN example for SAM.

Copyright (c) 2011-2018 Microchip Technology Inc. and its subsidiaries.

#include <stdio.h>
#include <string.h>
#include "board.h"
#include "sysclk.h"
#include "exceptions.h"
#include "uart.h"
#include "pmc.h"
#include "ioport.h"
#include "can.h"
#include "stdio_serial.h"
#include "sn65hvd234.h"
#include "conf_board.h"
#include "conf_clock.h"

Macros
#define	CAN_MSG_DUMMY_DATA   0x55AAAA55
#define	CAN_MSG_TOGGLE_LED_0   0x11223344
#define	CAN_MSG_TOGGLE_LED_1   0xAABBCCDD
#define	MAX_CAN_FRAME_DATA_LEN   8
	CAN frame max data length. More...
#define	STRING_EOL   "\r"
#define	STRING_HEADER
#define	TEST1_CAN0_TX_PRIO   15
#define	TEST1_CAN_COMM_MB_IDX   0
#define	TEST1_CAN_TRANSFER_ID   0x07
#define	TEST2_CAN0_TX_MB1_ID   0x09
#define	TEST2_CAN0_TX_MB1_IDX   1
#define	TEST2_CAN0_TX_MB1_PRIO   15
#define	TEST2_CAN0_TX_MB2_ID   0x0A
#define	TEST2_CAN0_TX_MB2_IDX   2
#define	TEST2_CAN0_TX_MB2_PRIO   14
#define	TEST2_CAN1_RX_MB_IDX   7
#define	TEST3_CAN0_TX_MB1_ID   0x09
#define	TEST3_CAN0_TX_MB1_IDX   1
#define	TEST3_CAN0_TX_MB1_PRIO   15
#define	TEST3_CAN0_TX_MB2_ID   0x0A
#define	TEST3_CAN0_TX_MB2_IDX   2
#define	TEST3_CAN0_TX_MB2_PRIO   14
#define	TEST3_CAN1_RX_MB_IDX   7
#define	TEST4_CAN0_MB_ID   0x0b
#define	TEST4_CAN0_MB_IDX   3
#define	TEST4_CAN1_TX_MB_ID   0x0b
#define	TEST4_CAN1_TX_MB_IDX   3
#define	TEST4_CAN1_TX_MB_PRIO   15

Functions
void	CAN1_Handler (void)
	Default interrupt handler for CAN 1. More...
static void	configure_console (void)
	Configure UART for debug message output. More...
static void	decode_can_msg (can_mb_conf_t *p_mailbox)
	Decode CAN messages. More...
int	main (void)
	can_example application entry point. More...
static void	reset_mailbox_conf (can_mb_conf_t *p_mailbox)
	Reset mailbox configure structure. More...
static void	test_1 (void)
	Test the transmission from CAN0 Mailbox 0 to CAN1 Mailbox 0. More...
static void	test_2 (void)
	Test the transmission from CAN0 Mailboxes 1 & 2 to CAN1 Mailbox 7 without overwrite. More...
static void	test_3 (void)
	Test the transmission from CAN0 Mailboxes 1 & 2 to CAN1 Mailbox 7 with overwrite. More...
static void	test_4 (void)
	Test the communication between CAN1 Mailbox 3 and CAN0 Mailbox 3. More...

Variables
can_mb_conf_t	can0_mailbox
	CAN0 Transfer mailbox structure. More...
sn65hvd234_ctrl_t	can0_transceiver
	CAN0 Transceiver. More...
can_mb_conf_t	can1_mailbox
	CAN1 Transfer mailbox structure. More...
sn65hvd234_ctrl_t	can1_transceiver
	CAN1 Transceiver. More...
volatile uint32_t	g_ul_recv_status = 0
	Receive status. More...

#define CAN_MSG_DUMMY_DATA   0x55AAAA55

Referenced by test_1(), test_2(), test_3(), and test_4().

#define CAN_MSG_TOGGLE_LED_0   0x11223344

Referenced by decode_can_msg(), test_1(), test_2(), test_3(), and test_4().

#define CAN_MSG_TOGGLE_LED_1   0xAABBCCDD

Referenced by decode_can_msg(), test_2(), and test_3().

#define MAX_CAN_FRAME_DATA_LEN   8

CAN frame max data length.

Referenced by test_1(), test_2(), test_3(), and test_4().

#define STRING_EOL   "\r"

Referenced by decode_can_msg(), main(), test_1(), test_2(), test_3(), and test_4().

#define STRING_HEADER

Value:

"-- CAN Example --\r\n" \
                      "-- "BOARD_NAME" --\r\n" \
                      "-- Compiled: "__DATE__" "__TIME__" --"STRING_EOL

Referenced by main().

#define TEST1_CAN0_TX_PRIO   15

Referenced by test_1().

#define TEST1_CAN_COMM_MB_IDX   0

Referenced by test_1().

#define TEST1_CAN_TRANSFER_ID   0x07

Referenced by test_1().

#define TEST2_CAN0_TX_MB1_ID   0x09

Referenced by test_2().

#define TEST2_CAN0_TX_MB1_IDX   1

Referenced by test_2().

#define TEST2_CAN0_TX_MB1_PRIO   15

Referenced by test_2().

#define TEST2_CAN0_TX_MB2_ID   0x0A

Referenced by test_2().

#define TEST2_CAN0_TX_MB2_IDX   2

Referenced by test_2().

#define TEST2_CAN0_TX_MB2_PRIO   14

Referenced by test_2().

#define TEST2_CAN1_RX_MB_IDX   7

Referenced by test_2().

#define TEST3_CAN0_TX_MB1_ID   0x09

Referenced by test_3().

#define TEST3_CAN0_TX_MB1_IDX   1

Referenced by test_3().

#define TEST3_CAN0_TX_MB1_PRIO   15

Referenced by test_3().

#define TEST3_CAN0_TX_MB2_ID   0x0A

Referenced by test_3().

#define TEST3_CAN0_TX_MB2_IDX   2

Referenced by test_3().

#define TEST3_CAN0_TX_MB2_PRIO   14

Referenced by test_3().

#define TEST3_CAN1_RX_MB_IDX   7

Referenced by test_3().

#define TEST4_CAN0_MB_ID   0x0b

Referenced by test_4().

#define TEST4_CAN0_MB_IDX   3

Referenced by test_4().

#define TEST4_CAN1_TX_MB_ID   0x0b

Referenced by test_4().

#define TEST4_CAN1_TX_MB_IDX   3

Referenced by test_4().

#define TEST4_CAN1_TX_MB_PRIO   15

Referenced by test_4().

void CAN1_Handler

(

void

)

Default interrupt handler for CAN 1.

References can_get_status(), can_mailbox_get_status(), can_mailbox_read(), g_ul_recv_status, GLOBAL_MAILBOX_MASK, can_mb_conf_t::ul_mb_idx, and can_mb_conf_t::ul_status.

static void configure_console ( void  )

static

Configure UART for debug message output.

References uart_rs232_options::baudrate, stdio_serial_init(), and sysclk_enable_peripheral_clock().

Referenced by main().

static void decode_can_msg ( can_mb_conf_t *  p_mailbox )

static

Decode CAN messages.

Parameters

p_mailbox

Pointer to CAN Mailbox structure.

References CAN_MSG_TOGGLE_LED_0, CAN_MSG_TOGGLE_LED_1, ioport_toggle_pin_level(), STRING_EOL, and can_mb_conf_t::ul_datal.

Referenced by test_1(), test_2(), test_3(), and test_4().

int main

(

void

)

can_example application entry point.

Returns

Unused (ANSI-C compatibility).

References board_init(), CAN_BPS_1000K, can_disable(), CAN_DISABLE_ALL_INTERRUPT_MASK, can_disable_interrupt(), can_init(), configure_console(), g_ul_recv_status, pmc_enable_periph_clk(), sn65hvd234_disable(), sn65hvd234_disable_low_power(), sn65hvd234_enable(), sn65hvd234_enable_low_power(), sn65hvd234_set_en(), sn65hvd234_set_rs(), STRING_EOL, STRING_HEADER, sysclk_get_cpu_hz(), sysclk_init(), test_1(), test_2(), test_3(), test_4(), and uart_read().

static void reset_mailbox_conf ( can_mb_conf_t *  p_mailbox )

static

Reset mailbox configure structure.

Parameters

p_mailbox

Pointer to mailbox configure structure.

References can_mb_conf_t::uc_id_ver, can_mb_conf_t::uc_length, can_mb_conf_t::uc_obj_type, can_mb_conf_t::uc_tx_prio, can_mb_conf_t::ul_datah, can_mb_conf_t::ul_datal, can_mb_conf_t::ul_fid, can_mb_conf_t::ul_id, can_mb_conf_t::ul_id_msk, can_mb_conf_t::ul_mb_idx, and can_mb_conf_t::ul_status.

Referenced by test_1(), test_2(), test_3(), and test_4().

static void test_1 ( void  )

static

Test the transmission from CAN0 Mailbox 0 to CAN1 Mailbox 0.

References can_disable_interrupt(), can_enable_interrupt(), can_global_send_transfer_cmd(), can_mailbox_init(), can_mailbox_write(), CAN_MB_RX_MODE, CAN_MB_TX_MODE, CAN_MSG_DUMMY_DATA, CAN_MSG_TOGGLE_LED_0, can_reset_all_mailbox(), decode_can_msg(), g_ul_recv_status, MAX_CAN_FRAME_DATA_LEN, reset_mailbox_conf(), STRING_EOL, TEST1_CAN0_TX_PRIO, TEST1_CAN_COMM_MB_IDX, TEST1_CAN_TRANSFER_ID, can_mb_conf_t::uc_id_ver, can_mb_conf_t::uc_length, can_mb_conf_t::uc_obj_type, can_mb_conf_t::uc_tx_prio, can_mb_conf_t::ul_datah, can_mb_conf_t::ul_datal, can_mb_conf_t::ul_id, can_mb_conf_t::ul_id_msk, and can_mb_conf_t::ul_mb_idx.

Referenced by main().

static void test_2 ( void  )

static

Test the transmission from CAN0 Mailboxes 1 & 2 to CAN1 Mailbox 7 without overwrite.

References can_disable_interrupt(), can_enable_interrupt(), can_global_send_transfer_cmd(), can_mailbox_init(), can_mailbox_write(), CAN_MB_RX_MODE, CAN_MB_TX_MODE, CAN_MSG_DUMMY_DATA, CAN_MSG_TOGGLE_LED_0, CAN_MSG_TOGGLE_LED_1, can_reset_all_mailbox(), decode_can_msg(), g_ul_recv_status, MAX_CAN_FRAME_DATA_LEN, reset_mailbox_conf(), STRING_EOL, TEST2_CAN0_TX_MB1_ID, TEST2_CAN0_TX_MB1_IDX, TEST2_CAN0_TX_MB1_PRIO, TEST2_CAN0_TX_MB2_ID, TEST2_CAN0_TX_MB2_IDX, TEST2_CAN0_TX_MB2_PRIO, TEST2_CAN1_RX_MB_IDX, can_mb_conf_t::uc_id_ver, can_mb_conf_t::uc_length, can_mb_conf_t::uc_obj_type, can_mb_conf_t::uc_tx_prio, can_mb_conf_t::ul_datah, can_mb_conf_t::ul_datal, can_mb_conf_t::ul_id, can_mb_conf_t::ul_id_msk, and can_mb_conf_t::ul_mb_idx.

Referenced by main().

static void test_3 ( void  )

static

Test the transmission from CAN0 Mailboxes 1 & 2 to CAN1 Mailbox 7 with overwrite.

References can_disable_interrupt(), can_enable_interrupt(), can_global_send_transfer_cmd(), can_mailbox_init(), can_mailbox_write(), CAN_MB_RX_OVER_WR_MODE, CAN_MB_TX_MODE, CAN_MSG_DUMMY_DATA, CAN_MSG_TOGGLE_LED_0, CAN_MSG_TOGGLE_LED_1, can_reset_all_mailbox(), decode_can_msg(), g_ul_recv_status, MAX_CAN_FRAME_DATA_LEN, reset_mailbox_conf(), STRING_EOL, TEST3_CAN0_TX_MB1_ID, TEST3_CAN0_TX_MB1_IDX, TEST3_CAN0_TX_MB1_PRIO, TEST3_CAN0_TX_MB2_ID, TEST3_CAN0_TX_MB2_IDX, TEST3_CAN0_TX_MB2_PRIO, TEST3_CAN1_RX_MB_IDX, can_mb_conf_t::uc_id_ver, can_mb_conf_t::uc_length, can_mb_conf_t::uc_obj_type, can_mb_conf_t::uc_tx_prio, can_mb_conf_t::ul_datah, can_mb_conf_t::ul_datal, can_mb_conf_t::ul_id, can_mb_conf_t::ul_id_msk, and can_mb_conf_t::ul_mb_idx.

Referenced by main().

static void test_4 ( void  )

static

Test the communication between CAN1 Mailbox 3 and CAN0 Mailbox 3.

References can_disable_interrupt(), can_enable_interrupt(), can_global_send_transfer_cmd(), can_mailbox_init(), can_mailbox_write(), CAN_MB_CONSUMER_MODE, CAN_MB_PRODUCER_MODE, CAN_MSG_DUMMY_DATA, CAN_MSG_TOGGLE_LED_0, can_reset_all_mailbox(), decode_can_msg(), g_ul_recv_status, MAX_CAN_FRAME_DATA_LEN, reset_mailbox_conf(), STRING_EOL, TEST4_CAN0_MB_ID, TEST4_CAN0_MB_IDX, TEST4_CAN1_TX_MB_ID, TEST4_CAN1_TX_MB_IDX, TEST4_CAN1_TX_MB_PRIO, can_mb_conf_t::uc_length, can_mb_conf_t::uc_obj_type, can_mb_conf_t::uc_tx_prio, can_mb_conf_t::ul_datah, can_mb_conf_t::ul_datal, can_mb_conf_t::ul_id, can_mb_conf_t::ul_id_msk, and can_mb_conf_t::ul_mb_idx.

Referenced by main().

can_mb_conf_t can0_mailbox

CAN0 Transfer mailbox structure.

sn65hvd234_ctrl_t can0_transceiver

CAN0 Transceiver.

can_mb_conf_t can1_mailbox

CAN1 Transfer mailbox structure.

sn65hvd234_ctrl_t can1_transceiver

CAN1 Transceiver.

volatile uint32_t g_ul_recv_status = 0

Receive status.

Referenced by CAN0_Handler(), CAN1_Handler(), main(), run_can_test(), test_1(), test_2(), test_3(), and test_4().