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Forum: ARM programming with GCC/GNU tools LPC1768 CAN1 receive


von Tom (Guest)


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Hey,
does anybody have a simple program for this µC for receiving a message 
on CAN1?
I tried a lot with some code examples from Keil but I am not be able to 
receive a message with a special identifier.

Thanks a lot

von Lutz (Guest)


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Have you checked the examples in the folder LPC1700CMSIS/Examples/CAN/* 
of the CMSIS Library for the LPC?

von Tom (Guest)


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Yes sure but I am not be able to debug it, I am using Cross Studio for 
ARM.
My problem is, that i does not exactly now what I have to set and 
program.
here is a part of the program I am workin with maybe you know it, I 
doesn't know which function i have to set where in my main programm.

1
/*****************************************************************************
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 *  can.c:  CAN module API file for NXP LPC17xx Family Microprocessors
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 *
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 *   Copyright(C) 2009, NXP Semiconductor
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 *   All rights reserved.
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 *
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 *   History
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 *   2009.05.27  ver 1.00    Prelimnary version, first Release
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 *   13.10.2010  ver 1.1     Änderung bezüglich CAN2
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*****************************************************************************/
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#include "lpc17xx.h"
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#include "type.h"
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#include "can.h"
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/* Receive Queue: one queue for each CAN port */
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extern CAN_MSG MsgBuf_RX1;
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extern volatile uint32_t CAN1RxDone;
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volatile uint32_t CANStatus;
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uint32_t CAN1RxCount = 0;
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uint32_t CAN1ErrCount = 0;
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/******************************************************************************
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** Function name:    CAN_ISR_Rx1
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**
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** Descriptions:    CAN Rx1 interrupt handler
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**
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** parameters:      None
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** Returned value:    None
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** 
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******************************************************************************/
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void CAN_ISR_Rx1( void )
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{
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  uint32_t * pDest;
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  /* initialize destination pointer  */
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  pDest = (uint32_t *)&MsgBuf_RX1;
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  *pDest = LPC_CAN1->RFS;  /* Frame  */
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  pDest++;
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  *pDest = LPC_CAN1->RID; /* ID  */
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  pDest++;
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  *pDest = LPC_CAN1->RDA; /* Data A */
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  pDest++;
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  *pDest = LPC_CAN1->RDB; /* Data B  */
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  CAN1RxDone = TRUE;
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  LPC_CAN1->CMR = 0x04; /* release receive buffer */
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  return;
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}
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/*****************************************************************************
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** Function name:    CAN_Handler
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**
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** Descriptions:    CAN interrupt handler
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**
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** parameters:      None
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** Returned value:    None
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** 
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*****************************************************************************/
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void CAN_IRQHandler(void)  
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{    
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  CANStatus = LPC_CANCR->CANRxSR;
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  if ( CANStatus & (1 << 8) )
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  {
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  CAN1RxCount++;
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  CAN_ISR_Rx1();
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  }
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  if ( LPC_CAN1->GSR & (1 << 6 ) )
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  {
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  /* The error count includes both TX and RX */
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  CAN1ErrCount = LPC_CAN1->GSR >> 16;
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  }
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  return;
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}
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/******************************************************************************
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** Function name:    CAN_Init
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**
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** Descriptions:    Initialize CAN, install CAN interrupt handler
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**
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** parameters:      bitrate
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** Returned value:    true or false, false if initialization failed.
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** 
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******************************************************************************/
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uint32_t CAN_Init( uint32_t can_btr )
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{
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  CAN1RxDone = FALSE;
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  LPC_SC->PCONP |= ((1<<13)|(1<<14));  /* Enable CAN1 and CAN2 clock */
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  LPC_PINCON->PINSEL0 &= ~0x0000000F;  /* CAN1 is p0.0 and p0.1  */
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  LPC_PINCON->PINSEL0 |= 0x00000005;  
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  LPC_CAN1->MOD = 1;    /* Reset CAN */
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  LPC_CAN1->IER = 0;    /* Disable Receive Interrupt */
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  LPC_CAN1->GSR = 0;    /* Reset error counter when CANxMOD is in reset  */
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  LPC_CAN1->BTR = can_btr;
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  LPC_CAN1->MOD = 0x0;  /* CAN in normal operation mode */
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  LPC_CAN1->IER = 0x01; /* Enable receive interrupts */
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  return( TRUE );
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}
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/******************************************************************************
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** Function name:    CAN_SetACCF_Lookup
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**
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** Descriptions:    Initialize CAN, install CAN interrupt handler
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**
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** parameters:      bitrate
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** Returned value:    true or false, false if initialization failed.
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** 
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******************************************************************************/
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void CAN_SetACCF_Lookup( void )
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{
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  uint32_t address = 0;
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  uint32_t i;
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  uint32_t ID_high, ID_low;
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  /* Set explicit standard Frame */ 
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  LPC_CANAF->SFF_sa = address;
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  for ( i = 0; i < ACCF_IDEN_NUM; i += 2 )
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  {
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  ID_low = (i << 29) | (EXP_STD_ID << 16);
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  ID_high = ((i+1) << 13) | (EXP_STD_ID << 0);
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  *((volatile uint32_t *)(LPC_CANAF_RAM_BASE + address)) = ID_low | ID_high;
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  address += 4; 
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  }
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  /* Set group standard Frame */
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  LPC_CANAF->SFF_GRP_sa = address;
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  for ( i = 0; i < ACCF_IDEN_NUM; i += 2 )
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  {
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  ID_low = (i << 29) | (GRP_STD_ID << 16);
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  ID_high = ((i+1) << 13) | (GRP_STD_ID << 0);
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  *((volatile uint32_t *)(LPC_CANAF_RAM_BASE + address)) = ID_low | ID_high;
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  address += 4; 
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  }
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  /* Set explicit extended Frame */ 
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  LPC_CANAF->EFF_sa = address;
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  for ( i = 0; i < ACCF_IDEN_NUM; i++  )
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  {
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  ID_low = (i << 29) | (EXP_EXT_ID << 0);
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  *((volatile uint32_t *)(LPC_CANAF_RAM_BASE + address)) = ID_low;
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  address += 4; 
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  }
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  /* Set group extended Frame */
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  LPC_CANAF->EFF_GRP_sa = address;
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  for ( i = 0; i < ACCF_IDEN_NUM; i++  )
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  {
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  ID_low = (i << 29) | (GRP_EXT_ID << 0);
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  *((volatile uint32_t *)(LPC_CANAF_RAM_BASE + address)) = ID_low;
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  address += 4; 
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  }
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  /* Set End of Table */
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  LPC_CANAF->ENDofTable = address;
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  return;
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}
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/******************************************************************************
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** Function name:    CAN_SetACCF
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**
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** Descriptions:    Set acceptance filter and SRAM associated with  
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**
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** parameters:      ACMF mode
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** Returned value:    None
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**
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** 
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******************************************************************************/
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void CAN_SetACCF( uint32_t ACCFMode )
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{
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  switch ( ACCFMode )
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  {
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  case ACCF_OFF:
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    LPC_CANAF->AFMR = ACCFMode;
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    LPC_CAN1->MOD = LPC_CAN2->MOD = 1;  // Reset CAN
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    LPC_CAN1->IER = LPC_CAN2->IER = 0;  // Disable Receive Interrupt
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    LPC_CAN1->GSR = LPC_CAN2->GSR = 0;  // Reset error counter when CANxMOD is in reset
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  break;
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  case ACCF_BYPASS:
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    LPC_CANAF->AFMR = ACCFMode;
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  break;
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  case ACCF_ON:
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  case ACCF_FULLCAN:
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    LPC_CANAF->AFMR = ACCF_OFF;
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    CAN_SetACCF_Lookup();
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    LPC_CANAF->AFMR = ACCFMode;
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  break;
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  default:
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  break;
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  }
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  return;
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}
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/******************************************************************************
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** Function name:    CAN1_SendMessage
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**
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** Descriptions:    Send message block to CAN1  
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**
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** parameters:      pointer to the CAN message
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** Returned value:    true or false, if message buffer is available,
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**            message can be sent successfully, return TRUE,
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**            otherwise, return FALSE.
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** 
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******************************************************************************/
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uint32_t CAN1_SendMessage( CAN_MSG *pTxBuf )
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{
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  uint32_t CANStatus;
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  CANStatus = LPC_CAN1->SR;
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  if ( CANStatus & 0x00000004 )
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  {
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  LPC_CAN1->TFI1 = pTxBuf->Frame & 0xC00F0000;
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  LPC_CAN1->TID1 = pTxBuf->MsgID;
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  LPC_CAN1->TDA1 = pTxBuf->DataA;
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  LPC_CAN1->TDB1 = pTxBuf->DataB;
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  LPC_CAN1->CMR = 0x21;
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  return ( TRUE );
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  }
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  else if ( CANStatus & 0x00000400 )
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  {
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  LPC_CAN1->TFI2 = pTxBuf->Frame & 0xC00F0000;
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  LPC_CAN1->TID2 = pTxBuf->MsgID;
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  LPC_CAN1->TDA2 = pTxBuf->DataA;
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  LPC_CAN1->TDB2 = pTxBuf->DataB;
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  LPC_CAN1->CMR = 0x41;
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  return ( TRUE );
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  }
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  else if ( CANStatus & 0x00040000 )
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  {  
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  LPC_CAN1->TFI3 = pTxBuf->Frame & 0xC00F0000;
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  LPC_CAN1->TID3 = pTxBuf->MsgID;
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  LPC_CAN1->TDA3 = pTxBuf->DataA;
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  LPC_CAN1->TDB3 = pTxBuf->DataB;
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  LPC_CAN1->CMR = 0x81;
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  return ( TRUE );
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  }
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  return ( FALSE );
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}
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/******************************************************************************
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**                            End Of File
256
******************************************************************************/

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