/*****************************************************************************

* can.c: CAN module API file for NXP LPC17xx Family Microprocessors

*

* Copyright(C) 2009, NXP Semiconductor

* All rights reserved.

*

* History

* 2009.05.27 ver 1.00 Prelimnary version, first Release

* 13.10.2010 ver 1.1 Änderung bezüglich CAN2

*****************************************************************************/

#include "lpc17xx.h"

#include "type.h"

#include "can.h"

#include "mfa_display.h"

/* Receive Queue: one queue for each CAN port */

extern CAN_MSG MsgBuf_RX1;

extern volatile uint32_t CAN1RxDone;

extern volatile uint32_t kmph;

extern volatile uint32_t data[12];

volatile uint32_t CANStatus;

uint32_t CAN1RxCount = 0;

uint32_t CAN1ErrCount = 0;

/******************************************************************************

** Function name: CAN_ISR_Rx1

**

** Descriptions: CAN Rx1 interrupt handler

**

** parameters: None

** Returned value: None

**

******************************************************************************/

void CAN_ISR_Rx1( void )

{

uint32_t * pDest;

pDest = (uint32_t *)&MsgBuf_RX1;

*pDest = LPC_CAN1->RFS;

pDest++;

*pDest = LPC_CAN1->RID;

pDest++;

*pDest = LPC_CAN1->RDA;

pDest++;

*pDest = LPC_CAN1->RDB;

LPC_CAN1->CMR = 0x04; /* release receive buffer */

/*CAN1RxDone = TRUE;

return;

}

/*****************************************************************************

** Function name: CAN_Handler

**

** Descriptions: CAN interrupt handler

**

** parameters: None

** Returned value: None

**

*****************************************************************************/

void CAN_IRQHandler(void)

{

CAN_ISR_Rx1();

return;

}

/******************************************************************************

** Function name: CAN_Init

**

** Descriptions: Initialize CAN, install CAN interrupt handler

**

** parameters: bitrate

** Returned value: true or false, false if initialization failed.

**

******************************************************************************/

uint32_t CAN_Init( uint32_t can_btr )

{ CAN1RxDone = FALSE;

LPC_SC->PCONP |= ((1<<13)|(1<<14)); /* Enable CAN1 and CAN2 clock */

LPC_PINCON->PINSEL0 &= ~0x0000000F; /* CAN1 is p0.0 and p0.1 */

LPC_PINCON->PINSEL0 |= 0x00000005;

LPC_CAN1->MOD = LPC_CAN2->MOD = 1; /* Reset CAN */

LPC_CAN1->IER = LPC_CAN2->IER = 0; /* Disable Receive Interrupt */

LPC_CAN1->GSR = LPC_CAN2->GSR = 0; /* Reset error counter when CANxMOD is in reset */

LPC_CAN1->BTR = LPC_CAN2->BTR = can_btr;

LPC_CAN1->MOD = LPC_CAN2->MOD = 0x0; /* CAN in normal operation mode */

NVIC_EnableIRQ(CAN_IRQn);

LPC_CAN1->IER = LPC_CAN2->IER = 0x01; /* Enable receive interrupts */

return( TRUE );

}

/******************************************************************************

** Function name: CAN_SetACCF_Lookup

**

** Descriptions: unlock IDs

**

** parameters: none

** Returned value: none

**

******************************************************************************/

void CAN_SetACCF_Lookup( void )

{

uint16_t Id11_lo = 0x23;

uint16_t Id11_hi = 0x45;

uint32_t Id29_lo = 0x18DAF100;

uint32_t Id29_hi = 0x18DAF1FF;

uint32_t adr = 0;

LPC_CANAF->AFMR = ACCF_OFF; // Acceptance Filter OFF

LPC_CANAF->SFF_sa = adr;

*((volatile uint32_t *)(LPC_CANAF_RAM_BASE + adr)) = (Id11_lo << 16) | Id11_hi;

adr += 4;

LPC_CANAF->SFF_GRP_sa = adr;

LPC_CANAF->EFF_sa = adr;

LPC_CANAF->EFF_GRP_sa = adr;

LPC_CANAF->ENDofTable = adr;

return;

}

/******************************************************************************

** Function name: CAN_SetACCF

**

** Descriptions: Set acceptance filter and SRAM associated with

**

** parameters: ACMF mode

** Returned value: None

**

**

******************************************************************************/

void CAN_SetACCF( uint32_t ACCFMode )

{

switch ( ACCFMode )

{

case ACCF_OFF: /* Filter off*/

LPC_CANAF->AFMR = ACCFMode;

LPC_CAN1->MOD = LPC_CAN2->MOD = 1; // Reset CAN

LPC_CAN1->IER = LPC_CAN2->IER = 0; // Disable Receive Interrupt

LPC_CAN1->GSR = LPC_CAN2->GSR = 0; // Reset error counter when CANxMOD is in reset

break;

case ACCF_BYPASS: /* Bypass Mode --> all messages are accepted and stored */

LPC_CANAF->AFMR = ACCFMode;

break;

case ACCF_ON: /* hardware accepting filtering */

case ACCF_FULLCAN: /* hardware accepting filtering */

LPC_CANAF->AFMR = ACCF_OFF;

CAN_SetACCF_Lookup();

LPC_CANAF->AFMR = ACCFMode;

break;

default:

break;

}

return;

}

/*****************************************************************************

** Function name: main

**

** Descriptions: main routine for CAN module test

**

** parameters: None

** Returned value: int

**

*****************************************************************************/

int main( void )

{

SystemInit(); // Funktionsaufruf Systeminitialisierung

lcd_init();

INOUT_Def();

/* Please note, the bit timing is based on the setting of the

PCLK, if different PCLK is used, please read can.h carefully

and set your CAN bit timing accordingly. */

CAN_Init(BITRATE500K15MHZ); // Bitrate = 500kbaud bei 15MHz

MsgBuf_TX1.Frame = 0x00080000; // 11-bit, no RTR, DLC is 8 bytes

MsgBuf_TX1.MsgID = 0x2ee; // Explicit Standard ID

MsgBuf_TX1.DataA = data[0];

MsgBuf_TX1.DataB = data[1];

MsgBuf_RX1.Frame = 0x0;

MsgBuf_RX1.MsgID = 0x0;

MsgBuf_RX1.DataA = 0x0;

MsgBuf_RX1.DataB = 0x0;

CAN_SetACCF( ACCF_ON ); // Filtermodus festlegen

while ( 1 )

{

/* Transmit initial message on CAN 1 */

while ( !(LPC_CAN1->GSR & (1 << 3)) )

MsgBuf_TX1.DataA = data[0];

MsgBuf_TX1.DataB = data[1];

if ( CAN1_SendMessage( &MsgBuf_TX1 ) == FALSE )

{

continue;

}

lcd_draw_string(font_vw_16px, NORMAL_STYLE,"m/h",79,50,255);

kmph=(((data[1]>>14))&0b1111111111)*0.32;

if(kmph)

{

mph = kmph/(1.609);

char feld[12];

sprintf(feld,"%1u",mph);

lcd_draw_string(font_vw_16px, NORMAL_STYLE,feld,50,50,255);

}

else

{

lcd_draw_string(font_vw_16px, NORMAL_STYLE,"-.-",50,50,255);

}

/* please note: FULLCAN identifier will NOT be received as it's not set

in the acceptance filter. */

if ( CAN1RxDone == TRUE )

{

CAN1RxDone = FALSE;

MsgBuf_RX1.Frame = 0x0; // reset buffer

MsgBuf_RX1.MsgID = 0x0;

MsgBuf_RX1.DataA = 0x0;

MsgBuf_RX1.DataB = 0x0;

} /* Message on CAN 2 received */

/*Schalter = ((data[4]>>19)&TASTER_MASK); // Tasterauswertung

if(Schalter == 0x3)

{

LPC_GPIO2->FIOPIN &= ~(0x00000040);

}*/

if((MsgBuf_RX1.MsgID = 0x45)) // falls Nachricht mit entsprechenden Identifier da

{

LPC_GPIO2->FIOPIN &= ~(0x00000001); // setze LEDs

}

}

}