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| 2 | * |
2 | * |
| 3 | * CAN module |
3 | * CAN module |
| 4 | * |
4 | * |
| 5 | ********************************************************************* |
5 | ********************************************************************* |
| 6 | * FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $ |
6 | * FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $ |
| 7 | * Last changed: $LastChangedDate: |
7 | * Last changed: $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $ |
| 8 | * By: $LastChangedBy: johboh $ |
8 | * By: $LastChangedBy: johboh $ |
| 9 | * Revision: $Revision: |
9 | * Revision: $Revision: 260 $ |
| 10 | ********************************************************************/ |
10 | ********************************************************************/ |
| 11 | 11 | ||
| 12 | #include <CANdefs.h> |
12 | #include <CANdefs.h> |
| 13 | #include <stackTasks.h> |
13 | #include <stackTasks.h> |
| 14 | #include <CAN.h> |
14 | #include <CAN.h> |
| - | 15 | #include <EEaccess.h> |
|
| - | 16 | #include <funcdefs.h> |
|
| - | 17 | #include <Tick.h> |
|
| - | 18 | ||
| - | 19 | TICK heartbeat; |
|
| - | 20 | static int MY_ID = DEFAULT_ID; |
|
| - | 21 | static BYTE MY_NID = DEFAULT_NID; |
|
| - | 22 | static CAN_MESSAGE outCm; |
|
| 15 | 23 | ||
| 16 | static void canGetPacket(void); |
24 | static void canGetPacket(void); |
| 17 | 25 | ||
| 18 | #ifdef USE_CAN |
- | |
| 19 | - | ||
| 20 | 26 | ||
| 21 | /* |
27 | /* |
| 22 | * Function: canInit |
28 | * Function: canInit |
| 23 | * |
29 | * |
| 24 | * Input: none |
30 | * Input: none |
| 25 | * Output: none |
31 | * Output: none |
| Line 31... | Line 37... | ||
| 31 | { |
37 | { |
| 32 | CANCON = 0x80; //request config mode |
38 | CANCON = 0x80; //request config mode |
| 33 | while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request |
39 | while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request |
| 34 | 40 | ||
| 35 | // BAUD AND TQS |
41 | // BAUD AND TQS |
| 36 | 42 | ||
| - | 43 | // 500Khz@40Mhz (new by the book) |
|
| - | 44 | BRGCON1 = 0x04; |
|
| - | 45 | BRGCON2 = 0xD1; |
|
| - | 46 | BRGCON3 = 0x81; |
|
| - | 47 | ||
| 37 |
|
48 | //BRGCON1=0; |
| 38 | 49 | ||
| 39 | // Sync_Seq = 2 x TQ = 1 |
50 | // Sync_Seq = 2 x TQ = 1 |
| 40 | BRGCON1bits. |
51 | //BRGCON1bits.SJW1=0; |
| 41 | BRGCON1bits. |
52 | //BRGCON1bits.SJW0=1; |
| 42 | 53 | ||
| 43 | // Setting BRP. |
54 | // Setting BRP. |
| 44 |
|
55 | //BRGCON1=BRGCON1|CAN_BRP; |
| 45 | 56 | ||
| 46 | // Maximum PHEG1 |
57 | // Maximum PHEG1 |
| 47 | BRGCON2bits. |
58 | //BRGCON2bits.SEG2PHTS = 1; |
| 48 | 59 | ||
| 49 | // Phase_Seg1 = 2 x TQ = 1 |
60 | // Phase_Seg1 = 2 x TQ = 1 |
| 50 | BRGCON2bits. |
61 | //BRGCON2bits.SEG1PH2 = 0; |
| 51 | BRGCON2bits. |
62 | //BRGCON2bits.SEG1PH1 = 0; |
| 52 | BRGCON2bits. |
63 | //BRGCON2bits.SEG1PH0 = 1; |
| 53 | 64 | ||
| 54 | // Prop_Seq = 2 x TQ = 1 |
65 | // Prop_Seq = 2 x TQ = 1 |
| 55 | BRGCON2bits. |
66 | //BRGCON2bits.PRSEG2 = 0; |
| 56 | BRGCON2bits. |
67 | //BRGCON2bits.PRSEG1 = 0; |
| 57 | BRGCON2bits. |
68 | //BRGCON2bits.PRSEG0 = 1; |
| 58 | 69 | ||
| 59 | // Enableing bus wake-up |
70 | // Enableing bus wake-up |
| 60 | BRGCON3bits. |
71 | //BRGCON3bits.WAKDIS = 0; |
| 61 | 72 | ||
| 62 | // Dont use filter when wakeup |
73 | // Dont use filter when wakeup |
| 63 | BRGCON3bits. |
74 | //BRGCON3bits.WAKFIL = 0; |
| 64 | 75 | ||
| 65 | // Phase_Seg2 = 2 x TQ = 1 |
76 | // Phase_Seg2 = 2 x TQ = 1 |
| 66 | BRGCON3bits. |
77 | //BRGCON3bits.SEG2PH2 = 0; |
| 67 | BRGCON3bits. |
78 | //BRGCON3bits.SEG2PH1 = 0; |
| 68 | BRGCON3bits. |
79 | //BRGCON3bits.SEG2PH0 = 1; |
| 69 | 80 | ||
| 70 | ECANCON=0; |
81 | ECANCON=0; |
| 71 | ECANCONbits.MDSEL1 = 1; // 0 For mode 1 |
82 | ECANCONbits.MDSEL1 = 1; // 0 For mode 1 |
| 72 | ECANCONbits.MDSEL0 = 0; // 1 For mode 1 |
83 | ECANCONbits.MDSEL0 = 0; // 1 For mode 1 |
| 73 | 84 | ||
| Line 99... | Line 110... | ||
| 99 | while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode |
110 | while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode |
| 100 | #else |
111 | #else |
| 101 | CANCON = 0x00;//request normal mode |
112 | CANCON = 0x00;//request normal mode |
| 102 | while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode |
113 | while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode |
| 103 | #endif |
114 | #endif |
| - | 115 | ||
| - | 116 | ||
| - | 117 | // Init ticker service |
|
| - | 118 | tickInit(); |
|
| - | 119 | ||
| - | 120 | ||
| - | 121 | // Read ID and NID if exist. |
|
| - | 122 | if (EERead(NODE_ID_EE)==NODE_HAS_ID) |
|
| - | 123 | { |
|
| - | 124 | MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2); |
|
| - | 125 | MY_NID=EERead(NODE_ID_EE + 3); |
|
| - | 126 | } |
|
| - | 127 | ||
| - | 128 | // Send user program startup heatbeat |
|
| - | 129 | outCm.funct = FUNCT_BOOTLOADER; |
|
| - | 130 | outCm.funcc = FUNCC_BOOT_HEARTBEAT; |
|
| - | 131 | outCm.data_length = 1; |
|
| - | 132 | outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP; |
|
| - | 133 | while(!canSendMessage(outCm,PRIO_HIGH)); |
|
| 104 | 134 | ||
| 105 | } |
135 | } |
| 106 | 136 | ||
| 107 | 137 | ||
| 108 | /* |
138 | /* |
| Line 123... | Line 153... | ||
| 123 | 153 | ||
| 124 | if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;} |
154 | if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;} |
| 125 | if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;} |
155 | if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;} |
| 126 | if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;} |
156 | if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;} |
| 127 | } |
157 | } |
| - | 158 | ||
| - | 159 | tickUpdate(); |
|
| - | 160 | ||
| - | 161 | if ((tickGet()-heartbeat)>TICK_SECOND*5) |
|
| - | 162 | { |
|
| - | 163 | // Send alive heartbeat |
|
| - | 164 | outCm.funct = FUNCT_BOOTLOADER; |
|
| - | 165 | outCm.funcc = FUNCC_BOOT_HEARTBEAT; |
|
| - | 166 | outCm.data_length = 1; |
|
| - | 167 | outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE; |
|
| - | 168 | while(!canSendMessage(outCm,PRIO_HIGH)); |
|
| - | 169 | ||
| - | 170 | heartbeat = tickGet(); |
|
| - | 171 | } |
|
| - | 172 | ||
| - | 173 | ClrWdt(); |
|
| 128 | } |
174 | } |
| 129 | 175 | ||
| 130 | 176 | ||
| 131 | /* |
177 | /* |
| 132 | * Function: canGetPacket |
178 | * Function: canGetPacket |
| Line 167... | Line 213... | ||
| 167 | cm.data[4]=RXB0D4; cm.data[5]=RXB0D5; |
213 | cm.data[4]=RXB0D4; cm.data[5]=RXB0D5; |
| 168 | cm.data[6]=RXB0D6; cm.data[7]=RXB0D7; |
214 | cm.data[6]=RXB0D6; cm.data[7]=RXB0D7; |
| 169 | 215 | ||
| 170 | // Clear ful status |
216 | // Clear ful status |
| 171 | RXB0CONbits.RXFUL=0; |
217 | RXB0CONbits.RXFUL=0; |
| - | 218 | ||
| - | 219 | ||
| - | 220 | ||
| - | 221 | // Check if FUNCT_BOOTLOADER specific. |
|
| - | 222 | // reset and id change |
|
| - | 223 | if (cm.funct==FUNCT_BOOTLOADER) |
|
| - | 224 | { |
|
| - | 225 | if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID) |
|
| - | 226 | { |
|
| - | 227 | if (cm.funcc==FUNCC_BOOT_INIT) Reset(); // Reset me. |
|
| - | 228 | if (cm.funcc==FUNCC_BOOT_SET_ID) |
|
| - | 229 | { |
|
| - | 230 | // Change my ID and NID |
|
| - | 231 | MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]; |
|
| - | 232 | MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX]; |
|
| - | 233 | EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]); |
|
| - | 234 | EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]); |
|
| - | 235 | EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]); |
|
| - | 236 | EEWrite(NODE_ID_EE,NODE_HAS_ID); |
|
| - | 237 | // Send ack with new id. |
|
| - | 238 | outCm.funct = FUNCT_BOOTLOADER; |
|
| - | 239 | outCm.funcc = FUNCC_BOOT_ACK; |
|
| - | 240 | outCm.data_length = 8; |
|
| - | 241 | outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR; |
|
| - | 242 | while(!canSendMessage(outCm,PRIO_HIGH)); |
|
| - | 243 | } |
|
| - | 244 | } |
|
| - | 245 | } |
|
| - | 246 | ||
| 172 | 247 | ||
| 173 | //Call main parser |
248 | //Call main parser |
| 174 | canParse(cm); |
249 | canParse(cm); |
| 175 | } |
250 | } |
| 176 | 251 | ||
| Line 192... | Line 267... | ||
| 192 | if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)|0b00101; } |
267 | if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)|0b00101; } |
| 193 | // None of the transmit buffers were empty. |
268 | // None of the transmit buffers were empty. |
| 194 | else { return FALSE;} |
269 | else { return FALSE;} |
| 195 | 270 | ||
| 196 | if (prio<0 || prio>3) prio = 0; |
271 | if (prio<0 || prio>3) prio = 0; |
| - | 272 | ||
| - | 273 | // Append my id and nid |
|
| - | 274 | cm.nid = MY_NID; |
|
| - | 275 | cm.sid = MY_ID; |
|
| 197 | 276 | ||
| 198 | 277 | ||
| 199 | //RXB0SIDH 28 27 26 25 24 23 22 21 |
278 | //RXB0SIDH 28 27 26 25 24 23 22 21 |
| 200 | //RXB0SIDL 20 19 18 xx xx xx 17 16 |
279 | //RXB0SIDL 20 19 18 xx xx xx 17 16 |
| 201 | //RXB0EIDH 15 14 13 12 11 10 09 08 |
280 | //RXB0EIDH 15 14 13 12 11 10 09 08 |
| Line 240... | Line 319... | ||
| 240 | _endasm |
319 | _endasm |
| 241 | 320 | ||
| 242 | return TRUE; |
321 | return TRUE; |
| 243 | 322 | ||
| 244 | } |
323 | } |
| 245 | - | ||
| 246 | - | ||
| 247 | - | ||
| 248 | #endif //USE_CAN |
- | |