//****************************************************************************
// @Module        TwinCAN Module (CAN)
// @Filename      CAN.C
// @Project       CAN.dav
//----------------------------------------------------------------------------
// @Controller    Infineon XC164CM-8F20
//
// @Compiler      Keil
//
// @Codegenerator 1.1
//
// @Description   This file contains functions that use the CAN module.
//
//----------------------------------------------------------------------------
// @Date          15.01.2008 21:54:12
//
//****************************************************************************

// USER CODE BEGIN (CAN_General,1)

// USER CODE END



//****************************************************************************
// @Project Includes
//****************************************************************************

#include "MAIN.H"

// USER CODE BEGIN (CAN_General,2)

// USER CODE END


//****************************************************************************
// @Macros
//****************************************************************************

// USER CODE BEGIN (CAN_General,3)

// USER CODE END


//****************************************************************************
// @Defines
//****************************************************************************

// Structure for a single TwinCAN object
// A total of 31 such object structures exists

struct stCanObj 
{
  ubyte  ubData[8];  // Message Data 0..7
  ulong  ulCANAR;    // Arbitration Register
  ulong  ulCANAMR;   // Acceptance Mask Register
  uword  uwMSGCTR;   // Message Control Register
  uword  uwCounter;  // Frame Counter
  uword  uwMSGCFG;   // Message Configuration Register
  uword  uwINP;      // Interrupt Node Pointer
  uword  uwCANFCR;   // FIFO / Gateway Control Register 
  uword  uwCANPTR;   // FIFO Pointer
  ulong  ulReserved; // Reserved
};

#define CAN_HWOBJ ((struct stCanObj volatile far *) 0x200300)

// USER CODE BEGIN (CAN_General,4)

// USER CODE END


//****************************************************************************
// @Typedefs
//****************************************************************************

// USER CODE BEGIN (CAN_General,5)

// USER CODE END


//****************************************************************************
// @Imported Global Variables
//****************************************************************************

// USER CODE BEGIN (CAN_General,6)
extern i;
// USER CODE END


//****************************************************************************
// @Global Variables
//****************************************************************************


// USER CODE BEGIN (CAN_General,7)

// USER CODE END


//****************************************************************************
// @External Prototypes
//****************************************************************************

// USER CODE BEGIN (CAN_General,8)

// USER CODE END


//****************************************************************************
// @Prototypes Of Local Functions
//****************************************************************************

// USER CODE BEGIN (CAN_General,9)

// USER CODE END


//****************************************************************************
// @Function      void CAN_vInit(void) 
//
//----------------------------------------------------------------------------
// @Description   This is the initialization function of the CAN function 
//                library. It is assumed that the SFRs used by this library 
//                are in reset state. 
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    None
//
//----------------------------------------------------------------------------
// @Date          15.01.2008
//
//****************************************************************************

// USER CODE BEGIN (Init,1)

// USER CODE END

void CAN_vInit(void)
{

  // USER CODE BEGIN (Init,2)

  // USER CODE END

  ///  -----------------------------------------------------------------------
  ///  Configuration of CAN Node A:
  ///  -----------------------------------------------------------------------

  ///  General Configuration of the Node A:
  ///  - set INIT and CCE

  CAN_ACR        =  0x0041;      // load global control register

  ///  -----------------------------------------------------------------------
  ///  Configuration of CAN Node B:
  ///  -----------------------------------------------------------------------

  ///  General Configuration of the Node B:
  ///  - set INIT and CCE

  CAN_BCR        =  0x0041;      // load global control register
  CAN_BGINP      =  0x0000;      // load global interrupt node pointer 
                                 // register

  ///  Configuration of the Node B Error Counter:
  ///  - the error warning threshold value (warning level) is 96

  CAN_BECNTH     =  0x0060;      // load error counter register high

  ///  Configuration of the used CAN Port Pins:
  ///  - P9.0 is used for CAN Interface Input (RXDCB)
  ///  - P9.1 is used for CAN Interface Output (TXDCB)

  ALTSEL0P9     |=  0x0002;      // select alternate output function
  ALTSEL1P9     |=  0x0002;      // select alternate output function
  DP9  = (DP9  & ~(uword)0x0002) | 0x0002;    //set direction register

  ///  Configuration of the Node B Baud Rate:
  ///  - required baud rate = 100,000 kbaud
  ///  - real baud rate     = 100,000 kbaud
  ///  - sample point       = 60,00 %
  ///  - there are 5 time quanta before sample point
  ///  - there are 4 time quanta after sample point
  ///  - the (re)synchronization jump width is 2 time quanta

  CAN_BBTRL      =  0x3453;      // load bit timing register low

  CAN_BBTRH      =  0x0000;      // load bit timing register high

  CAN_BFCRL      =  0x0000;      // load frame counter timing register low

  CAN_BFCRH      =  0x0000;      // load frame counter timing register high

  ///  -----------------------------------------------------------------------
  ///  Configuration of the CAN Message Objects 0 - 31:
  ///  -----------------------------------------------------------------------

  ///  -----------------------------------------------------------------------
  ///  Configuration of Message Object 0:
  ///  -----------------------------------------------------------------------
  ///  - message object 0 is valid

  ///  - message object is used as transmit object
  ///  - standard 11-bit identifier
  ///  - 1 valid data bytes
  ///  - this message object works with CAN node B
  ///  - remote monitoring is disabled

  CAN_MSGCFGL0   =  0x001A;      // load message configuration register low

  CAN_MSGCFGH0   =  0x0000;      // load message configuration register high

  ///  - acceptance mask 11-bit: 0x7FF
  ///  - identifier 11-bit:      0x001

  CAN_MSGAMRL0   =  0xFFFF;      // load acceptance mask register low
  CAN_MSGAMRH0   =  0xFFFF;      // load acceptance mask register high
  CAN_MSGARL0    =  0x0000;      // load arbitration register low
  CAN_MSGARH0    =  0x0004;      // load arbitration register high
  CAN_MSGDRL00   =  0x00AA;      // load data register 0 low
  CAN_MSGDRH00   =  0x0000;      // load data register 0 high
  CAN_MSGDRL04   =  0x0000;      // load data register 4 low
  CAN_MSGDRH04   =  0x0000;      // load data register 4 high

  ///  - functionality of standard message object

  CAN_MSGFGCRL0  =  0x0000;      // load FIFO/gateway control register low
  CAN_MSGFGCRH0  =  0x0000;      // load FIFO/gateway control register high

  CAN_MSGCTRH0   =  0x0000;      // load message control register high
  CAN_MSGCTRL0   =  0x5595;      // load message control register low

  ///  -----------------------------------------------------------------------
  ///  Configuration of Message Object 1:
  ///  -----------------------------------------------------------------------
  ///  - message object 1 is valid
  ///  - enable receive interrupt; bit INTPND is set after successfull 
  ///    reception of a frame

  ///  - message object is used as receive object
  ///  - standard 11-bit identifier
  ///  - 0 valid data bytes
  ///  - this message object works with CAN node B
  ///  - remote monitoring is disabled
  ///  - receive interrupt node pointer: TwinCAN SRN 0

  CAN_MSGCFGL1   =  0x0002;      // load message configuration register low

  CAN_MSGCFGH1   =  0x0000;      // load message configuration register high

  ///  - acceptance mask 11-bit: 0x7FF
  ///  - identifier 11-bit:      0x000

  CAN_MSGAMRL1   =  0xFFFF;      // load acceptance mask register low
  CAN_MSGAMRH1   =  0xFFFF;      // load acceptance mask register high
  CAN_MSGARL1    =  0x0000;      // load arbitration register low
  CAN_MSGARH1    =  0x0000;      // load arbitration register high
  CAN_MSGDRL10   =  0x0000;      // load data register 0 low
  CAN_MSGDRH10   =  0x0000;      // load data register 0 high
  CAN_MSGDRL14   =  0x0000;      // load data register 4 low
  CAN_MSGDRH14   =  0x0000;      // load data register 4 high

  ///  - functionality of standard message object

  CAN_MSGFGCRL1  =  0x0000;      // load FIFO/gateway control register low
  CAN_MSGFGCRH1  =  0x0001;      // load FIFO/gateway control register high

  CAN_MSGCTRH1   =  0x0000;      // load message control register high
  CAN_MSGCTRL1   =  0x5599;      // load message control register low


  ///  -----------------------------------------------------------------------
  ///  Configuration of Service Request Nodes 0 - 7:
  ///  -----------------------------------------------------------------------
  ///  SRN0 service request node configuration:
  ///  - SRN0 interrupt priority level (ILVL) = 8
  ///  - SRN0 interrupt group level (GLVL) = 0
  ///  - SRN0 group priority extension (GPX) = 0

  CAN_0IC        =  0x0060;     



  // USER CODE BEGIN (Init,3)

  // USER CODE END


  CAN_PISEL      =  0x0008;      // load port input select register

  //   -----------------------------------------------------------------------
  //   Start the CAN Nodes:
  //   -----------------------------------------------------------------------

  CAN_BCR       &= ~(uword)0x0041; // reset INIT and CCE


  // USER CODE BEGIN (Init,4)

  // USER CODE END

} //  End of function CAN_vInit


//****************************************************************************
// @Function      void CAN_vTransmit(ubyte ubObjNr) 
//
//----------------------------------------------------------------------------
// @Description   This function triggers the CAN controller to send the 
//                selected message.
//                If the selected message object is a TRANSMIT OBJECT then 
//                this function triggers the sending of a data frame. If 
//                however the selected message object is a RECEIVE OBJECT 
//                this function triggers the sending of a remote frame.
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    ubObjNr: 
//                Number of the message object (0-31)
//
//----------------------------------------------------------------------------
// @Date          15.01.2008
//
//****************************************************************************

// USER CODE BEGIN (Transmit,1)

// USER CODE END

void CAN_vTransmit(ubyte ubObjNr)
{
  CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xe7ff;  // set TXRQ, reset CPUUPD

} //  End of function CAN_vTransmit


//****************************************************************************
// @Function      void CAN_viSRN0(void) 
//
//----------------------------------------------------------------------------
// @Description   This is the interrupt service routine for the Service 
//                Request Node 0 of the TwinCAN module.
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    None
//
//----------------------------------------------------------------------------
// @Date          15.01.2008
//
//****************************************************************************

// USER CODE BEGIN (SRN0,1)

// USER CODE END

void CAN_viSRN0(void) interrupt CAN_SRN0INT using RB_LEVEL8
{

  // USER CODE BEGIN (SRN0,2)

  // USER CODE END

  while((( ((ulong)CAN_RXIPNDH << 16) + CAN_RXIPNDL) & 0x00000002))
  {

    // message object 1 interrupt

    if((CAN_HWOBJ[1].uwMSGCTR & 0x0003) == 0x0002)         // if INTPND 
    {
      if(CAN_RXIPNDL & CAN_RXIPNDL_RXIPND1)   // message object 1 receive interrupt
      {

        if((CAN_HWOBJ[1].uwMSGCTR & 0x0300) == 0x0200)     // if NEWDAT is set
        {

          if ((CAN_HWOBJ[1].uwMSGCTR & 0x0c00) == 0x0800)  // if MSGLST is set
          {
            // Indicates that the CAN controller has stored a new 
            // message into this object, while NEWDAT was still set,
            // ie. the previously stored message is lost.

            CAN_HWOBJ[1].uwMSGCTR = 0xf7ff;  // reset MSGLST

            // USER CODE BEGIN (SRN0_OBJ1,1)

            // USER CODE END
          }
          else
          {
            // The CAN controller has stored a new message
            // into this object.

            // USER CODE BEGIN (SRN0_OBJ1,2)

            // USER CODE END
          }

          CAN_HWOBJ[1].uwMSGCTR = 0xfdff;    // reset NEWDAT
        }

      }  // End of RXIPND1


      CAN_HWOBJ[1].uwMSGCTR = 0xfffd;        // reset INTPND

      // USER CODE BEGIN (SRN0_OBJ1,6)

      // USER CODE END

    }


    // USER CODE BEGIN (SRN0,3)

    // USER CODE END


  }  // End of while()

  // USER CODE BEGIN (SRN0,7)
  i=0;
  // USER CODE END

} //  End of function CAN_viSRN0



// USER CODE BEGIN (CAN_General,10)

// USER CODE END