1 | #include "can.h"
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2 |
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3 | /* Assign 32x8 Word Message Buffers for ECAN1 in DMA RAM */
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4 | unsigned int ecan1MsgBuf[32][8] __attribute__((space(dma)));
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5 |
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6 | void init_can()
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7 | {
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8 | /* Set the Operating Frequency of the device to be 40MHz */
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9 | #define FCY 40000000
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10 |
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11 | //Peripherie den Pins zuweisen
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12 | // Unlock Registers
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13 | __builtin_write_OSCCONL(OSCCON & ~(1<<6));
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14 | // Assign C1Rx To Pin RP12
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15 | RPINR26bits.C1RXR = 12;
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16 | // Assign C1Tx To Pin RP13
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17 | RPOR6bits.RP13R = 0b10000;
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18 | // Lock Registers
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19 | __builtin_write_OSCCONL(OSCCON | (1<<6));
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20 |
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21 | TRISBbits.TRISB12 = 1; //C1RX als Eingang definieren
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22 | TRISBbits.TRISB13 = 0; //C1TX als Ausgang definieren
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23 |
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24 | /* Enable Window to Access Acceptance Filter Registers */
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25 | C1CTRL1bits.WIN=0x1;
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26 | /* Select Acceptance Filter Mask 0 for Acceptance Filter 0 */
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27 | C1FMSKSEL1bits.F0MSK=0x0;
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28 | /* Configure Acceptance Filter Mask 0 register to mask SID<2:0>
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29 | Mask Bits (11-bits) : 0b000 0000 0000 */
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30 | C1RXM0SIDbits.SID = 0x0000;
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31 | /* Configure Acceptance Filter 0 to match standard identifier
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32 | Filter Bits (11-bits): 0b011 1010 xxx */
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33 | C1RXF0SIDbits.SID = 0x01D0;
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34 | /* Acceptance Filter 0 to check for Standard Identifier */
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35 | C1RXM0SIDbits.MIDE = 0x1;
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36 | C1RXF0SIDbits.EXIDE= 0x0;
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37 | /* Acceptance Filter 0 to use Message Buffer 10 to store message */
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38 | C1BUFPNT1bits.F0BP = 0xA;
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39 | /* Filter 0 enabled for Identifier match with incoming message */
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40 | C1FEN1bits.FLTEN0=0x1;
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41 | /* Clear Window Bit to Access ECAN Control Registers */
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42 | C1CTRL1bits.WIN=0x0;
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43 |
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44 | /* Set the ECAN module for Configuration Mode before writing into the Baud Rate Control Registers*/
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45 | C1CTRL1bits.REQOP = 4;
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46 | /* Wait for the ECAN module to enter into Configuration Mode */
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47 | while(C1CTRL1bits.OPMODE != 4);
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48 | /* Phase Segment 1 time is 8 TQ */
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49 | C1CFG2bits.SEG1PH = 0x7;
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50 | /* Phase Segment 2 time is set to be programmable */
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51 | C1CFG2bits.SEG2PHTS = 0x1;
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52 | /* Phase Segment 2 time is 6 TQ */
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53 | C1CFG2bits.SEG2PH = 0x5;
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54 | /* Propagation Segment time is 5 TQ */
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55 | C1CFG2bits.PRSEG = 0x4;
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56 | /* Bus line is sampled three times at the sample point */
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57 | C1CFG2bits.SAM = 0x1;
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58 | /* Synchronization Jump Width set to 4 TQ */
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59 | C1CFG1bits.SJW = 0x3;
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60 | /* Baud Rate Prescaler bits set to 1:1, i.e., TQ = (2*1*1)/ FCAN */
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61 | C1CFG1bits.BRP = 0x0;
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62 |
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63 | /* Configure Message Buffer 0 for Transmission and assign priority*/
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64 | C1TR01CONbits.TXEN0 = 0x1;
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65 | C1TR01CONbits.TX0PRI = 0x3;
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66 |
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67 | /*DMA0-Config-Transmit*/
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68 |
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69 | /* Data Transfer Size: Word Transfer Mode */
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70 | DMA0CONbits.SIZE = 0x0;
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71 | /* Data Transfer Direction: DMA RAM to Peripheral */
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72 | DMA0CONbits.DIR = 0x1;
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73 | /* DMA Addressing Mode: Peripheral Indirect Addressing mode */
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74 | DMA0CONbits.AMODE = 0x2;
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75 | /* Operating Mode: Continuous, Ping-Pong modes disabled */
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76 | DMA0CONbits.MODE = 0x0;
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77 | /* Assign ECAN1 Transmit event for DMA Channel 0 */
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78 | DMA0REQ = 70;
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79 | /* Set Number of DMA Transfer per ECAN message to 8 words */
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80 | DMA0CNT = 7;
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81 | /* Peripheral Address: ECAN1 Transmit Register */
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82 | DMA0PAD = (volatile unsigned int)&C1TXD;
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83 | /* Start Address Offset for ECAN1 Message Buffer 0x0000 */
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84 | DMA0STA = __builtin_dmaoffset(ecan1MsgBuf);
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85 | /* Channel Enable: Enable DMA Channel 0 */
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86 | DMA0CONbits.CHEN = 0x1;
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87 | /* Channel Interrupt Enable: Enable DMA Channel 0 Interrupt */
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88 | IEC0bits.DMA0IE = 1;
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89 |
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90 | /*DMA1-Config-Receive*/
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91 |
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92 | /* Data Transfer Size: Word Transfer Mode */
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93 | DMA1CONbits.SIZE = 0x0;
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94 | /* Data Transfer Direction: Peripheral to DMA RAM */
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95 | DMA1CONbits.DIR = 0x0;
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96 | /* DMA Addressing Mode: Peripheral Indirect Addressing mode */
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97 | DMA1CONbits.AMODE = 0x2;
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98 | /* Operating Mode: Continuous, Ping-Pong modes disabled */
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99 | DMA1CONbits.MODE = 0x0;
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100 | /* Assign ECAN1 Receive event for DMA Channel 0 */
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101 | DMA1REQ = 34;
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102 | /* Set Number of DMA Transfer per ECAN message to 8 words */
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103 | DMA1CNT = 7;
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104 | /* Peripheral Address: ECAN1 Receive Register */
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105 | DMA1PAD = (volatile unsigned int)&C1RXD;
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106 | /* Start Address Offset for ECAN1 Message Buffer 0x0000 */
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107 | DMA1STA = 0x0000;
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108 | /* Channel Enable: Enable DMA Channel 1 */
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109 | DMA1CONbits.CHEN = 0x1;
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110 | /* Channel Interrupt Enable: Enable DMA Channel 1 Interrupt */
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111 | IEC0bits.DMA1IE = 1;
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112 |
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113 | /* Put the ECAN Module into Normal Mode Operating Mode*/
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114 | C1CTRL1bits.REQOP = 0;
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115 | /* Wait for the ECAN module to enter into Normal Operating Mode */
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116 | while(C1CTRL1bits.OPMODE != 0);
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117 | }
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118 |
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119 | void __attribute__((__interrupt__,no_auto_psv)) _DMA1Interrupt(void)
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120 | {
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121 | IFS0bits.DMA1IF = 0; //Clear the DMA3 Interrupt Flag
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122 | }
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123 |
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124 | void send_can()
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125 | {
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126 | /* WRITE TO MESSAGE BUFFER 0 */
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127 | ecan1MsgBuf[0][0] = 0x123C;
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128 | ecan1MsgBuf[0][1] = 0x0000;
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129 | ecan1MsgBuf[0][2] = 0x8;
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130 | /* WRITE MESSAGE DATA BYTES */
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131 | ecan1MsgBuf[0][3] = 0xabcd;
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132 | ecan1MsgBuf[0][4] = 0xabcd;
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133 | ecan1MsgBuf[0][5] = 0xabcd;
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134 | ecan1MsgBuf[0][6] = 0xabcd;
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135 | /* REQUEST MESSAGE BUFFER 0 TRANSMISSION */
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136 | C1TR01CONbits.TXREQ0 = 0x1;
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137 | }
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