William/Senior-Design-Project_WMU-Sunseeker_Code
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Sunseeker Lab A-216
2021-05-21 13:25:08 -04:00
parent b8a5f8b8a5
commit 0956ea6ae0
7 changed files with 218 additions and 75 deletions
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156
Telem_Debug/Debug3/can0.c
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@@ -34,7 +34,14 @@
#include "SunseekerTelemetry2021.h"
// Public variables
can_variables can;
can_struct can;
can_struct TX_can0_message;
can_struct RX_can0_message;
extern unsigned long can_msg_count;
extern unsigned long can_err_count;
extern unsigned long can_read_cnt;
// Private variables
unsigned char buffer[16];
@@ -152,10 +159,18 @@ void can0_init( void )
*/
void can0_receive( void )
{
can_struct *RXPtr_can_message;
unsigned char flags;
can_msg_count++;
// Set up pointer to receive queue
RXPtr_can_message=&(*can0_queue.PutPt);
// Read out the interrupt flags register
can0_read( CANINTF, &flags, 1 );
// Check for errors
if(( flags & MCP_IRQ_ERR ) != 0x00 ){
// Read error flags and counters
@@ -164,12 +179,12 @@ void can0_receive( void )
// Clear error flags
can0_mod( EFLAG, buffer[0], 0x00 ); // Modify (to '0') all bits that were set
// Return error code, a blank address field, and error registers in data field
can.status = CAN_ERROR;
can.address = 0x0000;
can.data.data_u8[0] = flags; // CANINTF
can.data.data_u8[1] = buffer[0]; // EFLG
can.data.data_u8[2] = buffer[1]; // TEC
can.data.data_u8[3] = buffer[2]; // REC
RXPtr_can_message->status = CAN_ERROR;
RXPtr_can_message->address = 0x0000;
RXPtr_can_message->data.data_u8[0] = flags; // CANINTF
RXPtr_can_message->data.data_u8[1] = buffer[0]; // EFLG
RXPtr_can_message->data.data_u8[2] = buffer[1]; // TEC
RXPtr_can_message->data.data_u8[3] = buffer[2]; // REC
// Clear the IRQ flag
can0_mod( CANINTF, MCP_IRQ_ERR, 0x00 );
}
@@ -177,65 +192,70 @@ void can0_receive( void )
else if(( flags & MCP_IRQ_RXB0 ) != 0x00 ){
// Read in the info, address & message data
can0_read( RXB0CTRL, &buffer[0], 14 );
// Clear the IRQ flag as fast as possible
can0_mod( CANINTF, MCP_IRQ_RXB0, 0x00 );
// Fill out return structure
// check for Remote Frame requests and indicate the status correctly
if(( buffer[0] & MCP_RXB0_RTR ) == 0x00 ){
// We've received a standard data packet
can.status = CAN_OK;
RXPtr_can_message->status = CAN_OK;
// Fill in the data
can.data.data_u8[0] = buffer[ 6];
can.data.data_u8[1] = buffer[ 7];
can.data.data_u8[2] = buffer[ 8];
can.data.data_u8[3] = buffer[ 9];
can.data.data_u8[4] = buffer[10];
can.data.data_u8[5] = buffer[11];
can.data.data_u8[6] = buffer[12];
can.data.data_u8[7] = buffer[13];
RXPtr_can_message->data.data_u8[1] = buffer[ 7];
RXPtr_can_message->data.data_u8[2] = buffer[ 8];
RXPtr_can_message->data.data_u8[3] = buffer[ 9];
RXPtr_can_message->data.data_u8[4] = buffer[10];
RXPtr_can_message->data.data_u8[5] = buffer[11];
RXPtr_can_message->data.data_u8[6] = buffer[12];
RXPtr_can_message->data.data_u8[7] = buffer[13];
}
else{
// We've received a remote frame request
// Data is irrelevant with an RTR
can.status = CAN_RTR;
RXPtr_can_message->status = CAN_RTR;
}
// Fill in the address
can.address = buffer[1];
can.address = can.address << 3;
buffer[2] = buffer[2] >> 5;
can.address = can.address | buffer[2];
// Clear the IRQ flag
can0_mod( CANINTF, MCP_IRQ_RXB0, 0x00 );
RXPtr_can_message->address = ((int)(buffer[1]) << 3) | ((int)(buffer[2]) >> 5);
can_read_cnt++;
//add message to queue to be decoded
can_fifo_PUT(&can0_queue, *RXPtr_can_message);
}
// No error, check for received messages, buffer 1
else if(( flags & MCP_IRQ_RXB1 ) != 0x00 ){
// Read in the info, address & message data
can0_read( RXB1CTRL, &buffer[0], 14 );
// Clear the IRQ flag as fast as possible
can0_mod( CANINTF, MCP_IRQ_RXB1, 0x00 );
// Fill out return structure
// check for Remote Frame requests and indicate the status correctly
if(( buffer[0] & MCP_RXB1_RTR ) == 0x00 ){
// We've received a standard data packet
can.status = CAN_OK;
RXPtr_can_message->status = CAN_OK;
// Fill in the data
can.data.data_u8[0] = buffer[ 6];
can.data.data_u8[1] = buffer[ 7];
can.data.data_u8[2] = buffer[ 8];
can.data.data_u8[3] = buffer[ 9];
can.data.data_u8[4] = buffer[10];
can.data.data_u8[5] = buffer[11];
can.data.data_u8[6] = buffer[12];
can.data.data_u8[7] = buffer[13];
RXPtr_can_message->data.data_u8[0] = buffer[ 6];
RXPtr_can_message->data.data_u8[1] = buffer[ 7];
RXPtr_can_message->data.data_u8[2] = buffer[ 8];
RXPtr_can_message->data.data_u8[3] = buffer[ 9];
RXPtr_can_message->data.data_u8[4] = buffer[10];
RXPtr_can_message->data.data_u8[5] = buffer[11];
RXPtr_can_message->data.data_u8[6] = buffer[12];
RXPtr_can_message->data.data_u8[7] = buffer[13];
}
else{
// We've received a remote frame request
// Data is irrelevant with an RTR
can.status = CAN_RTR;
RXPtr_can_message->status = CAN_RTR;
}
// Fill in the address
can.address = buffer[1];
can.address = can.address << 3;
buffer[2] = buffer[2] >> 5;
can.address = can.address | buffer[2];
// Clear the IRQ flag
can0_mod( CANINTF, MCP_IRQ_RXB1, 0x00 );
RXPtr_can_message->address = ((int)(buffer[1]) << 3) | ((int)(buffer[2]) >> 5);
can_read_cnt++;
//add message to queue to be decoded
can_fifo_PUT(&can0_queue, *RXPtr_can_message);
}
// If multiple receive then clear that error
else if(( flags & MCP_IRQ_MERR) != 0x00 ){
@@ -245,21 +265,23 @@ void can0_receive( void )
// Clear error flags
can0_mod( EFLAG, buffer[0], 0x00 ); // Modify (to '0') all bits that were set
// Return error code, a blank address field, and error registers in data field
can.status = CAN_MERROR;
can.address = 0x0000;
can.data.data_u8[0] = flags; // CANINTF
can.data.data_u8[1] = buffer[0]; // EFLG
can.data.data_u8[2] = buffer[1]; // TEC
can.data.data_u8[3] = buffer[2]; // REC
RXPtr_can_message->status = CAN_MERROR;
RXPtr_can_message->address = 0x0000;
RXPtr_can_message->data.data_u8[0] = flags; // CANINTF
RXPtr_can_message->data.data_u8[1] = buffer[0]; // EFLG
RXPtr_can_message->data.data_u8[2] = buffer[1]; // TEC
RXPtr_can_message->data.data_u8[3] = buffer[2]; // REC
// Clear the IRQ flag
can0_mod( CANINTF, MCP_IRQ_MERR, 0x00 );
}
//not handled by buffers or errors
else{
can.status = CAN_FERROR;
can.address = 0x0001;
can.data.data_u8[0] = flags; // CANINTF
RXPtr_can_message->status = CAN_FERROR;
RXPtr_can_message->address = 0x0001;
RXPtr_can_message->data.data_u8[0] = flags; // CANINTF
// Clear all IRQ flag
can0_mod( CANINTF, 0xFF, 0x00 );
can_err_count++;
}
//added to tritum code to account for the fact that we could have more then one intrrupt pending at a given time
@@ -293,29 +315,29 @@ int can0_transmit( void )
// Fill data into buffer, it's used by any address
// Allow room at the start of the buffer for the address info if needed
buffer[ 5] = can.data.data_u8[0];
buffer[ 6] = can.data.data_u8[1];
buffer[ 7] = can.data.data_u8[2];
buffer[ 8] = can.data.data_u8[3];
buffer[ 9] = can.data.data_u8[4];
buffer[10] = can.data.data_u8[5];
buffer[11] = can.data.data_u8[6];
buffer[12] = can.data.data_u8[7];
buffer[ 5] = TX_can0_message.data.data_u8[0];
buffer[ 6] = TX_can0_message.data.data_u8[1];
buffer[ 7] = TX_can0_message.data.data_u8[2];
buffer[ 8] = TX_can0_message.data.data_u8[3];
buffer[ 9] = TX_can0_message.data.data_u8[4];
buffer[10] = TX_can0_message.data.data_u8[5];
buffer[11] = TX_can0_message.data.data_u8[6];
buffer[12] = TX_can0_message.data.data_u8[7];
// Check if the incoming address has already been configured in a mailbox
if( can.address == buf_addr[0] ){
if( TX_can0_message.address == buf_addr[0] ){
// Mailbox 0 setup matches our new message
// Write to TX Buffer 0, start at data registers, and initiate transmission
can0_write_tx( 0x01, &buffer[5] );
can0_rts( 0 );
}
else if( can.address == buf_addr[1] ){
else if( TX_can0_message.address == buf_addr[1] ){
// Mailbox 1 setup matches our new message
// Write to TX Buffer 1, start at data registers, and initiate transmission
can0_write_tx( 0x03, &buffer[5] );
can0_rts( 1 );
}
else if( can.address == buf_addr[2] ){
else if( TX_can0_message.address == buf_addr[2] ){
// Mailbox 2 setup matches our new message
// Write to TX Buffer 2, start at data registers, and initiate transmission
can0_write_tx( 0x05, &buffer[5] );
@@ -324,8 +346,8 @@ int can0_transmit( void )
else{
// No matches in existing mailboxes
// No mailboxes already configured, so we'll need to load an address - set it up
buffer[0] = (unsigned char)(can.address >> 3);
buffer[1] = (unsigned char)(can.address << 5);
buffer[0] = (unsigned char)(TX_can0_message.address >> 3);
buffer[1] = (unsigned char)(TX_can0_message.address << 5);
buffer[2] = 0x00; // EID8
buffer[3] = 0x00; // EID0
buffer[4] = 0x08; // DLC = 8 bytes
@@ -336,19 +358,19 @@ int can0_transmit( void )
// Write to TX Buffer 0, start at address registers, and initiate transmission
can0_write_tx( 0x00, &buffer[0] );
can0_rts( 0 );
buf_addr[0] = can.address;
buf_addr[0] = TX_can0_message.address;
}
else if( buf_addr[1] == 0xFFFF ){ // Mailbox 1 is free
// Write to TX Buffer 1, start at address registers, and initiate transmission
can0_write_tx( 0x02, &buffer[0] );
can0_rts( 1 );
buf_addr[1] = can.address;
buf_addr[1] = TX_can0_message.address;
}
else if( buf_addr[2] == 0xFFFF ){ // Mailbox 2 is free
// Write to TX Buffer 2, start at address registers, and initiate transmission
can0_write_tx( 0x04, &buffer[0] );
can0_rts( 2 );
buf_addr[2] = can.address;
buf_addr[2] = TX_can0_message.address;
}
else {
@@ -369,21 +391,21 @@ int can0_transmit( void )
// Setup mailbox 0 and send the message
can0_write_tx( 0x00, &buffer[0] );
can0_rts( 0 );
buf_addr[0] = can.address;
buf_addr[0] = TX_can0_message.address;
}
// Is it mailbox 1?
else if(( can0_read_status() & 0x10 ) == 0x00) {
// Setup mailbox 1 and send the message
can0_write_tx( 0x02, &buffer[0] );
can0_rts( 1 );
buf_addr[1] = can.address;
buf_addr[1] = TX_can0_message.address;
}
// Is it mailbox 2?
else if(( can0_read_status() & 0x40 ) == 0x00) {
// Setup mailbox 2 and send the message
can0_write_tx( 0x04, &buffer[0] );
can0_rts( 2 );
buf_addr[2] = can.address;
buf_addr[2] = TX_can0_message.address;
}
// }
}