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Add support for remote CAN frames on LPC11CXX #346

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Merged
merged 1 commit into from
Jun 11, 2014
Merged

Add support for remote CAN frames on LPC11CXX #346

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27 changes: 19 additions & 8 deletions libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
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Original file line number Diff line number Diff line change
Expand Up @@ -69,12 +69,12 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
LPC_CAN->IF1_ARB1 = BFN_PREP(id, CANIFn_ARB1_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | BFN_PREP(id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK1 = BFN_PREP(mask, CANIFn_MSK1_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD /* | CANIFn_MSK2_MDIR */ | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK);
}
else {
// Mark message valid, Direction = TX, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | BFN_PREP(id << 2, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(mask << 2, CANIFn_MSK2_MSK);
LPC_CAN->IF1_MSK2 = /* CANIFn_MSK2_MDIR | */ BFN_PREP(mask << 2, CANIFn_MSK2_MSK);
}

// Use mask, single message object and set DLC
Expand Down Expand Up @@ -286,16 +286,22 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
// Make sure the interface is available
while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );

// Set the direction bit based on the message type
uint32_t direction = 0;
if (msg.type == CANData) {
direction = CANIFn_ARB2_DIR;
}

if(msg.format == CANExtended) {
// Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything
// Mark message valid, Extended Frame, Set Identifier and mask everything
LPC_CAN->IF1_ARB1 = BFN_PREP(msg.id, CANIFn_ARB1_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | CANIFn_ARB2_DIR | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | direction | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK1 = BFN_PREP(ID_EXT_MASK, CANIFn_MSK1_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(ID_EXT_MASK >> 16, CANIFn_MSK2_MSK);
}
else {
// Mark message valid, Direction = TX, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_DIR | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID);
// Mark message valid, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | direction | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(ID_STD_MASK << 2, CANIFn_MSK2_MSK);
}

Expand Down Expand Up @@ -364,8 +370,13 @@ int can_read(can_t *obj, CAN_Message *msg, int handle) {
msg->id = (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK) >> 2;
}

// TODO: Remote frame support
msg->type = CANData;
if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_DIR) {
msg->type = CANRemote;
}
else {
msg->type = CANData;
}

msg->len = BFN_GET(LPC_CAN->IF2_MCTRL, CANIFn_MCTRL_DLC); // TODO: If > 8, len = 8
msg->data[0] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA0);
msg->data[1] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA1);
Expand Down