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CCS-COMM_BOARD
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Merge branch 'feature/baseCAN' into dev

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CAN module is added here. This is not the can protocol for communication
between CPU and COMM boards, but common CAN protocol that must be
extended in the future
feature/CAN_timeOut
Oleg 2 months ago
parent 0efa3cb375 0246107428
commit 714f0265cc
4 changed files with 17 additions and 24 deletions
Show Stats Download Patch File Download Diff File

19
Protocol/CAN.cpp
Unescape Escape View File

@ -1,13 +1,14 @@
#include "DSP2833x_Device.h"
#include <cstddef>
#include "CAN.h"
namespace canSpace {
void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(NULL);
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
p_MailBox->MDH.all = 0x0;
@ -22,8 +23,9 @@ void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
CanShadow_.CANTRS.all |= mboxControl;
p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; } // TODO add tx error somewhere here
while((CanShadow_.CANTA.all & mboxControl) == 0 );// Wait for TA bit to be set
// Wait for TA bit to be set
do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
while((CanShadow_.CANTA.all & mboxControl) == 0 );
// Clear TA (transmit acknowledge bit)
CanShadow_.CANTA.all = 0;
@ -38,7 +40,7 @@ void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO
// then transmitted.
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
// Set change data request (CDR bit + MBOX number)
@ -56,7 +58,7 @@ void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO
void CAN::sendRemoteRequest(Uint16 boxNumber){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
Uint32 mboxControl(0);
@ -87,7 +89,7 @@ bool CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults ju
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(NULL);
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
@ -107,7 +109,6 @@ bool CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults ju
if(newMessage || lostMessage) {
return -1;
// set_fault();
}
return 0;

1
Protocol/CAN.h
Unescape Escape View File

@ -1,6 +1,5 @@
#pragma once
#include "DSP2833x_Device.h"
#include "DSP28x_Project.h"
namespace canSpace {

15
Protocol/CANConfig.cpp
Unescape Escape View File

@ -1,6 +1,4 @@
#include "DSP2833x_Device.h"
#include "DSP2833x_ECan.h"
#include <cstddef>
#include "CAN.h"
namespace canSpace {
@ -185,7 +183,7 @@ void CAN::config(Uint16 baudrate, Uint16 flags){
void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
Uint32 mboxControl(0);
@ -201,7 +199,6 @@ void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
while((CanShadow_.CANTRS.all & mboxControl) != 0); // Wait for TRS bit to be cleared
}
// Mailbox disable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all &= ~(mboxControl);
@ -217,7 +214,7 @@ void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
// Write to RTR and TPL field in control reg
p_MailBox->MSGCTRL.bit.RTR = configCtrlReg.bit.RTR;
// p_MailBox->MSGCTRL.bit.TPL = configData.msgCtrlReg.bit.TPL; // enable if you need to set msg priority lvl
p_MailBox->MSGCTRL.bit.TPL = configCtrlReg.bit.TPL;
// Mailbox enable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
@ -229,7 +226,7 @@ void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
void CAN::configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
Uint32 mboxControl(0);
@ -263,10 +260,6 @@ void CAN::configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all |= mboxControl;
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
// Write to the mailbox RAM field // TODO doesn't work when rx. Check for RTR
// p_MailBox->MDL.all = 0x55555555;
// p_MailBox->MDH.all = 0x55555555;
}

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