[SAM] updating libsam and CAN files

2025-06-22 08:22:04 +03:00 · 2013-01-27 15:52:28 +01:00
parent 3a3bf643f9
commit e8c57c4f18
10 changed files with 512 additions and 39 deletions
--- a/hardware/arduino/sam/libraries/CAN/CAN.cpp
+++ b/hardware/arduino/sam/libraries/CAN/CAN.cpp
@ -0,0 +1,129 @@
+#include "CAN.h"
+#include "sn65hvd234.h"
+
+/*----------------------------------------------------------------------------
+ *        Variables
+ *----------------------------------------------------------------------------*/
+
+/* CAN0 Transceiver */
+SSN65HVD234_Data gCanTransceiver0 ;
+/* CAN1 Transceiver */
+SSN65HVD234_Data gCanTransceiver1 ;
+
+/* CAN0 Transfer */
+SCanTransfer gCanTransfer0 ;
+/* CAN1 Transfer */
+SCanTransfer gCanTransfer1 ;
+
+/*----------------------------------------------------------------------------
+ *        Local functions
+ *----------------------------------------------------------------------------*/
+
+uint32_t CAN_InitShieldHardware( uint32_t )
+{
+  // Initialize CAN0 pins
+  PIO_Configure(
+    g_APinDescription[PINS_CAN0].pPort,
+    g_APinDescription[PINS_CAN0].ulPinType,
+    g_APinDescription[PINS_CAN0].ulPin,
+    g_APinDescription[PINS_CAN0].ulPinConfiguration);
+
+  /* Initialize CAN0 Transceiver */
+  SN65HVD234_Init( &gCanTransceiver0 ) ;
+  SN65HVD234_SetRs( &gCanTransceiver0, PIOB, PIO_PB20 ) ;
+  SN65HVD234_SetEN( &gCanTransceiver0, PIOB, PIO_PB21 ) ;
+  /* Enable CAN0 Transceiver */
+  SN65HVD234_DisableLowPower( &gCanTransceiver0 ) ;
+  SN65HVD234_Enable( &gCanTransceiver0 ) ;
+
+  // Initialize CAN1 pins
+  PIO_Configure(
+    g_APinDescription[PINS_CAN1].pPort,
+    g_APinDescription[PINS_CAN1].ulPinType,
+    g_APinDescription[PINS_CAN1].ulPin,
+    g_APinDescription[PINS_CAN1].ulPinConfiguration);
+
+  /* Initialize CAN1 Transceiver */
+  SN65HVD234_Init( &gCanTransceiver1 ) ;
+  SN65HVD234_SetRs( &gCanTransceiver1, PIOE, PIO_PB15 ) ;
+  SN65HVD234_SetEN( &gCanTransceiver1, PIOE, PIO_PB16 ) ;
+  /* Enable CAN1 Transceiver */
+  SN65HVD234_DisableLowPower( &gCanTransceiver1 ) ;
+  SN65HVD234_Enable( &gCanTransceiver1 ) ;
+}
+
+uint32_t CAN_DeInitShieldHardware( uint32_t )
+{
+}
+
+
+/*----------------------------------------------------------------------------
+ *        Exported functions
+ *----------------------------------------------------------------------------*/
+
+/**
+ * \brief Default interrupt handler for CAN 0.
+ */
+void CAN0_IrqHandler( void )
+{
+  CAN_Handler( CAN0, &gCanTransfer0 ) ;
+}
+
+/**
+ * \brief Default interrupt handler for CAN 1.
+ */
+void CAN1_IrqHandler( void )
+{
+  CAN_Handler( CAN1, &gCanTransfer1 ) ;
+}
+
+
+/**
+ *  main function
+ */
+extern int main( void )
+{
+
+    if ( ( CAN_Init( CAN0, BOARD_MCK, 1000, &gCanTransfer0 ) == 1 ) &&
+         ( CAN_Init( CAN1, BOARD_MCK, 1000, &gCanTransfer1 ) == 1 ) )
+    {
+        puts( "CAN initialization complete."STRING_EOL ) ;
+
+        /* Run tests */
+        puts( "Press any key to start test"STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test1() ;
+
+        puts( "Press any key to continue..."STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test2() ;
+
+        puts( "Press any key to continue..."STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test3() ;
+
+        puts( "Press any key to continue..."STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test4() ;
+
+        /* Disable CAN0 Controller */
+        CAN_Disable(CAN0) ;
+        /* Disable CAN0 Transceiver */
+        SN65HVD234_EnableLowPower( &gCanTransceiver0 ) ;
+        SN65HVD234_Disable( &gCanTransceiver0 ) ;
+
+        /* Disable CAN1 Controller */
+        CAN_Disable(CAN1) ;
+        /* Disable CAN1 Transceiver */
+        SN65HVD234_EnableLowPower( &gCanTransceiver1 ) ;
+        SN65HVD234_Disable( &gCanTransceiver1 ) ;
+
+        puts( "End of all test"STRING_EOL ) ;
+    }
+    else
+    {
+        puts( "ERROR CAN initialisation (synchro)"STRING_EOL ) ;
+    }
+
+    return 0 ;
+}