TC275——08MULTICAN-LB

/*********************************************************************************************************************/
/*-----------------------------------------------------Includes------------------------------------------------------*/
/*********************************************************************************************************************/
#include "MULTICAN.h"

/*********************************************************************************************************************/
/*-------------------------------------------------Global variables--------------------------------------------------*/
/*********************************************************************************************************************/
AppMulticanType   g_multican;                               /* Global MULTICAN configuration and control structure   */
AppLedType        g_led;                                    /* Global LED configuration and control structure        */

/*********************************************************************************************************************/
/*---------------------------------------------Function Implementations----------------------------------------------*/
/*********************************************************************************************************************/

/* Macro to define Interrupt Service Routine.
 * This macro:
 * - defines linker section as .intvec_tc<vector number>_<interrupt priority>.
 * - defines compiler specific attribute for the interrupt functions.
 * - defines the Interrupt service routine as ISR function.
 *
 * IFX_INTERRUPT(isr, vectabNum, priority)
 *  - isr: Name of the ISR function.
 *  - vectabNum: Vector table number.
 *  - priority: Interrupt priority. Refer Usage of Interrupt Macro for more details.
 */
IFX_INTERRUPT(canIsrTxHandler, 0, ISR_PRIORITY_CAN_TX);
IFX_INTERRUPT(canIsrRxHandler, 0, ISR_PRIORITY_CAN_RX);

/* Interrupt Service Routine (ISR) called once the TX interrupt has been generated.
 * Turns on the LED1 to indicate successful CAN message transmission.
 */
void canIsrTxHandler(void)
{
    /* Just to indicate that the CAN message has been transmitted by turning on LED1 */
    IfxPort_setPinLow(g_led.led1.port, g_led.led1.pinIndex);
}

/* Interrupt Service Routine (ISR) called once the RX interrupt has been generated.
 * Compares the content of the received CAN message with the content of the transmitted CAN message
 * and in case of success, turns on the LED2 to indicate successful CAN message reception.
 */
void canIsrRxHandler(void)
{
    IfxMultican_Status readStatus;

    /* Read the received CAN message and store the status of the operation */
    readStatus = IfxMultican_Can_MsgObj_readMessage(&g_multican.canDstMsgObj, &g_multican.rxMsg);

    /* If no new data has been received, report an error */
    if( !( readStatus & IfxMultican_Status_newData ) )
    {
        while(1)
        {
        }
    }

    /* If new data has been received but with one message lost, report an error */
    if( readStatus == IfxMultican_Status_newDataButOneLost )
    {
        while(1)
        {
        }
    }

    /* Finally, check if the received data matches with the transmitted one */
    if( ( g_multican.rxMsg.data[0] == g_multican.txMsg.data[0] ) &&
        ( g_multican.rxMsg.data[1] == g_multican.txMsg.data[1] ) &&
        ( g_multican.rxMsg.id == g_multican.txMsg.id ) )
    {
        /* Turn on the LED2 to indicate correctness of the received message */
        IfxPort_setPinLow(g_led.led2.port, g_led.led2.pinIndex);
    }
}

/* Function to initialize MULTICAN module, nodes and message objects related for this application use case */
void initMultican(void)
{
    /* ==========================================================================================
     * CAN module configuration and initialization:
     * ==========================================================================================
     *  - load default CAN module configuration into configuration structure
     *
     *  - define the interrupt priority for both interrupt node pointers used in the example
     *
     *  - initialize CAN module with the modified configuration
     * ==========================================================================================
     */
    IfxMultican_Can_initModuleConfig(&g_multican.canConfig, &MODULE_CAN);

    g_multican.canConfig.nodePointer[TX_INTERRUPT_SRC_ID].priority = ISR_PRIORITY_CAN_TX;
    g_multican.canConfig.nodePointer[RX_INTERRUPT_SRC_ID].priority = ISR_PRIORITY_CAN_RX;

    IfxMultican_Can_initModule(&g_multican.can, &g_multican.canConfig);

    /* ==========================================================================================
     * Source CAN node configuration and initialization:源CAN节点配置和初始化：
     * ==========================================================================================
     *  - load default CAN node configuration into configuration structure
     *
     *  - set source CAN node in the "Loop-Back" mode (no external pins will be used)
     *  - assign source CAN node to CAN node 0
     *
     *  - initialize the source CAN node with the modified configuration
     * ==========================================================================================
     */
    IfxMultican_Can_Node_initConfig(&g_multican.canNodeConfig, &g_multican.can);

    g_multican.canNodeConfig.loopBackMode = TRUE;//将源CAN节点设置为“环回”模式（不使用外部引脚）
    g_multican.canNodeConfig.nodeId = IfxMultican_NodeId_0;//将源CAN节点分配给CAN节点0

    IfxMultican_Can_Node_init(&g_multican.canSrcNode, &g_multican.canNodeConfig);

    /* ==========================================================================================
     * Destination CAN node configuration and initialization:
     * ==========================================================================================
     *  - load default CAN node configuration into configuration structure
     *
     *  - set destination CAN node in the "Loop-Back" mode (no external pins will be used)
     *  - assign destination CAN node to CAN node 1
     *
     *  - initialize the destination CAN node with the modified configuration
     * ==========================================================================================
     */
    IfxMultican_Can_Node_initConfig(&g_multican.canNodeConfig, &g_multican.can);

    g_multican.canNodeConfig.loopBackMode = TRUE;
    g_multican.canNodeConfig.nodeId = IfxMultican_NodeId_1;

    IfxMultican_Can_Node_init(&g_multican.canDstNode, &g_multican.canNodeConfig);

    /* ==========================================================================================
     * Source message object configuration and initialization:源消息对象配置和初始化
     * ==========================================================================================
     *  - load default CAN message object configuration into configuration structure
     *      将默认CAN消息对象配置加载到配置结构中
     *  - define the message object ID
     *  - define the CAN message ID used during arbitration phase
     *  - define the message object as a transmit message object
     *  - enable interrupt generation in case of CAN message transmission
     *  - define interrupt node pointer to be used
     *
     *  - initialize the source CAN message object with the modified configuration
     * ==========================================================================================
     */
    IfxMultican_Can_MsgObj_initConfig(&g_multican.canMsgObjConfig, &g_multican.canSrcNode);

    g_multican.canMsgObjConfig.msgObjId = SRC_MESSAGE_OBJECT_ID;//源消息的对象ID
    g_multican.canMsgObjConfig.messageId = CAN_MESSAGE_ID;//仲裁段ID，它决定着数据帧发送的优先级，也决定着其它节点是否会接收这个数据帧
    g_multican.canMsgObjConfig.frame = IfxMultican_Frame_transmit;//发送模式
    g_multican.canMsgObjConfig.txInterrupt.enabled = TRUE;//发送中断使能
    g_multican.canMsgObjConfig.txInterrupt.srcId = TX_INTERRUPT_SRC_ID;//发送中断的服务请求ID，定义要使用的中断节点指针

    IfxMultican_Can_MsgObj_init(&g_multican.canSrcMsgObj, &g_multican.canMsgObjConfig);

    /* ==========================================================================================
     * Destination message object configuration and initialization:
     * ==========================================================================================
     *  - load default CAN message object configuration into configuration structure
     *
     *  - define the message object ID (different than the ID used for source MO)
     *  - define the CAN message ID used during arbitration phase (same as ID used for source MO)
     *  - define the message object as a receive message object
     *  - enable interrupt generation in case of CAN message transmission
     *  - define interrupt node pointer to be used (different than the one used for source MO)
     *
     *  - initialize the destination CAN message object with the modified configuration
     * ==========================================================================================
     */
    IfxMultican_Can_MsgObj_initConfig(&g_multican.canMsgObjConfig, &g_multican.canDstNode);

    g_multican.canMsgObjConfig.msgObjId = DST_MESSAGE_OBJECT_ID;//消息对象ID
    g_multican.canMsgObjConfig.messageId = CAN_MESSAGE_ID;//仲裁段ID，它决定着数据帧发送的优先级，也决定着其它节点是否会接收这个数据帧
    g_multican.canMsgObjConfig.frame = IfxMultican_Frame_receive;//接收模式
    g_multican.canMsgObjConfig.rxInterrupt.enabled = TRUE;
    g_multican.canMsgObjConfig.rxInterrupt.srcId = RX_INTERRUPT_SRC_ID;//定义要使用的中断节点指针（不同于用于源MO的指针）

    IfxMultican_Can_MsgObj_init(&g_multican.canDstMsgObj, &g_multican.canMsgObjConfig);
}

/* Function to initialize both TX and RX messages with the default data values.
 * After initialization of the messages, the TX message will be transmitted.
 */
void transmitCanMessage(void)
{
    /* Define the content of the data to be transmitted */
    const uint32 dataLow  = 0xC0CAC01A;
    const uint32 dataHigh = 0xBA5EBA11;

    /* Invalidation of the RX message */
    IfxMultican_Message_init(&g_multican.rxMsg,
                             INVALID_ID_VALUE,
                             INVALID_DATA_VALUE,
                             INVALID_DATA_VALUE,
                             g_multican.canMsgObjConfig.control.messageLen);

    /* Initialization of the TX message */
    IfxMultican_Message_init(&g_multican.txMsg,
                             g_multican.canMsgObjConfig.messageId,
                             dataLow,//要传输的数据低位
                             dataHigh,//要传输的数据高位
                             g_multican.canMsgObjConfig.control.messageLen);

    /* Send the CAN message with the previously defined TX message content */
    while( IfxMultican_Status_notSentBusy ==
           IfxMultican_Can_MsgObj_sendMessage(&g_multican.canSrcMsgObj, &g_multican.txMsg) )
    {
    }
}

void initLed(void)
{
    /* ======================================================================
     * Configuration of the pins connected to the LEDs:
     * ======================================================================
     *  - define the GPIO port
     *  - define the GPIO pin that is the connected to the LED
     *  - define the general GPIO pin usage (no alternate function used)
     *  - define the pad driver strength
     * ======================================================================
     */
    g_led.led1.port      = &MODULE_P00;
    g_led.led1.pinIndex  = PIN5;
    g_led.led1.mode      = IfxPort_OutputIdx_general;
    g_led.led1.padDriver = IfxPort_PadDriver_cmosAutomotiveSpeed1;

    g_led.led2.port      = &MODULE_P00;
    g_led.led2.pinIndex  = PIN6;
    g_led.led2.mode      = IfxPort_OutputIdx_general;
    g_led.led2.padDriver = IfxPort_PadDriver_cmosAutomotiveSpeed1;

    /* Initialize the pins connected to LEDs to level "HIGH"; will keep the LEDs turned off as default state */
    IfxPort_setPinHigh(g_led.led1.port, g_led.led1.pinIndex);
    IfxPort_setPinHigh(g_led.led2.port, g_led.led2.pinIndex);

    /* Set the pin input/output mode for both pins connected to the LEDs */
    IfxPort_setPinModeOutput(g_led.led1.port, g_led.led1.pinIndex, IfxPort_OutputMode_pushPull, g_led.led1.mode);
    IfxPort_setPinModeOutput(g_led.led2.port, g_led.led2.pinIndex, IfxPort_OutputMode_pushPull, g_led.led2.mode);

    /* Set the pad driver mode for both pins connected to the LEDs */
    IfxPort_setPinPadDriver(g_led.led1.port, g_led.led1.pinIndex, g_led.led1.padDriver);
    IfxPort_setPinPadDriver(g_led.led2.port, g_led.led2.pinIndex, g_led.led2.padDriver);
}
#ifndef MULTICAN_H_
#define MULTICAN_H_ 1

/*********************************************************************************************************************/
/*-----------------------------------------------------Includes------------------------------------------------------*/
/*********************************************************************************************************************/
#include "Ifx_Types.h"
#include "IfxMultican_Can.h"
#include "IfxMultican.h"
#include "IfxPort.h"                                             /* For GPIO Port Pin Control                        */

/*********************************************************************************************************************/
/*------------------------------------------------------Macros-------------------------------------------------------*/
/*********************************************************************************************************************/
#define SRC_MESSAGE_OBJECT_ID       (IfxMultican_MsgObjId)0     /* Source message object ID                          */
#define DST_MESSAGE_OBJECT_ID       (IfxMultican_MsgObjId)1     /* Destination message object ID                     */
#define CAN_MESSAGE_ID              0x777                       /* Message ID that will be used in arbitration phase */
#define TX_INTERRUPT_SRC_ID         IfxMultican_SrcId_0         /* Transmit interrupt service request ID             */
#define RX_INTERRUPT_SRC_ID         IfxMultican_SrcId_1         /* Receive interrupt service request ID              */
#define PIN5                        5                           /* LED1 used in TX ISR is connected to this pin      */
#define PIN6                        6                           /* LED2 used in RX ISR is connected to this pin      */
#define INVALID_DATA_VALUE          (uint32)0xDEADBEEF          /* Used to invalidate RX message data content        */
#define INVALID_ID_VALUE            (uint32)0xFFFFFFFF          /* Used to invalidate RX message ID value            */
#define ISR_PRIORITY_CAN_TX         2                           /* Define the CAN TX interrupt priority              */
#define ISR_PRIORITY_CAN_RX         1                           /* Define the CAN RX interrupt priority              */

/*********************************************************************************************************************/
/*--------------------------------------------------Data Structures--------------------------------------------------*/
/*********************************************************************************************************************/
typedef struct
{
    IfxMultican_Can                 can;                   /* CAN module handle to HW module SFR set                 */
    IfxMultican_Can_Config          canConfig;             /* CAN module configuration structure                     */
    IfxMultican_Can_Node            canSrcNode;            /* CAN source node handle data structure                  */
    IfxMultican_Can_Node            canDstNode;            /* CAN destination node handle data structure             */
    IfxMultican_Can_NodeConfig      canNodeConfig;         /* CAN node configuration structure                       */
    IfxMultican_Can_MsgObj          canSrcMsgObj;          /* CAN source message object handle data structure        */
    IfxMultican_Can_MsgObj          canDstMsgObj;          /* CAN destination message object handle data structure   */
    IfxMultican_Can_MsgObjConfig    canMsgObjConfig;       /* CAN message object configuration structure             */
    IfxMultican_Message             txMsg;                 /* Transmitted CAN message structure                      */
    IfxMultican_Message             rxMsg;                 /* Received CAN message structure                         */
} AppMulticanType;

typedef struct
{
    IfxPort_Pin_Config              led1;                  /* LED1 configuration structure                           */
    IfxPort_Pin_Config              led2;                  /* LED2 configuration structure                           */
} AppLedType;

/*********************************************************************************************************************/
/*-----------------------------------------------Function Prototypes-------------------------------------------------*/
/*********************************************************************************************************************/
void canIsrTxHandler(void);
void canIsrRxHandler(void);
void initMultican(void);
void transmitCanMessage(void);
void initLed(void);

#endif /* MULTICAN_H_ */