can: FlexCAN initialization

1 files changed, 187 insertions, 0 deletions

diff --git a/source/main.c b/source/main.c
index 64f5bcc..d7e10e4 100644
--- a/source/main.c
+++ b/source/main.c
@@ -39,6 +39,7 @@
 #include "clock_config.h"
 #include "fsl_debug_console.h"
 #include "fsl_mpu.h"
+#include "fsl_flexcan.h"
 #include "usb_host_config.h"
 #include "usb.h"
 #include "usb_host.h"
@@ -177,18 +178,204 @@ static void USB_HostTask(void *param)
     }
 }
 
+
+#define RX_MESSAGE_BUFFER_NUM (9)
+#define TX_MESSAGE_BUFFER_NUM (8)
+#define RX_MESSAGE_BUFFER_NUM1 (7)
+#define TX_MESSAGE_BUFFER_NUM1 (6)
+
+flexcan_handle_t flexcanHandle[2];
+uint32_t txIdentifier[2];
+uint32_t rxIdentifier[2];
+volatile bool txComplete[2] = {false, false};
+volatile bool rxComplete[2] = {false, false};
+
+static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
+{
+    switch (status)
+    {
+        case kStatus_FLEXCAN_RxIdle:
+            if (RX_MESSAGE_BUFFER_NUM == result)
+            {
+                rxComplete[0] = true;
+            }
+            break;
+
+        case kStatus_FLEXCAN_TxIdle:
+            if (TX_MESSAGE_BUFFER_NUM == result)
+            {
+                txComplete[0] = true;
+            }
+            break;
+
+        default:
+            break;
+    }
+}
+
+static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
+{
+    switch (status)
+    {
+        case kStatus_FLEXCAN_RxIdle:
+            if (RX_MESSAGE_BUFFER_NUM1 == result)
+            {
+                rxComplete[1] = true;
+            }
+            break;
+
+        case kStatus_FLEXCAN_TxIdle:
+            if (TX_MESSAGE_BUFFER_NUM1 == result)
+            {
+                txComplete[1] = true;
+            }
+            break;
+
+        default:
+            break;
+    }
+}
+
+void CAN_Init()
+{
+    flexcan_config_t flexcanConfig;
+    flexcan_rx_mb_config_t mbConfig;
+
+    txIdentifier[0] = 0x321;
+    rxIdentifier[0] = 0x123;
+    txIdentifier[1] = 0x123;
+    rxIdentifier[1] = 0x321;
+
+    /* Get FlexCAN module default Configuration. */
+    /*
+     * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
+     * flexcanConfig.baudRate = 125000U;
+     * flexcanConfig.maxMbNum = 16;
+     * flexcanConfig.enableLoopBack = false;
+     * flexcanConfig.enableSelfWakeup = false;
+     * flexcanConfig.enableIndividMask = false;
+     * flexcanConfig.enableDoze = false;
+     */
+    FLEXCAN_GetDefaultConfig(&flexcanConfig);
+
+    /* Init FlexCAN module. */
+    flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
+    FLEXCAN_Init(CAN0, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));
+
+    /* Create FlexCAN handle structure and set call back function. */
+    FLEXCAN_TransferCreateHandle(CAN0, &flexcanHandle[0], flexcan_callback0, NULL);
+
+    /* Set Rx Masking mechanism. */
+    FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[0], 0, 0));
+
+    /* Setup Rx Message Buffer. */
+    mbConfig.format = kFLEXCAN_FrameFormatStandard;
+    mbConfig.type = kFLEXCAN_FrameTypeData;
+    mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[0]);
+    FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM, &mbConfig, true);
+
+    /* Setup Tx Message Buffer. */
+    FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM, true);
+
+    /* Get FlexCAN module default Configuration. */
+    /*
+     * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
+     * flexcanConfig.baudRate = 125000U;
+     * flexcanConfig.maxMbNum = 16;
+     * flexcanConfig.enableLoopBack = false;
+     * flexcanConfig.enableSelfWakeup = false;
+     * flexcanConfig.enableIndividMask = false;
+     * flexcanConfig.enableDoze = false;
+     */
+    FLEXCAN_GetDefaultConfig(&flexcanConfig);
+
+    /* Init FlexCAN module. */
+    flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
+    FLEXCAN_Init(CAN1, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));
+
+    /* Create FlexCAN handle structure and set call back function. */
+    FLEXCAN_TransferCreateHandle(CAN1, &flexcanHandle[1], flexcan_callback1, NULL);
+
+    /* Set Rx Masking mechanism. */
+    FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[1], 0, 0));
+
+    /* Setup Rx Message Buffer. */
+    mbConfig.format = kFLEXCAN_FrameFormatStandard;
+    mbConfig.type = kFLEXCAN_FrameTypeData;
+    mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[1]);
+    FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM1, &mbConfig, true);
+
+    /* Setup Tx Message Buffer. */
+    FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM1, true);
+    PRINTF("CAN init done \r\n");
+}
+
 /*!
  * @brief Application entry point.
  */
 int main(void) {
+  flexcan_frame_t txFrame, rxFrame;
+  flexcan_mb_transfer_t txXfer, rxXfer;
   /* Init board hardware. */
   BOARD_InitPins();
   BOARD_BootClockRUN();
   BOARD_InitDebugConsole();
   PRINTF("Hello!\r\n");
   USB_HostApplicationInit();
+  CAN_Init();
 
   /* Add your code here */
+  rxXfer.frame = &rxFrame;
+  rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM1;
+  FLEXCAN_TransferReceiveNonBlocking(CAN1, &flexcanHandle[1], &rxXfer);
+
+  txFrame.format = kFLEXCAN_FrameFormatStandard;
+  txFrame.type = kFLEXCAN_FrameTypeData;
+  txFrame.id = FLEXCAN_ID_STD(0x321);
+  txFrame.length = 8;
+  txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
+                      CAN_WORD0_DATA_BYTE_3(0x44);
+  txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
+                      CAN_WORD1_DATA_BYTE_7(0x88);
+  txXfer.frame = &txFrame;
+  txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM;
+
+  PRINTF("tx word0 = 0x%x\r\n", txFrame.dataWord0);
+  PRINTF("tx word1 = 0x%x\r\n", txFrame.dataWord1);
+  PRINTF("CAN0->CAN1\r\n");
+
+  FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer);
+  while (!rxComplete[1])
+  {
+  }
+  PRINTF("rx word0 = 0x%x\r\n", rxFrame.dataWord0);
+  PRINTF("rx word1 = 0x%x\r\n", rxFrame.dataWord1);
+
+  rxXfer.frame = &rxFrame;
+  rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM;
+  FLEXCAN_TransferReceiveNonBlocking(CAN0, &flexcanHandle[0], &rxXfer);
+
+  txFrame.format = kFLEXCAN_FrameFormatStandard;
+  txFrame.type = kFLEXCAN_FrameTypeData;
+  txFrame.id = FLEXCAN_ID_STD(0x123);
+  txFrame.length = 8;
+  txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
+                      CAN_WORD0_DATA_BYTE_3(0x44);
+  txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
+                      CAN_WORD1_DATA_BYTE_7(0x88);
+  txXfer.frame = &txFrame;
+  txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM1;
+
+  PRINTF("tx word0 = 0x%x\r\n", txFrame.dataWord0);
+  PRINTF("tx word1 = 0x%x\r\n", txFrame.dataWord1);
+  PRINTF("CAN1->CAN0\r\n");
+
+  FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer);
+  while (!rxComplete[0])
+  {
+  }
+  PRINTF("rx word0 = 0x%x\r\n", rxFrame.dataWord0);
+  PRINTF("rx word1 = 0x%x\r\n", rxFrame.dataWord1);
 
   /* Create RTOS task */
   if (xTaskCreate(USB_HostTask, "usb host task", 2000L / sizeof(portSTACK_TYPE), g_HostHandle, 4, NULL) != pdPASS)