cn_2515_1939_1.01.zip_Caterpillar Inc._J1939 C_J1939-01_SAE J193

/* j1939_6.c This file contains the library routines for the J1939 C Library for PIC16 devices. Please refer to the J1939 C Library User Guide for information on configuring and using this library. This file requires the following files to be linked: spi16.c This file requires the following header files: pic.h (HI-TECH) j1939cfg.h j1939pro.h j1939_16.h mcp2515.h spi16.h Version Date Description ---------------------------------------------------------------------- v1.00 2003/12/11 Initial release v1.01 2004/01/28 Corrected Request/Response mechanism Copyright 2004 Kimberly Otten Software Consulting */ #include <pic.h> #include "j1939cfg.h" // Also includes spi16.h, mcp2515.h, J1939_16.h, and j1939pro.h // Internal definitions #define ADDRESS_CLAIM_TX 1 #define ADDRESS_CLAIM_RX 2 // Global variables. Some of these will be visible to the CA. J1939_RX_QUEUE_BANK unsigned char CA_Name[J1939_DATA_LENGTH]; unsigned char CommandedAddress; unsigned char CommandedAddressSource; #ifdef J1939_ACCEPT_CMDADD J1939_RX_QUEUE_BANK unsigned char CommandedAddressName[J1939_DATA_LENGTH]; #endif unsigned char ContentionWaitTime; unsigned char J1939_Address; J1939_FLAG J1939_Flags; J1939_TX_QUEUE_BANK J1939_MESSAGE OneMessage; J1939_RX_QUEUE_BANK unsigned char RXHead; J1939_RX_QUEUE_BANK unsigned char RXTail; J1939_RX_QUEUE_BANK unsigned char RXQueueCount; J1939_RX_QUEUE_BANK J1939_MESSAGE RXQueue[J1939_RX_QUEUE_SIZE]; J1939_TX_QUEUE_BANK unsigned char TXHead; J1939_TX_QUEUE_BANK unsigned char TXTail; J1939_TX_QUEUE_BANK unsigned char TXQueueCount; J1939_TX_QUEUE_BANK J1939_MESSAGE TXQueue[J1939_TX_QUEUE_SIZE]; // Code definitions for common functions, to make it a little easier to read. #define SELECT_MCP J1939_CS_PIN = 0; #define UNSELECT_MCP J1939_CS_PIN = 1; // Function Prototypes #ifdef J1939_ACCEPT_CMDADD unsigned char CA_AcceptCommandedAddress( void ); #endif /********************************************************************* CompareName This routine compares the passed in array data NAME with the CA's current NAME as stored in CA_Name. Parameters: unsigned char * Array of NAME bytes Return: -1 - CA_Name is less than the data 0 - CA_Name is equal to the data 1 - CA_Name is greater than the data *********************************************************************/ #ifndef J1939_POLL_MCP #pragma interrupt_level 0 #endif signed char CompareName( J1939_RX_QUEUE_BANK unsigned char *OtherName ) { unsigned char i; for (i = 0; (i<J1939_DATA_LENGTH) && (OtherName[i] == CA_Name[i]); i++); if (i == J1939_DATA_LENGTH) return 0; else if (CA_Name[i] < OtherName[i] ) return -1; else return 1; } /********************************************************************* CopyName This routine copies the CA's NAME into the message buffer's data array. We can afford to make this a function, since another function is always called after this is done, and we won't be using any additional stack space. Parameters: None Return: None *********************************************************************/ void CopyName(void) { unsigned char i; for (i=0; i<J1939_DATA_LENGTH; i++) OneMessage.Msg.Data[i] = CA_Name[i]; } /********************************************************************* SetAddressFilter This routine sets filter 2 to the specified value (destination address). It is used to allow reception of messages sent to this node specifically or simply to the global address if this node does not have an address (Address will be J1939_GLOBAL_ADDRESS). NOTE: We can only use one stack level from here, so MCP_Write calls have been replaced by their equivalent inline code. Parameters: unsigned char J1939 Address of this CA Return: None *********************************************************************/ #ifndef J1939_POLL_MCP #pragma interrupt_level 0 #endif void SetAddressFilter( unsigned char Address ) { unsigned char Status; SELECT_MCP; #ifdef SPI_USE_ONLY_INLINE_DEFINITIONS WRITESPI( MCP_WRITE ); WRITESPI( MCP_CANCTRL ); WRITESPI( MODE_CONFIG + J1939_CLKOUT + J1939_CLKOUT_PS ); #else WriteSPI( MCP_WRITE ); WriteSPI( MCP_CANCTRL ); WriteSPI( MODE_CONFIG + J1939_CLKOUT + J1939_CLKOUT_PS ); #endif UNSELECT_MCP; // MCP_Write( MCP_CANCTRL, MODE_CONFIG + J1939_CLKOUT + J1939_CLKOUT_PS ); do { SELECT_MCP; #ifdef SPI_USE_ONLY_INLINE_DEFINITIONS WRITESPI( MCP_READ ); WRITESPI( MCP_CANSTAT ); READSPI( Status ); #else WriteSPI( MCP_READ ); WriteSPI( MCP_CANSTAT ); Status = ReadSPI(); #endif UNSELECT_MCP; } while ((Status & MODE_MASK) != MODE_CONFIG); SELECT_MCP; #ifdef SPI_USE_ONLY_INLINE_DEFINITIONS WRITESPI( MCP_WRITE ); WRITESPI( MCP_RXF2EID8 ); WRITESPI( Address ); #else WriteSPI( MCP_WRITE ); WriteSPI( MCP_RXF2EID8 ); WriteSPI( Address ); #endif UNSELECT_MCP; SELECT_MCP; #ifdef SPI_USE_ONLY_INLINE_DEFINITIONS WRITESPI( MCP_WRITE ); WRITESPI( MCP_CANCTRL ); WRITESPI( MODE_NORMAL + J1939_CLKOUT + J1939_CLKOUT_PS ); #else WriteSPI( MCP_WRITE ); WriteSPI( MCP_CANCTRL ); WriteSPI( MODE_NORMAL + J1939_CLKOUT + J1939_CLKOUT_PS ); #endif UNSELECT_MCP; // MCP_Write( MCP_CANCTRL, MODE_NORMAL + J1939_CLKOUT + J1939_CLKOUT_PS ); } /********************************************************************* MCP_Modify This function modifies the designated MCP address. Parameters: unsigned char Address Address of the MCP register. unsigned char Mask Bits to modify in the register unsigned char Data Data value for the MCP register. Return: None *********************************************************************/ /* This function has been brought in-line to save stack space. void MCP_Modify( unsigned char Address, unsigned char Mask, unsigned char Data ) { SELECT_MCP; WriteSPI( MCP_BITMOD ); WriteSPI( Address ); WriteSPI( Mask ); WriteSPI( Data ); UNSELECT_MCP; } */ /********************************************************************* MCP_Write This function writes a value to the designated MCP address. Parameters: unsigned char Address Address of the MCP register. unsigned char Data Data value for the MCP register. Return: None *********************************************************************/ void MCP_Write( unsigned char Address, unsigned char Data ) { SELECT_MCP; #ifdef SPI_USE_ONLY_INLINE_DEFINITIONS WRITESPI( MCP_WRITE ); WRITESPI( Address ); WRITESPI( Data ); #else WriteSPI( MCP_WRITE ); WriteSPI( Address ); WriteSPI( Data ); #endif UNSELECT_MCP; } /********************************************************************* SendOneMessage This routine sends the message located at the pointer passed in. It also uses the message's data length field to determine how much of the data to load. At this point, all of the data fields, such as data length, priority, and source address, must be set. This routine will set up the CAN bits, such as the extended identifier bit and the remote transmission request bit. NOTE: Only transmit buffers 0 and 1 are used, to guarantee that the messages appear on the bus in the order that they are sent to the MCP2515. Parameters: J1939_MESSAGE far * Pointer to message to send Return: None *********************************************************************/ #ifndef J1939_POLL_MCP #pragma interrupt_level 0 #endif void SendOneMessage( J1939_TX_QUEUE_BANK J1939_MESSAGE *MsgPtr ) { // unsigned char oldSIDL; unsigned char MCP_Load; unsigned char Loop; unsigned char MCP_Send; unsigned char Temp; // Set up the final pieces of the message and make sure DataLength isn't // out of spec. MsgPtr->Msg.Res = 0; MsgPtr->Msg.RTR = 0; if