Add remote frames

Protocol/CAN.cpp

@@ -1,4 +1,5 @@
 #include "CAN.h"
+#include "DSP2833x_Device.h"
 #include <cstddef>
 
 namespace canSpace {
@@ -17,8 +18,9 @@ void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
     p_MailBox->MDH.all = message.mdh.all;
     p_MailBox->MDL.all = message.mdl.all;
 
+    // Set TRS for mailbox
     CanShadow_.CANTRS.all = 0;
-    CanShadow_.CANTRS.all |= mboxControl;   // Set TRS for mailbox under test
+    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
@@ -29,18 +31,44 @@ void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
     p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
 }
 
+void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO check trs bit and set it at the end if it was here
+    volatile MBOX* p_MailBox(NULL);
+    p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
 
-bool CAN::isNewMessage(){
-    return static_cast<bool>(p_CanRegs_->CANRMP.all);
+    p_CanRegs_->CANMC.all |= (128 + boxNumber);
+
+    p_MailBox->MDL.all = message.mdl.all;
+    p_MailBox->MDH.all = message.mdh.all;
+
+    CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
+    CanShadow_.CANMC.bit.CDR = 0;
+    p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
 }
 
 
-bool CAN::isNewMessage(Uint16 boxNumber){
+void CAN::sendRemoteRequest(Uint16 boxNumber){
+    volatile MBOX* p_MailBox(NULL);
+    p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
+
     Uint32 mboxControl(0);
     mboxControl = 1ul << boxNumber;
 
-    bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
-    return isNewMessageInBox;
+    // Mailbox disable
+    CanShadow_.CANME.all = p_CanRegs_->CANME.all;
+    CanShadow_.CANME.all &= ~(mboxControl);
+    p_CanRegs_->CANME.all = CanShadow_.CANME.all;
+
+    p_MailBox->MSGCTRL.bit.RTR = 1;
+
+    // Mailbox enable
+    CanShadow_.CANME.all = p_CanRegs_->CANME.all;
+    CanShadow_.CANME.all |= mboxControl;
+    p_CanRegs_->CANME.all = CanShadow_.CANME.all;
+
+    // Set TRS for mailbox
+    CanShadow_.CANTRS.all = 0;
+    CanShadow_.CANTRS.all |= mboxControl;
+    p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
 }
 
 
@@ -75,6 +103,20 @@ bool CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults ju
 }
 
 
+bool CAN::isNewMessage(){
+    return static_cast<bool>(p_CanRegs_->CANRMP.all);
+}
+
+
+bool CAN::isNewMessage(Uint16 boxNumber){
+    Uint32 mboxControl(0);
+    mboxControl = 1ul << boxNumber;
+
+    bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
+    return isNewMessageInBox;
+}
+
+
 /* CANMessage CAN::receiveMsg(Uint16 boxNumber){
     Uint32 mboxControl(0);
     mboxControl = 1ul << boxNumber;

Protocol/CAN.h

@@ -103,21 +103,22 @@ public:
 
     void initGpio();
     void config(Uint16 baudrate);
-    // void configTxMBox(Uint16 boxNumber, const ConfigMBox& configData);
     void configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
-    void configRxMBoxes(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
+    void configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
 
-    void transmitMsg(Uint16 boxNumber, const CANMessage& message);
-    bool receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);
-    // CANMessage receiveMsg(Uint16 boxNumber);
     bool isNewMessage();
     bool isNewMessage(Uint16 boxNumber);
 
+    void transmitMsg(Uint16 boxNumber, const CANMessage& message);
+    void updateTXMessage(Uint16 boxNumber, const CANMessage& message);
+    void sendRemoteRequest(Uint16 boxNumber);
+    bool receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);
+
 private:
+    CAN_VARIANT canPort;
     volatile ECAN_REGS* p_CanRegs_;
     ECAN_REGS CanShadow_;
     volatile ECAN_MBOXES* p_CanMBoxes_;
-    CAN_VARIANT canPort;
 };
 
 

Protocol/CANConfig.cpp

@@ -219,7 +219,7 @@ void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
 }
 
 
-void CAN::configRxMBoxes(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
+void CAN::configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
 
     volatile MBOX* p_MailBox(NULL);
     p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
@@ -227,6 +227,11 @@ void CAN::configRxMBoxes(Uint16 boxNumber, const MsgID& configID, const MsgCtrlR
     Uint32 mboxControl(0);
     mboxControl = 1ul << boxNumber;
 
+    // Mailbox disable
+    CanShadow_.CANME.all = p_CanRegs_->CANME.all;
+    CanShadow_.CANME.all &= ~(mboxControl);
+    p_CanRegs_->CANME.all = CanShadow_.CANME.all;
+
     // Write to the MSGID field
     p_MailBox->MSGID.all = 0x0;
     p_MailBox->MSGID.all = configID.all;

main.cpp

@@ -20,7 +20,10 @@ Uint16 infCounter = 0;
 volatile Uint16 testCounter = 0;
 Uint32 testVar = 0;
 volatile bool startTX = false;
+volatile bool update = false;
+volatile bool sendRemote = false;
 canSpace::CANMessage message;
+canSpace::CANMessage rxMessage;
 
 void main()
 {
@@ -57,7 +60,7 @@ void main()
 //    configuration_parameters.extract_configuration(test_config);
 
     InitCpuTimers();
-    ConfigCpuTimer(&CpuTimer0, 150, 800);
+    ConfigCpuTimer(&CpuTimer0, 150, 10000);
 
     IER |= M_INT1; // Enable CPU Interrupt 1
     // Enable ADCINT in PIE
@@ -81,7 +84,10 @@ void main()
     canTest.initGpio();
     canTest.config(100);
     canTest.configTxMBox(1, canSpace::MsgID(0xAAA), canSpace::MsgCtrlReg(0x8));
-    canTest.configRxMBoxes(25, canSpace::MsgID(0xAAA), canSpace::MsgCtrlReg(0x8));
+    canTest.configRxMBox(25, canSpace::MsgID(0xAAA), canSpace::MsgCtrlReg(0x8));
+    // Remote frame
+    canTest.configRxMBox(2, canSpace::MsgID(0x111), canSpace::MsgCtrlReg(0x13));
+    // canTest.configTxMBox(30, canSpace::MsgID(0x111, false, true), canSpace::MsgCtrlReg(0x3));    // for remote answer
 
     // InitECanGpio();
     // InitECan();
@@ -97,6 +103,7 @@ void main()
     message.mdh.byte.BYTE5 = 0xBB;
     message.mdh.byte.BYTE6 = 0xCC;
     message.mdh.byte.BYTE7 = 0xDD;
+    // canTest.updateTXMessage(30, message);    // for remote answer
 
     idle_loop();
     //
@@ -116,7 +123,21 @@ void idle_loop()
         }
         if(canTest.isNewMessage()){
             testCounter++;
-            testVar = canTest.receiveMsg(25, message);
+            testVar = canTest.receiveMsg(25, rxMessage);
+            // testVar = canTest.receiveMsg(2, rxMessage);
+        }
+
+        // testVar = canTest.receiveMsg(2, rxMessage);
+
+        if (update){
+            update = false;
+            message.mdh.all = 0xBBEEBBEE;
+            canTest.updateTXMessage(1, message);
+        }
+
+        if (sendRemote){
+            sendRemote = false;
+            canTest.sendRemoteRequest(2);
         }
 
     }//end while
@@ -126,7 +147,13 @@ void idle_loop()
 
 interrupt void cpu_timer0_isr(void)
 {
+    canTest.sendRemoteRequest(2);
+
+    if(canTest.isNewMessage()){
+        testCounter++;
+        testVar = canTest.receiveMsg(25, rxMessage);
+        testVar = canTest.receiveMsg(2, rxMessage);
+    }
     
-    //
     PieCtrlRegs.PIEACK.all |= PIEACK_GROUP1;
 }//end