(8) CAN_NPCR0 = (1 << 8); // LBM=1
(9) CAN_NBTR0 = 0x3EC9; //set bit segments
...
(11) CAN_NPCR1 = (1 << 8); // LBM=1
(12) CAN_NBTR1 = 0x3EC9; //set bit segmentsCAN_NPCR0.U = 0x001; // set NPCRx.RXSEL 001 to select Port 20.8 for TXDCAN0 and Port 20.7 for RXDCAN0A
CAN_NPCR1.U = 0x001;/* main() called by all cores */
int main(void) {
int n = _mfcr(CPU_CORE_ID);
switch (n) {
case 0: do_tc0(); break; /* handled by tc0 */
case 1: do_tc1(); break; /* handled by tc1 */
case 2: do_tc2(); break; /* handled by tc2 */
} while (1);
return 0;
}//SCLK configuration 5.2
const XMC_GPIO_CONFIG_t SPI_U2C0_sclk_config =
{
.mode = XMC_GPIO_MODE_OUTPUT_PUSH_PULL_ALT1,
.output_level = XMC_GPIO_OUTPUT_LEVEL_HIGH,
.output_strength = XMC_GPIO_OUTPUT_STRENGTH_MEDIUM
};
//MISO_ 5.0
const XMC_GPIO_CONFIG_t SPI_U2C0_DATA0 =
{
.mode = >XMC_GPIO_MODE_OUTPUT_PUSH_PULL,
};
//MISO_5.1
const XMC_GPIO_CONFIG_t SPI_U2C0_DATA1 =
{
.mode = >XMC_GPIO_MODE_OUTPUT_PUSH_PULL,
};
//CS configuration 5.3
const XMC_GPIO_CONFIG_t SPI_U0C1_cs0_config =
{
.mode = XMC_GPIO_MODE_OUTPUT_PUSH_PULL_ALT1,
.output_level = XMC_GPIO_OUTPUT_LEVEL_HIGH,
.output_strength = XMC_GPIO_OUTPUT_STRENGTH_MEDIUM
};
//SPI U2C0 Konfiguration
const XMC_SPI_CH_CONFIG_t SPI_U2C0_config =
{
.baudrate = 1000000, // 1 MHz
.bus_mode = XMC_SPI_CH_BUS_MODE_MASTER,
.selo_inversion = XMC_SPI_CH_SLAVE_SEL_SAME_AS_MSLS,
.parity_mode = XMC_USIC_CH_PARITY_MODE_NONE
};
XMC_GPIO_Init(P5_0, &SPI_U2C0_DATA0);
XMC_USIC_CH_SetInputSource(XMC_SPI2_CH0, XMC_USIC_CH_INPUT_DX0, USIC2_C0_DX0_P5_0); //Setze Input Path
XMC_GPIO_Init(P5_1, &SPI_U2C0_DATA1);
XMC_USIC_CH_SetInputSource(XMC_SPI2_CH0, XMC_USIC_CH_INPUT_DX0, USIC2_C0_DX0_P5_1); //Setze Input Path
XMC_GPIO_SetHardwareControl(P5_0, P5_0_HWCTRL_U2C0_DOUT0);
XMC_GPIO_SetHardwareControl(P5_1, P5_1_HWCTRL_U2C0_DOUT1);
XMC_GPIO_Init(P5_3, &SPI_U2C0_cs0_config); //Konfiguration SELO0
XMC_GPIO_Init(P5_2, &SPI_U2C0_sclk_config); //Konfiguration sclk
XMC_SPI_CH_SetBitOrderMsbFirst(XMC_SPI2_CH0);
XMC_SPI_CH_SetTransmitMode(XMC_SPI2_CH0, XMC_SPI_CH_MODE_DUAL);
XMC_SPI_CH_Init(XMC_SPI2_CH0, &SPI_U2C0_config);
XMC_SPI_CH_Start(XMC_SPI2_CH0);void initialize_multican(void) {
// create configuration
IfxMultican_Can_Config canConfig;;
IfxMultican_Can_initModuleConfig(&canConfig, &MODULE_CAN);
// initialize module
// IfxMultican_Can can; // defined globally
IfxMultican_Can_initModule(&can, &canConfig);
// create CAN node config
IfxMultican_Can_NodeConfig canNodeConfig;
IfxMultican_Can_Node_initConfig(&canNodeConfig, &can);
canNodeConfig.baudrate = 125000;
// Source Node
// IfxMultican_Can_Node canSrcNode; // defined globally
canNodeConfig.nodeId = IfxMultican_NodeId_0;
canNodeConfig.rxPin = &IfxMultican_RXD0A_P02_1_IN;
canNodeConfig.rxPinMode = IfxPort_InputMode_pullUp;
canNodeConfig.txPin = &IfxMultican_TXD0_P02_0_OUT;
canNodeConfig.txPinMode = IfxPort_OutputMode_pushPull;
// initialize the node
IfxMultican_Can_Node_init(&canNode, &canNodeConfig);void initialize_can_messages(IfxMultican_Can_Node* canNode) {
for(uint8 i = 0; i < can_messages_definition.messages_length; i++) {
// Message Object handles
IfxMultican_Can_MsgObj can_message_object;
// create message object config
IfxMultican_Can_MsgObjConfig canMsgObjConfig;
IfxMultican_Can_MsgObj_initConfig(&canMsgObjConfig, canNode);
// assigned message object:
canMsgObjConfig.msgObjId = i ;
canMsgObjConfig.messageId = can_messages_definition.messages[i].id;
canMsgObjConfig.acceptanceMask = 0x7FFFFFFFUL;
canMsgObjConfig.frame = can_messages_definition.messages[i].type;
canMsgObjConfig.control.messageLen = can_messages_definition.messages[i].length;
canMsgObjConfig.control.extendedFrame = FALSE;
canMsgObjConfig.control.matchingId = TRUE;
// initialize message object
IfxMultican_Can_MsgObj_init(&can_message_object, &canMsgObjConfig);
}
}void multican_send_frame(uint16 frame_id, uint64 data){
can_message* msg = find_message_by_id(frame_id, IfxMultican_Frame_transmit);
IfxMultican_Message txMsg;
if( msg != NULL_PTR){
txMsg.id = msg->id;
txMsg.data[0] = (uint32)data;
txMsg.data[1] = (uint32)(data >> 32);
txMsg.lengthCode = msg->length;
txMsg.fastBitRate = FALSE;
// Transmit Data
while(IfxMultican_Can_MsgObj_sendMessage(&(msg->message_object), &txMsg) == IfxMultican_Status_notSentBusy);
}
}