/*
This?file?is?part?of?CanFestival?a?library?implementing?CanOpen?Stack.

Copyright?（C）:?Edouard?TISSERANT?and?Francis?DUPIN
AT91?Port:?Peter?CHRISTEN

See?COPYING?file?for?copyrights?details.

This?library?is?free?software;?you?can?redistribute?it?and/or
modify?it?under?the?terms?of?the?GNU?Lesser?General?Public
License?as?published?by?the?Free?Software?Foundation;?either
version?2.1?of?the?License?or?（at?your?option）?any?later?version.

This?library?is?distributed?in?the?hope?that?it?will?be?useful
but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the?GNU
Lesser?General?Public?License?for?more?details.

You?should?have?received?a?copy?of?the?GNU?Lesser?General?Public
License?along?with?this?library;?if?not?write?to?the?Free?Software
Foundation?Inc.?59?Temple?Place?Suite?330?Boston?MA??02111-1307??USA
*/

//#define?DEBUG_WAR_CONSOLE_ON
//#define?DEBUG_ERR_CONSOLE_ON

#include?“can_AT91.h“
#include?“canfestival.h“

void?can_irq_handler（void）;

unsigned?char?canInit（unsigned?int?bitrate）
/******************************************************************************
Initialize?the?hardware?to?receive?CAN?messages?and?start?the?timer?for?the
CANopen?stack.
INPUT	
OUTPUT	
******************************************************************************/
{
??unsigned?char?i;
??AT91S_CAN_MB?*mb_ptr?=?AT91C_base_CAN_MB0;

??//?Enable?CAN?PIOs
??AT91F_CAN_CfgPIO（）;
??//?Enable?CAN?Clock
??AT91F_CAN_CfgPMC（）;

??//?Enable?CAN?Transceiver
??AT91F_PIOA_CfgPMC（）;

??//?Init?CAN?Interrupt?Source?Level
??AT91F_AIC_ConfigureIt（AT91C_base_AIC				//?CAN?base?address
????????????????????????AT91C_ID_CAN				//?CAN?ID
????????????????????????AT91C_AIC_PRIOR_HIGHEST		//?Max?priority
????????????????????????AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL	//?Level?sensitive
????????????????????????can_irq_handler）;			//?C?Handler

??AT91F_AIC_EnableIt（AT91C_base_AIC?AT91C_ID_CAN）;

??if?（bitrate?<=?500）
??{
????//?CANopen?10..500?kbit?with?16?tq?sample?point?is?at?14?tq
????//?all?values?are?added?to?1?by?hardware
????//?Resynchronisation?jump?width?（SJW）	=?1?tq
????//?Propagation?Time?Segment?（PRS）		=?5?tq
????//?Phase?Segment?1?（PHS1）			=?8?tq
????//?Phase?Segment?2?（PHS2）			=?2?tq
????//?Total					=?16?tq
????AT91F_CAN_CfgBaudrateReg（AT91C_base_CAN
?????????????????????????????（AT91C_MASTER_CLOCK/16/1000/bitrate?-?1）?<??}
??else
????return?0;

??//?Enable?CAN?and?Wait?for?WakeUp?Interrupt
//??AT91F_CAN_EnableIt（AT91C_base_CAN?AT91C_CAN_WAKEUP）;
??AT91F_CAN_CfgModeReg（AT91C_base_CAN?AT91C_CAN_CANEN）;

??//?Reset?all?mailsboxes?（MBs）?filters?are?zero?（accept?all）?by?clear?all?MB
??//?Set?the?lower?MBs?as?rx?buffer
??for?（i?=?0;?i???//?Configure?receive?MBs?as?receive?buffer?last?as?receive?overwrite
????AT91F_InitMailboxRegisters（mb_ptr
				（（i?				|?AT91C_CAN_PRIOR	//?Mailbox?Mode?Reg

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????173??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\.hg_archival.txt
?????文件????????2004??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\.hgignore
?????文件?????????131??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\.hgtags
?????文件?????????709??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\.travis.yml
?????文件?????????123??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\AUTHORS
?????文件?????????382??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\CONTRIBUTORS
?????文件????????1518??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\COPYING
?????文件????????8681??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\CanFestival-3.vc10.sln
?????文件????????6663??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\CanFestival-3.vc10.vcxproj
?????文件????????4686??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\CanFestival-3.vc10.vcxproj.filters
?????文件????????7077??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\CanFestival-3.vc9.sln
?????文件????????6934??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\CanFestival-3.vc9.vcproj
?????文件???????24381??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\LICENCE
?????文件????????1587??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\Makefile.in
?????文件???????29293??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\configure
?????文件?????????191??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\README.Debian
?????文件?????????178??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-devel.install
?????文件?????????120??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-examples.install
?????文件??????????79??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-objdictedit.install
?????文件????????1107??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-objdictedit.postinst
?????文件?????????587??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-objdictedit.postrm
?????文件??????????41??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-peak.install
?????文件?????????905??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-peak.postinst
?????文件????????1032??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-peak.postrm
?????文件??????????37??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-socket.install
?????文件??????????38??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-virtual.install
?????文件?????????905??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-virtual.postinst
?????文件????????1032??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\canfestival-virtual.postrm
?????文件?????????206??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\changelog
?????文件???????????2??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\compat
?????文件????????1325??2015-08-03?16:01??CanFestival-3-8bfe0ac00cdb\debian\control
............此處省略406個文件信息