/*
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??2011-04-13?14:29??CanFestival-3-1041153c5fd2\.hg_archival.txt
?????文件????????1299??2011-04-13?14:29??CanFestival-3-1041153c5fd2\.hgignore
?????文件?????????131??2011-04-13?14:29??CanFestival-3-1041153c5fd2\.hgtags
?????文件?????????123??2011-04-13?14:29??CanFestival-3-1041153c5fd2\AUTHORS
?????文件???????24713??2011-04-13?14:29??CanFestival-3-1041153c5fd2\CHANGES
?????文件?????????382??2011-04-13?14:29??CanFestival-3-1041153c5fd2\CONTRIBUTORS
?????文件????????1518??2011-04-13?14:29??CanFestival-3-1041153c5fd2\COPYING
?????文件????????5608??2011-04-13?14:29??CanFestival-3-1041153c5fd2\CanFestival-3.vc8.sln
?????文件????????6808??2011-04-13?14:29??CanFestival-3-1041153c5fd2\CanFestival-3.vc8.vcproj
?????文件???????24381??2011-04-13?14:29??CanFestival-3-1041153c5fd2\LICENCE
?????文件????????1587??2011-04-13?14:29??CanFestival-3-1041153c5fd2\Makefile.in
?????文件???????28555??2011-04-13?14:29??CanFestival-3-1041153c5fd2\configure
?????文件?????????191??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\README.Debian
?????文件?????????178??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-devel.install
?????文件?????????120??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-examples.install
?????文件??????????79??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-objdictedit.install
?????文件????????1107??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-objdictedit.postinst
?????文件?????????587??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-objdictedit.postrm
?????文件??????????41??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-peak.install
?????文件?????????905??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-peak.postinst
?????文件????????1032??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-peak.postrm
?????文件??????????37??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-socket.install
?????文件??????????38??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-virtual.install
?????文件?????????905??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-virtual.postinst
?????文件????????1032??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\canfestival-virtual.postrm
?????文件?????????206??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\changelog
?????文件???????????2??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\compat
?????文件????????1325??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\control
?????文件?????????335??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\control-peak_linux
?????文件????????1324??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\control-socket
?????文件????????1027??2011-04-13?14:29??CanFestival-3-1041153c5fd2\debian\control-virtual
............此處省略388個文件信息