Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /******************** (C) COPYRIGHT 2006 STMicroelectronics ******************** |
2 | * File Name : 91x_can.c |
||
3 | * Author : MCD Application Team |
||
4 | * Date First Issued : 05/18/2006 : Version 1.0 |
||
5 | * Description : This file provides all the CAN software functions. |
||
6 | ******************************************************************************** |
||
7 | * History: |
||
8 | * 05/22/2007 : Version 1.2 |
||
9 | * 05/24/2006 : Version 1.1 |
||
10 | * 05/18/2006 : Version 1.0 |
||
11 | ******************************************************************************** |
||
12 | * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS |
||
13 | * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. |
||
14 | * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, |
||
15 | * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE |
||
16 | * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING |
||
17 | * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
||
18 | *******************************************************************************/ |
||
19 | |||
20 | /* Includes ------------------------------------------------------------------*/ |
||
21 | #include "91x_can.h" |
||
22 | #include "91x_scu.h" |
||
23 | |||
24 | /* Private typedef -----------------------------------------------------------*/ |
||
25 | /* Private define ------------------------------------------------------------*/ |
||
26 | /* Private macro -------------------------------------------------------------*/ |
||
27 | /*----------------------------------------------------------------------------*/ |
||
28 | /* Macro Name : xxx_ID_MSK, xxx_ID_ARB */ |
||
29 | /* Description : Form the Mask and Arbitration registers value to filter */ |
||
30 | /* a range of identifiers or a fixed identifier, for standard*/ |
||
31 | /* and extended IDs */ |
||
32 | /*----------------------------------------------------------------------------*/ |
||
33 | #define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start))) |
||
34 | #define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end)) |
||
35 | |||
36 | #define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id)) |
||
37 | #define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id)) |
||
38 | |||
39 | #define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2)) |
||
40 | #define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2)) |
||
41 | |||
42 | #define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2)) |
||
43 | #define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2)) |
||
44 | |||
45 | #define EXT_RANGE_ID_MSK_L(range_start, range_end) ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11)) |
||
46 | #define EXT_RANGE_ID_MSK_H(range_start, range_end) ((u16)(STD_RANGE_ID_MSK((range_start), (range_end)) | ((RANGE_ID_MSK((range_start), (range_end)) >> 27) & 0x03))) |
||
47 | #define EXT_RANGE_ID_ARB_L(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11)) |
||
48 | #define EXT_RANGE_ID_ARB_H(range_start, range_end) ((u16)(STD_RANGE_ID_ARB((range_start), (range_end)) | ((RANGE_ID_ARB((range_start), (range_end)) >> 27) & 0x03))) |
||
49 | |||
50 | #define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id) >> 11)) |
||
51 | #define EXT_FIXED_ID_MSK_H(id) ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03))) |
||
52 | #define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id) >> 11)) |
||
53 | #define EXT_FIXED_ID_ARB_H(id) ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03))) |
||
54 | |||
55 | /* macro to format the timing register value from the timing parameters*/ |
||
56 | #define CAN_TIMING(tseg1, tseg2, sjw, brp) ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F)) |
||
57 | |||
58 | /* Private variables ---------------------------------------------------------*/ |
||
59 | /* array of pre-defined timing parameters for standard bitrates*/ |
||
60 | u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */ |
||
61 | CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */ |
||
62 | CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */ |
||
63 | CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */ |
||
64 | CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */ |
||
65 | CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */ |
||
66 | }; |
||
67 | |||
68 | /* Private function prototypes -----------------------------------------------*/ |
||
69 | static u32 GetFreeIF(void); |
||
70 | /* Private functions ---------------------------------------------------------*/ |
||
71 | |||
72 | /******************************************************************************* |
||
73 | * Function Name : CAN_DeInit |
||
74 | * Description : Deinitializes the CAN peripheral registers to their default |
||
75 | * reset values. |
||
76 | * Input : None |
||
77 | * Output : None |
||
78 | * Return : None |
||
79 | *******************************************************************************/ |
||
80 | void CAN_DeInit (void) |
||
81 | { |
||
82 | /* Reset the CAN registers values*/ |
||
83 | |||
84 | SCU_APBPeriphReset(__CAN,ENABLE); /*CAN peripheral is under Reset */ |
||
85 | SCU_APBPeriphReset(__CAN,DISABLE); /*CAN peripheral Reset off*/ |
||
86 | |||
87 | |||
88 | } |
||
89 | |||
90 | /******************************************************************************* |
||
91 | * Function Name : CAN_Init |
||
92 | * Description : Initializes the CAN peripheral according to the specified |
||
93 | * parameters in the CAN_InitStruct. |
||
94 | * Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that |
||
95 | * contains the configuration information for the CAN peripheral. |
||
96 | * Output : None |
||
97 | * Return : None |
||
98 | *******************************************************************************/ |
||
99 | void CAN_Init(CAN_InitTypeDef* CAN_InitStruct) |
||
100 | { |
||
101 | CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters); |
||
102 | CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate); |
||
103 | CAN_LeaveInitMode(); |
||
104 | CAN_LeaveTestMode(); |
||
105 | } |
||
106 | |||
107 | /******************************************************************************* |
||
108 | * Function Name : CAN_StructInit |
||
109 | * Description : Fills each CAN_InitStruct member with its reset value. |
||
110 | * Input : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which |
||
111 | * will be initialized. |
||
112 | * Output : None |
||
113 | * Return : None. |
||
114 | *******************************************************************************/ |
||
115 | void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct) |
||
116 | { |
||
117 | /* Reset CAN init structure parameters values */ |
||
118 | CAN_InitStruct->CAN_ConfigParameters = 0x0; |
||
119 | CAN_InitStruct->CAN_Bitrate = 0x2301; |
||
120 | } |
||
121 | |||
122 | /******************************************************************************* |
||
123 | * Function Name : CAN_SetBitrate |
||
124 | * Description : Setups a standard CAN bitrate. |
||
125 | * Input : bitrate: specifies the bit rate. |
||
126 | * Output : None |
||
127 | * Return : None |
||
128 | *******************************************************************************/ |
||
129 | void CAN_SetBitrate(u32 bitrate) |
||
130 | { |
||
131 | CAN->BTR = CanTimings[bitrate]; /* write the predefined timing value */ |
||
132 | CAN->BRPR = 0; /* clear the Extended Baud Rate Prescaler */ |
||
133 | } |
||
134 | |||
135 | /******************************************************************************* |
||
136 | * Function Name : CAN_SetTiming |
||
137 | * Description : Setups the CAN timing with specific parameters |
||
138 | * Input : - tseg1: specifies Time Segment before the sample point. |
||
139 | * This parameter must be a number between 1 and 16. |
||
140 | * - tseg2: Time Segment after the sample point. This parameter |
||
141 | * must be a number between 1 and 8. |
||
142 | * - sjw: Synchronisation Jump Width. This parameter must be |
||
143 | * a number between 1 and 4. |
||
144 | * - brp: Baud Rate Prescaler. This parameter must be a number |
||
145 | * between 1 and 1024. |
||
146 | * Output : None |
||
147 | * Return : None |
||
148 | *******************************************************************************/ |
||
149 | void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp) |
||
150 | { |
||
151 | CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp); |
||
152 | CAN->BRPR = ((brp-1) >> 6) & 0x0F; |
||
153 | } |
||
154 | |||
155 | /******************************************************************************* |
||
156 | * Function Name : GetFreeIF |
||
157 | * Description : Searchs the first free message interface, starting from 0. |
||
158 | * Input : None |
||
159 | * Output : None |
||
160 | * Return : A free message interface number (0 or 1) if found, else 2 |
||
161 | *******************************************************************************/ |
||
162 | static u32 GetFreeIF(void) |
||
163 | { |
||
164 | if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0) |
||
165 | return 0; |
||
166 | else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0) |
||
167 | return 1; |
||
168 | else |
||
169 | return 2; |
||
170 | } |
||
171 | |||
172 | /******************************************************************************* |
||
173 | * Function Name : CAN_SetUnusedMsgObj |
||
174 | * Description : Configures the message object as unused |
||
175 | * Input : msgobj: specifies the Message object number, from 0 to 31. |
||
176 | * Output : None |
||
177 | * Return : An ErrorStatus enumuration value: |
||
178 | * - SUCCESS: Interface to treat the message |
||
179 | * - ERROR: No interface to treat the message |
||
180 | *******************************************************************************/ |
||
181 | ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj) |
||
182 | { |
||
183 | u32 msg_if=0; |
||
184 | |||
185 | if ((msg_if = GetFreeIF()) == 2) |
||
186 | { |
||
187 | return ERROR; |
||
188 | } |
||
189 | |||
190 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
||
191 | | CAN_CMR_MASK |
||
192 | | CAN_CMR_ARB |
||
193 | | CAN_CMR_CONTROL |
||
194 | | CAN_CMR_DATAA |
||
195 | | CAN_CMR_DATAB; |
||
196 | |||
197 | CAN->sMsgObj[msg_if].M1R = 0; |
||
198 | CAN->sMsgObj[msg_if].M2R = 0; |
||
199 | |||
200 | CAN->sMsgObj[msg_if].A1R = 0; |
||
201 | CAN->sMsgObj[msg_if].A2R = 0; |
||
202 | |||
203 | CAN->sMsgObj[msg_if].MCR = 0; |
||
204 | |||
205 | CAN->sMsgObj[msg_if].DA1R = 0; |
||
206 | CAN->sMsgObj[msg_if].DA2R = 0; |
||
207 | CAN->sMsgObj[msg_if].DB1R = 0; |
||
208 | CAN->sMsgObj[msg_if].DB2R = 0; |
||
209 | |||
210 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
||
211 | |||
212 | return SUCCESS; |
||
213 | } |
||
214 | |||
215 | /******************************************************************************* |
||
216 | * Function Name : CAN_SetTxMsgObj |
||
217 | * Description : Configures the message object as TX. |
||
218 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
219 | * - idType: specifies the identifier type of the frames that |
||
220 | * will be transmitted using this message object. |
||
221 | * This parameter can be one of the following values: |
||
222 | * - CAN_STD_ID (standard ID, 11-bit) |
||
223 | * - CAN_EXT_ID (extended ID, 29-bit) |
||
224 | * Output : None |
||
225 | * Return : An ErrorStatus enumuration value: |
||
226 | * - SUCCESS: Interface to treat the message |
||
227 | * - ERROR: No interface to treat the message |
||
228 | *******************************************************************************/ |
||
229 | ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType) |
||
230 | { |
||
231 | u32 msg_if=0; |
||
232 | |||
233 | if ((msg_if = GetFreeIF()) == 2) |
||
234 | { |
||
235 | return ERROR; |
||
236 | } |
||
237 | |||
238 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
||
239 | | CAN_CMR_MASK |
||
240 | | CAN_CMR_ARB |
||
241 | | CAN_CMR_CONTROL |
||
242 | | CAN_CMR_DATAA |
||
243 | | CAN_CMR_DATAB; |
||
244 | |||
245 | CAN->sMsgObj[msg_if].M1R = 0; |
||
246 | CAN->sMsgObj[msg_if].A1R = 0; |
||
247 | |||
248 | if (idType == CAN_STD_ID) |
||
249 | { |
||
250 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR; |
||
251 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR; |
||
252 | } |
||
253 | else |
||
254 | { |
||
255 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD; |
||
256 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD; |
||
257 | } |
||
258 | |||
259 | CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB; |
||
260 | |||
261 | CAN->sMsgObj[msg_if].DA1R = 0; |
||
262 | CAN->sMsgObj[msg_if].DA2R = 0; |
||
263 | CAN->sMsgObj[msg_if].DB1R = 0; |
||
264 | CAN->sMsgObj[msg_if].DB2R = 0; |
||
265 | |||
266 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
||
267 | |||
268 | return SUCCESS; |
||
269 | } |
||
270 | |||
271 | /******************************************************************************* |
||
272 | * Function Name : CAN_SetRxMsgObj |
||
273 | * Description : Configures the message object as RX. |
||
274 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
275 | * - idType: specifies the identifier type of the frames that |
||
276 | * will be transmitted using this message object. |
||
277 | * This parameter can be one of the following values: |
||
278 | * - CAN_STD_ID (standard ID, 11-bit) |
||
279 | * - CAN_EXT_ID (extended ID, 29-bit) |
||
280 | * - idLow: specifies the low part of the identifier range used |
||
281 | * for acceptance filtering. |
||
282 | * - idHigh: specifies the high part of the identifier range |
||
283 | * used for acceptance filtering. |
||
284 | * - singleOrFifoLast: specifies the end-of-buffer indicator. |
||
285 | * This parameter can be one of the following values: |
||
286 | * - TRUE: for a single receive object or a FIFO receive |
||
287 | * object that is the last one of the FIFO. |
||
288 | * - FALSE: for a FIFO receive object that is not the |
||
289 | * last one. |
||
290 | * Output : None |
||
291 | * Return : An ErrorStatus enumuration value: |
||
292 | * - SUCCESS: Interface to treat the message |
||
293 | * - ERROR: No interface to treat the message |
||
294 | *******************************************************************************/ |
||
295 | ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast) |
||
296 | { |
||
297 | u32 msg_if=0; |
||
298 | |||
299 | if ((msg_if = GetFreeIF()) == 2) |
||
300 | { |
||
301 | return ERROR; |
||
302 | } |
||
303 | |||
304 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
||
305 | | CAN_CMR_MASK |
||
306 | | CAN_CMR_ARB |
||
307 | | CAN_CMR_CONTROL |
||
308 | | CAN_CMR_DATAA |
||
309 | | CAN_CMR_DATAB; |
||
310 | |||
311 | if (idType == CAN_STD_ID) |
||
312 | { |
||
313 | CAN->sMsgObj[msg_if].M1R = 0; |
||
314 | CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh); |
||
315 | |||
316 | CAN->sMsgObj[msg_if].A1R = 0; |
||
317 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh); |
||
318 | } |
||
319 | else |
||
320 | { |
||
321 | CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh); |
||
322 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh); |
||
323 | |||
324 | CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh); |
||
325 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh); |
||
326 | } |
||
327 | |||
328 | CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0); |
||
329 | |||
330 | CAN->sMsgObj[msg_if].DA1R = 0; |
||
331 | CAN->sMsgObj[msg_if].DA2R = 0; |
||
332 | CAN->sMsgObj[msg_if].DB1R = 0; |
||
333 | CAN->sMsgObj[msg_if].DB2R = 0; |
||
334 | |||
335 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
||
336 | |||
337 | return SUCCESS; |
||
338 | } |
||
339 | |||
340 | /******************************************************************************* |
||
341 | * Function Name : CAN_InvalidateAllMsgObj |
||
342 | * Description : Configures all the message objects as unused. |
||
343 | * Input : None |
||
344 | * Output : None |
||
345 | * Return : None |
||
346 | *******************************************************************************/ |
||
347 | void CAN_InvalidateAllMsgObj(void) |
||
348 | { |
||
349 | u32 i=0; |
||
350 | for (i = 0; i < 32; i++) |
||
351 | CAN_SetUnusedMsgObj(i); |
||
352 | } |
||
353 | |||
354 | |||
355 | /******************************************************************************* |
||
356 | * Function Name : CAN_ReleaseMessage |
||
357 | * Description : Releases the message object |
||
358 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
359 | * Output : None |
||
360 | * Return : An ErrorStatus enumuration value: |
||
361 | * - SUCCESS: Interface to treat the message |
||
362 | * - ERROR: No interface to treat the message |
||
363 | *******************************************************************************/ |
||
364 | ErrorStatus CAN_ReleaseMessage(u32 msgobj) |
||
365 | { |
||
366 | u32 msg_if=0; |
||
367 | |||
368 | if ((msg_if = GetFreeIF()) == 2) |
||
369 | { |
||
370 | return ERROR; |
||
371 | } |
||
372 | |||
373 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
||
374 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
||
375 | |||
376 | return SUCCESS; |
||
377 | } |
||
378 | |||
379 | /******************************************************************************* |
||
380 | * Function Name : CAN_SendMessage |
||
381 | * Description : Start transmission of a message |
||
382 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
383 | * : - pCanMsg: pointer to the message structure containing data |
||
384 | * to transmit. |
||
385 | * Output : None |
||
386 | * Return : An ErrorStatus enumuration value: |
||
387 | * - SUCCESS: Transmission OK |
||
388 | * - ERROR: No transmission |
||
389 | *******************************************************************************/ |
||
390 | ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg) |
||
391 | { |
||
392 | if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
||
393 | { |
||
394 | return ERROR; |
||
395 | } |
||
396 | |||
397 | CAN->SR &= ~CAN_SR_TXOK; |
||
398 | |||
399 | /* read the Arbitration and Message Control*/ |
||
400 | CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL; |
||
401 | |||
402 | CAN->sMsgObj[0].CRR = 1 + msgobj; |
||
403 | |||
404 | if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
||
405 | { |
||
406 | return ERROR; |
||
407 | } |
||
408 | |||
409 | /* update the contents needed for transmission*/ |
||
410 | CAN->sMsgObj[0].CMR = CAN_CMR_WRRD |
||
411 | | CAN_CMR_ARB |
||
412 | | CAN_CMR_CONTROL |
||
413 | | CAN_CMR_DATAA |
||
414 | | CAN_CMR_DATAB; |
||
415 | |||
416 | if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0) |
||
417 | { |
||
418 | /* standard ID*/ |
||
419 | CAN->sMsgObj[0].A1R = 0; |
||
420 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); |
||
421 | } |
||
422 | else |
||
423 | { |
||
424 | /* extended ID*/ |
||
425 | CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); |
||
426 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id); |
||
427 | } |
||
428 | |||
429 | CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc; |
||
430 | |||
431 | CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; |
||
432 | CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; |
||
433 | CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; |
||
434 | CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; |
||
435 | |||
436 | CAN->sMsgObj[0].CRR = 1 + msgobj; |
||
437 | |||
438 | return SUCCESS; |
||
439 | } |
||
440 | |||
441 | /******************************************************************************* |
||
442 | * Function Name : CAN_ReceiveMessage |
||
443 | * Description : Gets the message, if received. |
||
444 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
445 | * - release: specifies the message release indicator. |
||
446 | * This parameter can be one of the following values: |
||
447 | * - TRUE: the message object is released when getting |
||
448 | * the data. |
||
449 | * - FALSE: the message object is not released. |
||
450 | * - pCanMsg: pointer to the message structure where received |
||
451 | * data is copied. |
||
452 | * Output : None |
||
453 | * Return : An ErrorStatus enumuration value: |
||
454 | * - SUCCESS: Reception OK |
||
455 | * - ERROR: No message pending |
||
456 | *******************************************************************************/ |
||
457 | ErrorStatus CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg) |
||
458 | { |
||
459 | if (!CAN_IsMessageWaiting(msgobj)) |
||
460 | { |
||
461 | return ERROR; |
||
462 | } |
||
463 | |||
464 | CAN->SR &= ~CAN_SR_RXOK; |
||
465 | |||
466 | /* read the message contents*/ |
||
467 | CAN->sMsgObj[1].CMR = CAN_CMR_MASK |
||
468 | | CAN_CMR_ARB |
||
469 | | CAN_CMR_CONTROL |
||
470 | | CAN_CMR_CLRINTPND |
||
471 | | (release ? CAN_CMR_TXRQSTNEWDAT : 0) |
||
472 | | CAN_CMR_DATAA |
||
473 | | CAN_CMR_DATAB; |
||
474 | |||
475 | CAN->sMsgObj[1].CRR = 1 + msgobj; |
||
476 | |||
477 | if (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) |
||
478 | { |
||
479 | return ERROR; |
||
480 | } |
||
481 | |||
482 | if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) |
||
483 | { |
||
484 | /* standard ID*/ |
||
485 | pCanMsg->IdType = CAN_STD_ID; |
||
486 | pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; |
||
487 | } |
||
488 | else |
||
489 | { |
||
490 | /* extended ID*/ |
||
491 | pCanMsg->IdType = CAN_EXT_ID; |
||
492 | pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF); |
||
493 | pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11); |
||
494 | pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27); |
||
495 | } |
||
496 | |||
497 | pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; |
||
498 | |||
499 | pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; |
||
500 | pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); |
||
501 | pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; |
||
502 | pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); |
||
503 | pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; |
||
504 | pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); |
||
505 | pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; |
||
506 | pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); |
||
507 | |||
508 | return SUCCESS; |
||
509 | } |
||
510 | |||
511 | /******************************************************************************* |
||
512 | * Function Name : CAN_WaitEndOfTx |
||
513 | * Description : Waits until current transmission is finished. |
||
514 | * Input : None |
||
515 | * Output : None |
||
516 | * Return : An ErrorStatus enumuration value: |
||
517 | * - SUCCESS: Transmission ended |
||
518 | * - ERROR: Transmission did not occur yet |
||
519 | *******************************************************************************/ |
||
520 | ErrorStatus CAN_WaitEndOfTx(void) |
||
521 | { |
||
522 | if ((CAN->SR & CAN_SR_TXOK) == 0) |
||
523 | { |
||
524 | return ERROR; |
||
525 | } |
||
526 | CAN->SR &= ~CAN_SR_TXOK; |
||
527 | |||
528 | return SUCCESS; |
||
529 | } |
||
530 | |||
531 | /******************************************************************************* |
||
532 | * Function Name : CAN_BasicSendMessage |
||
533 | * Description : Starts transmission of a message in BASIC mode. This mode |
||
534 | * does not use the message RAM. |
||
535 | * Input : pCanMsg: Pointer to the message structure containing data to |
||
536 | * transmit. |
||
537 | * Output : None |
||
538 | * Return : An ErrorStatus enumuration value: |
||
539 | * - SUCCESS: Transmission OK |
||
540 | * - ERROR: No transmission |
||
541 | *******************************************************************************/ |
||
542 | ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg) |
||
543 | { |
||
544 | /* clear NewDat bit in IF2 to detect next reception*/ |
||
545 | CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT; |
||
546 | |||
547 | CAN->SR &= ~CAN_SR_TXOK; |
||
548 | CAN->sMsgObj[0].CMR = CAN_CMR_WRRD |
||
549 | | CAN_CMR_ARB |
||
550 | | CAN_CMR_CONTROL |
||
551 | | CAN_CMR_DATAA |
||
552 | | CAN_CMR_DATAB; |
||
553 | |||
554 | if (pCanMsg->IdType == CAN_STD_ID) |
||
555 | { |
||
556 | /* standard ID*/ |
||
557 | CAN->sMsgObj[0].A1R = 0; |
||
558 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); |
||
559 | } |
||
560 | else |
||
561 | { |
||
562 | /* extended ID*/ |
||
563 | CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); |
||
564 | CAN->sMsgObj[0].A2R = ((CAN->sMsgObj[0].A2R) & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id); |
||
565 | } |
||
566 | |||
567 | CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc; |
||
568 | |||
569 | CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; |
||
570 | CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; |
||
571 | CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; |
||
572 | CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; |
||
573 | |||
574 | /* request transmission*/ |
||
575 | if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY ) |
||
576 | { |
||
577 | return ERROR; |
||
578 | } |
||
579 | |||
580 | return SUCCESS; |
||
581 | } |
||
582 | |||
583 | /******************************************************************************* |
||
584 | * Function Name : CAN_BasicReceiveMessage |
||
585 | * Description : Gets the message in BASIC mode, if received. This mode does |
||
586 | * not use the message RAM. |
||
587 | * Input : pCanMsg: pointer to the message structure where message is copied. |
||
588 | * Output : None |
||
589 | * Return : An ErrorStatus enumuration value: |
||
590 | * - SUCCESS: Reception OK |
||
591 | * - ERROR: No message pending |
||
592 | *******************************************************************************/ |
||
593 | ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg) |
||
594 | { |
||
595 | if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0) |
||
596 | { |
||
597 | return ERROR; |
||
598 | } |
||
599 | |||
600 | CAN->SR &= ~CAN_SR_RXOK; |
||
601 | |||
602 | CAN->sMsgObj[1].CMR = CAN_CMR_ARB |
||
603 | | CAN_CMR_CONTROL |
||
604 | | CAN_CMR_DATAA |
||
605 | | CAN_CMR_DATAB; |
||
606 | |||
607 | if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) |
||
608 | { |
||
609 | /* standard ID*/ |
||
610 | pCanMsg->IdType = CAN_STD_ID; |
||
611 | pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; |
||
612 | } |
||
613 | else |
||
614 | { |
||
615 | /* extended ID*/ |
||
616 | pCanMsg->IdType = CAN_EXT_ID; |
||
617 | pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF); |
||
618 | pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11); |
||
619 | pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27); |
||
620 | } |
||
621 | |||
622 | pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; |
||
623 | |||
624 | pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; |
||
625 | pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); |
||
626 | pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; |
||
627 | pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); |
||
628 | pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; |
||
629 | pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); |
||
630 | pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; |
||
631 | pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); |
||
632 | |||
633 | return SUCCESS; |
||
634 | } |
||
635 | |||
636 | /******************************************************************************* |
||
637 | * Function Name : CAN_EnterInitMode |
||
638 | * Description : Switchs the CAN into initialization mode. This function must |
||
639 | * be used in conjunction with CAN_LeaveInitMode(). |
||
640 | * Input : InitMask: specifies the CAN configuration in normal mode. |
||
641 | * Output : None |
||
642 | * Return : None |
||
643 | *******************************************************************************/ |
||
644 | void CAN_EnterInitMode(u8 InitMask) |
||
645 | { |
||
646 | CAN->CR = InitMask | CAN_CR_INIT; |
||
647 | CAN->SR = 0; /* reset the status*/ |
||
648 | } |
||
649 | |||
650 | /******************************************************************************* |
||
651 | * Function Name : CAN_LeaveInitMode |
||
652 | * Description : Leaves the initialization mode (switch into normal mode). |
||
653 | * This function must be used in conjunction with CAN_EnterInitMode(). |
||
654 | * Input : None |
||
655 | * Output : None |
||
656 | * Return : None |
||
657 | *******************************************************************************/ |
||
658 | void CAN_LeaveInitMode(void) |
||
659 | { |
||
660 | CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE); |
||
661 | } |
||
662 | |||
663 | /******************************************************************************* |
||
664 | * Function Name : CAN_EnterTestMode |
||
665 | * Description : Switchs the CAN into test mode. This function must be used in |
||
666 | * conjunction with CAN_LeaveTestMode(). |
||
667 | * Input : TestMask: specifies the configuration in test modes. |
||
668 | * Output : None |
||
669 | * Return : None |
||
670 | *******************************************************************************/ |
||
671 | void CAN_EnterTestMode(u8 TestMask) |
||
672 | { |
||
673 | CAN->CR |= CAN_CR_TEST; |
||
674 | CAN->TESTR |= TestMask; |
||
675 | } |
||
676 | |||
677 | /******************************************************************************* |
||
678 | * Function Name : CAN_LeaveTestMode |
||
679 | * Description : Leaves the current test mode (switch into normal mode). |
||
680 | * This function must be used in conjunction with CAN_EnterTestMode(). |
||
681 | * Input : None |
||
682 | * Output : None |
||
683 | * Return : None |
||
684 | *******************************************************************************/ |
||
685 | void CAN_LeaveTestMode(void) |
||
686 | { |
||
687 | CAN->CR |= CAN_CR_TEST; |
||
688 | CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC); |
||
689 | CAN->CR &= ~CAN_CR_TEST; |
||
690 | } |
||
691 | |||
692 | /******************************************************************************* |
||
693 | * Function Name : CAN_ReleaseTxMessage |
||
694 | * Description : Releases the transmit message object. |
||
695 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
696 | * Output : None |
||
697 | * Return : None |
||
698 | *******************************************************************************/ |
||
699 | void CAN_ReleaseTxMessage(u32 msgobj) |
||
700 | { |
||
701 | CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
||
702 | CAN->sMsgObj[0].CRR = 1 + msgobj; |
||
703 | } |
||
704 | |||
705 | /******************************************************************************* |
||
706 | * Function Name : CAN_ReleaseRxMessage |
||
707 | * Description : Releases the receive message object. |
||
708 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
709 | * Output : None |
||
710 | * Return : None |
||
711 | *******************************************************************************/ |
||
712 | void CAN_ReleaseRxMessage(u32 msgobj) |
||
713 | { |
||
714 | CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
||
715 | CAN->sMsgObj[1].CRR = 1 + msgobj; |
||
716 | } |
||
717 | |||
718 | /******************************************************************************* |
||
719 | * Function Name : CAN_IsMessageWaiting |
||
720 | * Description : Tests the waiting status of a received message. |
||
721 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
722 | * Output : None |
||
723 | * Return : A non-zero value if the corresponding message object has |
||
724 | * received a message waiting to be copied, else 0. |
||
725 | *******************************************************************************/ |
||
726 | u32 CAN_IsMessageWaiting(u32 msgobj) |
||
727 | { |
||
728 | return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16))); |
||
729 | } |
||
730 | |||
731 | /******************************************************************************* |
||
732 | * Function Name : CAN_IsTransmitRequested |
||
733 | * Description : Tests the request status of a transmitted message. |
||
734 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
735 | * Output : None |
||
736 | * Return : A non-zero value if the corresponding message is requested |
||
737 | * to transmit, else 0. |
||
738 | *******************************************************************************/ |
||
739 | u32 CAN_IsTransmitRequested(u32 msgobj) |
||
740 | { |
||
741 | return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16))); |
||
742 | } |
||
743 | |||
744 | /******************************************************************************* |
||
745 | * Function Name : CAN_IsInterruptPending |
||
746 | * Description : Tests the interrupt status of a message object. |
||
747 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
748 | * Output : None |
||
749 | * Return : A non-zero value if the corresponding message has an |
||
750 | * interrupt pending, else 0. |
||
751 | *******************************************************************************/ |
||
752 | u32 CAN_IsInterruptPending(u32 msgobj) |
||
753 | { |
||
754 | return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16))); |
||
755 | } |
||
756 | |||
757 | /******************************************************************************* |
||
758 | * Function Name : CAN_IsObjectValid |
||
759 | * Description : Tests the validity of a message object (ready to use). |
||
760 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
761 | * Output : None |
||
762 | * Return : A non-zero value if the corresponding message object is |
||
763 | * valid, else 0. |
||
764 | *******************************************************************************/ |
||
765 | u32 CAN_IsObjectValid(u32 msgobj) |
||
766 | { |
||
767 | return (msgobj < 16 ? CAN->MV1R & (1 << msgobj) : CAN->MV2R & (1 << (msgobj-16))); |
||
768 | } |
||
769 | /******************* (C) COPYRIGHT 2006 STMicroelectronics *****END OF FILE****/ |