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196 | killagreg | 1 | /******************** (C) COPYRIGHT 2008 STMicroelectronics ******************** |
1 | ingob | 2 | * File Name : 91x_can.c |
3 | * Author : MCD Application Team |
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196 | killagreg | 4 | * Version : V2.1 |
5 | * Date : 12/22/2008 |
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6 | * Description : This file provides all the CAN firmware functions. |
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1 | ingob | 7 | ******************************************************************************** |
8 | * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS |
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9 | * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. |
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10 | * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, |
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11 | * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE |
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12 | * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING |
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13 | * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
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14 | *******************************************************************************/ |
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15 | |||
16 | /* Includes ------------------------------------------------------------------*/ |
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17 | #include "91x_can.h" |
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18 | #include "91x_scu.h" |
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19 | |||
20 | /* Private typedef -----------------------------------------------------------*/ |
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21 | /* Private define ------------------------------------------------------------*/ |
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22 | /* Private macro -------------------------------------------------------------*/ |
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23 | /*----------------------------------------------------------------------------*/ |
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24 | /* Macro Name : xxx_ID_MSK, xxx_ID_ARB */ |
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25 | /* Description : Form the Mask and Arbitration registers value to filter */ |
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26 | /* a range of identifiers or a fixed identifier, for standard*/ |
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27 | /* and extended IDs */ |
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28 | /*----------------------------------------------------------------------------*/ |
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29 | #define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start))) |
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30 | #define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end)) |
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31 | |||
32 | #define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id)) |
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33 | #define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id)) |
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34 | |||
35 | #define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2)) |
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36 | #define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2)) |
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37 | |||
38 | #define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2)) |
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39 | #define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2)) |
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40 | |||
196 | killagreg | 41 | #define EXT_RANGE_ID_MSK_L(range_start, range_end) \ |
42 | ((u16)(RANGE_ID_MSK((range_start), (range_end)))) |
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1 | ingob | 43 | |
196 | killagreg | 44 | #define EXT_RANGE_ID_MSK_H(range_start, range_end) \ |
45 | ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 16) & 0x1FFF) |
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1 | ingob | 46 | |
196 | killagreg | 47 | #define EXT_RANGE_ID_ARB_L(range_start, range_end) \ |
48 | ((u16)(RANGE_ID_ARB((range_start), (range_end)))) |
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49 | |||
50 | #define EXT_RANGE_ID_ARB_H(range_start, range_end) \ |
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51 | ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 16) & 0x1FFF) |
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52 | |||
53 | #define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id))) |
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54 | |||
55 | #define EXT_FIXED_ID_MSK_H(id) ((u16)(FIXED_ID_MSK(id) >> 16 ) & 0x1FFF) |
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56 | |||
57 | #define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id))) |
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58 | |||
59 | #define EXT_FIXED_ID_ARB_H(id) ((u16)(FIXED_ID_ARB(id) >> 16) & 0x1FFF) |
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60 | |||
1 | ingob | 61 | /* macro to format the timing register value from the timing parameters*/ |
62 | #define CAN_TIMING(tseg1, tseg2, sjw, brp) ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F)) |
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63 | |||
64 | /* Private variables ---------------------------------------------------------*/ |
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65 | /* array of pre-defined timing parameters for standard bitrates*/ |
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66 | u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */ |
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67 | CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */ |
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68 | CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */ |
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69 | CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */ |
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70 | CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */ |
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71 | CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */ |
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72 | }; |
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73 | |||
74 | /* Private function prototypes -----------------------------------------------*/ |
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75 | static u32 GetFreeIF(void); |
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76 | /* Private functions ---------------------------------------------------------*/ |
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77 | |||
78 | /******************************************************************************* |
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79 | * Function Name : CAN_DeInit |
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80 | * Description : Deinitializes the CAN peripheral registers to their default |
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81 | * reset values. |
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82 | * Input : None |
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83 | * Output : None |
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84 | * Return : None |
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85 | *******************************************************************************/ |
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86 | void CAN_DeInit (void) |
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87 | { |
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88 | /* Reset the CAN registers values*/ |
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89 | |||
90 | SCU_APBPeriphReset(__CAN,ENABLE); /*CAN peripheral is under Reset */ |
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91 | SCU_APBPeriphReset(__CAN,DISABLE); /*CAN peripheral Reset off*/ |
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196 | killagreg | 92 | |
1 | ingob | 93 | } |
94 | |||
95 | /******************************************************************************* |
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96 | * Function Name : CAN_Init |
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97 | * Description : Initializes the CAN peripheral according to the specified |
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98 | * parameters in the CAN_InitStruct. |
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99 | * Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that |
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100 | * contains the configuration information for the CAN peripheral. |
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101 | * Output : None |
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102 | * Return : None |
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103 | *******************************************************************************/ |
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104 | void CAN_Init(CAN_InitTypeDef* CAN_InitStruct) |
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105 | { |
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106 | CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters); |
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107 | CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate); |
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108 | CAN_LeaveInitMode(); |
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109 | CAN_LeaveTestMode(); |
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110 | } |
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111 | |||
112 | /******************************************************************************* |
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113 | * Function Name : CAN_StructInit |
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114 | * Description : Fills each CAN_InitStruct member with its reset value. |
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115 | * Input : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which |
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116 | * will be initialized. |
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117 | * Output : None |
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118 | * Return : None. |
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119 | *******************************************************************************/ |
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120 | void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct) |
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121 | { |
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122 | /* Reset CAN init structure parameters values */ |
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123 | CAN_InitStruct->CAN_ConfigParameters = 0x0; |
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124 | CAN_InitStruct->CAN_Bitrate = 0x2301; |
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125 | } |
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126 | |||
127 | /******************************************************************************* |
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128 | * Function Name : CAN_SetBitrate |
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129 | * Description : Setups a standard CAN bitrate. |
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130 | * Input : bitrate: specifies the bit rate. |
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131 | * Output : None |
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132 | * Return : None |
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133 | *******************************************************************************/ |
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134 | void CAN_SetBitrate(u32 bitrate) |
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135 | { |
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136 | CAN->BTR = CanTimings[bitrate]; /* write the predefined timing value */ |
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137 | CAN->BRPR = 0; /* clear the Extended Baud Rate Prescaler */ |
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138 | } |
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139 | |||
140 | /******************************************************************************* |
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141 | * Function Name : CAN_SetTiming |
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142 | * Description : Setups the CAN timing with specific parameters |
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143 | * Input : - tseg1: specifies Time Segment before the sample point. |
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144 | * This parameter must be a number between 1 and 16. |
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145 | * - tseg2: Time Segment after the sample point. This parameter |
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146 | * must be a number between 1 and 8. |
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147 | * - sjw: Synchronisation Jump Width. This parameter must be |
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148 | * a number between 1 and 4. |
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149 | * - brp: Baud Rate Prescaler. This parameter must be a number |
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150 | * between 1 and 1024. |
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151 | * Output : None |
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152 | * Return : None |
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153 | *******************************************************************************/ |
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154 | void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp) |
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155 | { |
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156 | CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp); |
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157 | CAN->BRPR = ((brp-1) >> 6) & 0x0F; |
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158 | } |
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159 | |||
160 | /******************************************************************************* |
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161 | * Function Name : GetFreeIF |
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162 | * Description : Searchs the first free message interface, starting from 0. |
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163 | * Input : None |
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164 | * Output : None |
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165 | * Return : A free message interface number (0 or 1) if found, else 2 |
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166 | *******************************************************************************/ |
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167 | static u32 GetFreeIF(void) |
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168 | { |
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169 | if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0) |
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170 | return 0; |
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171 | else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0) |
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172 | return 1; |
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173 | else |
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174 | return 2; |
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175 | } |
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176 | |||
177 | /******************************************************************************* |
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178 | * Function Name : CAN_SetUnusedMsgObj |
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179 | * Description : Configures the message object as unused |
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180 | * Input : msgobj: specifies the Message object number, from 0 to 31. |
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181 | * Output : None |
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182 | * Return : An ErrorStatus enumuration value: |
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183 | * - SUCCESS: Interface to treat the message |
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184 | * - ERROR: No interface to treat the message |
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185 | *******************************************************************************/ |
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186 | ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj) |
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187 | { |
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188 | u32 msg_if=0; |
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189 | |||
190 | if ((msg_if = GetFreeIF()) == 2) |
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191 | { |
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192 | return ERROR; |
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193 | } |
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194 | |||
195 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
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196 | | CAN_CMR_MASK |
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197 | | CAN_CMR_ARB |
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198 | | CAN_CMR_CONTROL |
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199 | | CAN_CMR_DATAA |
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200 | | CAN_CMR_DATAB; |
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201 | |||
202 | CAN->sMsgObj[msg_if].M1R = 0; |
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203 | CAN->sMsgObj[msg_if].M2R = 0; |
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204 | |||
205 | CAN->sMsgObj[msg_if].A1R = 0; |
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206 | CAN->sMsgObj[msg_if].A2R = 0; |
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207 | |||
208 | CAN->sMsgObj[msg_if].MCR = 0; |
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209 | |||
210 | CAN->sMsgObj[msg_if].DA1R = 0; |
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211 | CAN->sMsgObj[msg_if].DA2R = 0; |
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212 | CAN->sMsgObj[msg_if].DB1R = 0; |
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213 | CAN->sMsgObj[msg_if].DB2R = 0; |
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214 | |||
215 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
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216 | |||
217 | return SUCCESS; |
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218 | } |
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219 | |||
220 | /******************************************************************************* |
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221 | * Function Name : CAN_SetTxMsgObj |
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222 | * Description : Configures the message object as TX. |
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223 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
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224 | * - idType: specifies the identifier type of the frames that |
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225 | * will be transmitted using this message object. |
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226 | * This parameter can be one of the following values: |
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227 | * - CAN_STD_ID (standard ID, 11-bit) |
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196 | killagreg | 228 | * - CAN_EXT_ID (extended ID, 29-bit) |
229 | * - RemoteEN : specifies if the CAN message will answer remote |
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230 | * frames with exactly matching ID; It can be |
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231 | * - ENABLE : remote frame with matching ID is answered |
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232 | * - DISABLE : remote frames with matching ID is not |
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233 | * answered |
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1 | ingob | 234 | * Output : None |
235 | * Return : An ErrorStatus enumuration value: |
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236 | * - SUCCESS: Interface to treat the message |
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237 | * - ERROR: No interface to treat the message |
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238 | *******************************************************************************/ |
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196 | killagreg | 239 | ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType, FunctionalState RemoteEN) |
1 | ingob | 240 | { |
241 | u32 msg_if=0; |
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242 | |||
243 | if ((msg_if = GetFreeIF()) == 2) |
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244 | { |
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245 | return ERROR; |
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246 | } |
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247 | |||
248 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
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249 | | CAN_CMR_MASK |
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250 | | CAN_CMR_ARB |
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251 | | CAN_CMR_CONTROL |
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252 | | CAN_CMR_DATAA |
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253 | | CAN_CMR_DATAB; |
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254 | |||
196 | killagreg | 255 | CAN->sMsgObj[msg_if].M1R = 0xFFFF; |
1 | ingob | 256 | CAN->sMsgObj[msg_if].A1R = 0; |
257 | |||
258 | if (idType == CAN_STD_ID) |
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259 | { |
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196 | killagreg | 260 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | 0x1FFF; |
1 | ingob | 261 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR; |
262 | } |
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263 | else |
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264 | { |
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196 | killagreg | 265 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD | 0x1FFF; |
1 | ingob | 266 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD; |
267 | } |
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268 | |||
196 | killagreg | 269 | CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB | ( RemoteEN ? CAN_MCR_RMTEN : 0) |
270 | | ( RemoteEN ? CAN_MCR_UMASK : 0); |
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1 | ingob | 271 | |
272 | CAN->sMsgObj[msg_if].DA1R = 0; |
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273 | CAN->sMsgObj[msg_if].DA2R = 0; |
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274 | CAN->sMsgObj[msg_if].DB1R = 0; |
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275 | CAN->sMsgObj[msg_if].DB2R = 0; |
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276 | |||
277 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
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278 | |||
279 | return SUCCESS; |
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280 | } |
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281 | |||
282 | /******************************************************************************* |
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283 | * Function Name : CAN_SetRxMsgObj |
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284 | * Description : Configures the message object as RX. |
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285 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
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286 | * - idType: specifies the identifier type of the frames that |
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287 | * will be transmitted using this message object. |
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288 | * This parameter can be one of the following values: |
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289 | * - CAN_STD_ID (standard ID, 11-bit) |
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290 | * - CAN_EXT_ID (extended ID, 29-bit) |
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291 | * - idLow: specifies the low part of the identifier range used |
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292 | * for acceptance filtering. |
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293 | * - idHigh: specifies the high part of the identifier range |
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294 | * used for acceptance filtering. |
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295 | * - singleOrFifoLast: specifies the end-of-buffer indicator. |
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296 | * This parameter can be one of the following values: |
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297 | * - TRUE: for a single receive object or a FIFO receive |
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298 | * object that is the last one of the FIFO. |
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299 | * - FALSE: for a FIFO receive object that is not the |
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300 | * last one. |
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301 | * Output : None |
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302 | * Return : An ErrorStatus enumuration value: |
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303 | * - SUCCESS: Interface to treat the message |
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304 | * - ERROR: No interface to treat the message |
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305 | *******************************************************************************/ |
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306 | ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast) |
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307 | { |
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308 | u32 msg_if=0; |
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309 | |||
310 | if ((msg_if = GetFreeIF()) == 2) |
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311 | { |
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312 | return ERROR; |
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313 | } |
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314 | |||
315 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
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316 | | CAN_CMR_MASK |
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317 | | CAN_CMR_ARB |
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318 | | CAN_CMR_CONTROL |
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319 | | CAN_CMR_DATAA |
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320 | | CAN_CMR_DATAB; |
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321 | |||
322 | if (idType == CAN_STD_ID) |
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323 | { |
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196 | killagreg | 324 | CAN->sMsgObj[msg_if].M1R = 0xFFFF; |
325 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | STD_RANGE_ID_MSK(idLow, idHigh); |
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1 | ingob | 326 | |
327 | CAN->sMsgObj[msg_if].A1R = 0; |
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328 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh); |
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329 | } |
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330 | else |
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331 | { |
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332 | CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh); |
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333 | CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh); |
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334 | |||
335 | CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh); |
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336 | CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh); |
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337 | } |
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338 | |||
339 | CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0); |
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340 | |||
341 | CAN->sMsgObj[msg_if].DA1R = 0; |
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342 | CAN->sMsgObj[msg_if].DA2R = 0; |
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343 | CAN->sMsgObj[msg_if].DB1R = 0; |
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344 | CAN->sMsgObj[msg_if].DB2R = 0; |
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345 | |||
346 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
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347 | |||
348 | return SUCCESS; |
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349 | } |
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350 | |||
351 | /******************************************************************************* |
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196 | killagreg | 352 | * Function Name : CAN_SetUnusedAllMsgObj |
1 | ingob | 353 | * Description : Configures all the message objects as unused. |
354 | * Input : None |
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355 | * Output : None |
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196 | killagreg | 356 | * Return : An ErrorStatus enumuration value: |
357 | * - SUCCESS: Interface to treat the message |
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358 | * - ERROR: No interface to treat the messageNone |
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1 | ingob | 359 | *******************************************************************************/ |
196 | killagreg | 360 | ErrorStatus CAN_SetUnusedAllMsgObj(void) |
1 | ingob | 361 | { |
362 | u32 i=0; |
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363 | for (i = 0; i < 32; i++) |
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196 | killagreg | 364 | { |
365 | if ( CAN_SetUnusedMsgObj(i) == ERROR) |
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366 | return ERROR; |
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367 | } |
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368 | return SUCCESS; |
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1 | ingob | 369 | } |
370 | |||
371 | /******************************************************************************* |
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372 | * Function Name : CAN_ReleaseMessage |
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373 | * Description : Releases the message object |
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374 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
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375 | * Output : None |
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376 | * Return : An ErrorStatus enumuration value: |
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377 | * - SUCCESS: Interface to treat the message |
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378 | * - ERROR: No interface to treat the message |
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379 | *******************************************************************************/ |
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380 | ErrorStatus CAN_ReleaseMessage(u32 msgobj) |
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381 | { |
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382 | u32 msg_if=0; |
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383 | |||
384 | if ((msg_if = GetFreeIF()) == 2) |
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385 | { |
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386 | return ERROR; |
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387 | } |
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388 | |||
389 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
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390 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
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391 | |||
392 | return SUCCESS; |
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393 | } |
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394 | |||
196 | killagreg | 395 | |
1 | ingob | 396 | /******************************************************************************* |
196 | killagreg | 397 | * Function Name : CAN_UpdateMsgObj |
398 | * Description : Updates the CAN message object with the pCanMsg fields, it |
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399 | * does not start the transmission of the CAN message object |
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400 | * Input 1 : message object number, from 0 to 31 |
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401 | * Input 2 : pointer to the message structure containing data to transmit |
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402 | * Output : None |
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1 | ingob | 403 | * Return : An ErrorStatus enumuration value: |
196 | killagreg | 404 | * - SUCCESS: Interface to treat the message |
405 | * - ERROR: No interface to treat the message |
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1 | ingob | 406 | *******************************************************************************/ |
196 | killagreg | 407 | ErrorStatus CAN_UpdateMsgObj(u32 msgobj, canmsg* pCanMsg) |
1 | ingob | 408 | { |
196 | killagreg | 409 | if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
410 | return ERROR; |
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1 | ingob | 411 | |
196 | killagreg | 412 | /* read the Arbitration and Message Control */ |
1 | ingob | 413 | CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL; |
414 | |||
415 | CAN->sMsgObj[0].CRR = 1 + msgobj; |
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416 | |||
196 | killagreg | 417 | while (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
1 | ingob | 418 | { |
196 | killagreg | 419 | /*Wait*/ |
1 | ingob | 420 | } |
421 | |||
196 | killagreg | 422 | /* update the contents needed for transmission */ |
423 | CAN->sMsgObj[0].CMR = CAN_CMR_WRRD |
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424 | | CAN_CMR_ARB |
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425 | | CAN_CMR_CONTROL |
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426 | | CAN_CMR_DATAA |
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427 | | CAN_CMR_DATAB; |
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1 | ingob | 428 | |
429 | if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0) |
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430 | { |
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196 | killagreg | 431 | /* standard ID */ |
1 | ingob | 432 | CAN->sMsgObj[0].A1R = 0; |
196 | killagreg | 433 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) |
434 | | STD_FIXED_ID_ARB(pCanMsg->Id); |
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1 | ingob | 435 | } |
436 | else |
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437 | { |
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438 | /* extended ID*/ |
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439 | CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); |
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196 | killagreg | 440 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) |
441 | | EXT_FIXED_ID_ARB_H(pCanMsg->Id); |
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1 | ingob | 442 | } |
443 | |||
196 | killagreg | 444 | CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT |
445 | | pCanMsg->Dlc; |
||
1 | ingob | 446 | |
196 | killagreg | 447 | CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1] << 8) | pCanMsg->Data[0]; |
448 | CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3] << 8) | pCanMsg->Data[2]; |
||
449 | CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5] << 8) | pCanMsg->Data[4]; |
||
450 | CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7] << 8) | pCanMsg->Data[6]; |
||
1 | ingob | 451 | |
452 | CAN->sMsgObj[0].CRR = 1 + msgobj; |
||
196 | killagreg | 453 | |
454 | while ( CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
||
455 | { |
||
456 | /* wait */ |
||
457 | } |
||
1 | ingob | 458 | return SUCCESS; |
459 | } |
||
460 | |||
461 | /******************************************************************************* |
||
196 | killagreg | 462 | * Function Name : CAN_SendMessage |
463 | * Description : Start transmission of a message |
||
464 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
465 | * : - pCanMsg: pointer to the message structure containing data |
||
466 | * to transmit. |
||
467 | * Output : None |
||
468 | * Return : An ErrorStatus enumuration value: |
||
469 | * - SUCCESS: Transmission OK |
||
470 | * - ERROR: No transmission |
||
471 | *******************************************************************************/ |
||
472 | ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg) |
||
473 | { |
||
474 | |||
475 | if (CAN_UpdateMsgObj(msgobj, pCanMsg) == ERROR) |
||
476 | return ERROR; |
||
477 | |||
478 | CAN->SR &= ~CAN_SR_TXOK; |
||
479 | |||
480 | return ( CAN_TransmitRequest( msgobj)); |
||
481 | } |
||
482 | |||
483 | /******************************************************************************* |
||
484 | * Function Name : CAN_TransmitRequest |
||
485 | * Description : This function requests the transmission of a message object |
||
486 | * Input : msgobj: number of the message object that should be |
||
487 | * transmitted |
||
488 | * Output : None |
||
489 | * Return : An ErrorStatus enumuration value: |
||
490 | * - SUCCESS: Transmission OK |
||
491 | * - ERROR: No transmission started |
||
492 | *******************************************************************************/ |
||
493 | ErrorStatus CAN_TransmitRequest( u32 msgobj ) |
||
494 | { |
||
495 | u16 msg_if; |
||
496 | |||
497 | if ((msg_if = GetFreeIF()) == 2) |
||
498 | return ERROR; |
||
499 | |||
500 | /* Set the transmit request in the command mask register */ |
||
501 | CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD | CAN_CMR_TXRQSTNEWDAT; |
||
502 | |||
503 | /* Write the message object number in the command request register */ |
||
504 | CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
||
505 | |||
506 | return SUCCESS; |
||
507 | } |
||
508 | |||
509 | /******************************************************************************* |
||
1 | ingob | 510 | * Function Name : CAN_ReceiveMessage |
511 | * Description : Gets the message, if received. |
||
512 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
513 | * - release: specifies the message release indicator. |
||
514 | * This parameter can be one of the following values: |
||
515 | * - TRUE: the message object is released when getting |
||
516 | * the data. |
||
517 | * - FALSE: the message object is not released. |
||
518 | * - pCanMsg: pointer to the message structure where received |
||
519 | * data is copied. |
||
520 | * Output : None |
||
521 | * Return : An ErrorStatus enumuration value: |
||
522 | * - SUCCESS: Reception OK |
||
523 | * - ERROR: No message pending |
||
524 | *******************************************************************************/ |
||
525 | ErrorStatus CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg) |
||
196 | killagreg | 526 | { |
527 | u32 tempId; |
||
528 | |||
529 | if (!CAN_GetMsgReceiveStatus(msgobj)) |
||
1 | ingob | 530 | { |
531 | return ERROR; |
||
532 | } |
||
533 | |||
534 | CAN->SR &= ~CAN_SR_RXOK; |
||
535 | |||
536 | /* read the message contents*/ |
||
537 | CAN->sMsgObj[1].CMR = CAN_CMR_MASK |
||
538 | | CAN_CMR_ARB |
||
539 | | CAN_CMR_CONTROL |
||
540 | | CAN_CMR_CLRINTPND |
||
541 | | (release ? CAN_CMR_TXRQSTNEWDAT : 0) |
||
542 | | CAN_CMR_DATAA |
||
543 | | CAN_CMR_DATAB; |
||
544 | |||
545 | CAN->sMsgObj[1].CRR = 1 + msgobj; |
||
546 | |||
547 | if (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) |
||
548 | { |
||
549 | return ERROR; |
||
550 | } |
||
551 | |||
552 | if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) |
||
553 | { |
||
554 | /* standard ID*/ |
||
555 | pCanMsg->IdType = CAN_STD_ID; |
||
556 | pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; |
||
557 | } |
||
558 | else |
||
559 | { |
||
560 | /* extended ID*/ |
||
561 | pCanMsg->IdType = CAN_EXT_ID; |
||
196 | killagreg | 562 | tempId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16); |
563 | pCanMsg->Id = CAN->sMsgObj[1].A1R | tempId; |
||
1 | ingob | 564 | } |
565 | |||
566 | pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; |
||
567 | |||
568 | pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; |
||
569 | pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); |
||
570 | pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; |
||
571 | pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); |
||
572 | pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; |
||
573 | pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); |
||
574 | pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; |
||
575 | pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); |
||
576 | |||
577 | return SUCCESS; |
||
578 | } |
||
579 | |||
580 | /******************************************************************************* |
||
581 | * Function Name : CAN_WaitEndOfTx |
||
582 | * Description : Waits until current transmission is finished. |
||
583 | * Input : None |
||
584 | * Output : None |
||
196 | killagreg | 585 | * Return : None |
1 | ingob | 586 | *******************************************************************************/ |
196 | killagreg | 587 | void CAN_WaitEndOfTx(void) |
1 | ingob | 588 | { |
196 | killagreg | 589 | while ((CAN->SR & CAN_SR_TXOK) == 0) |
1 | ingob | 590 | { |
196 | killagreg | 591 | /*Wait*/ |
1 | ingob | 592 | } |
593 | CAN->SR &= ~CAN_SR_TXOK; |
||
594 | } |
||
595 | |||
596 | /******************************************************************************* |
||
597 | * Function Name : CAN_BasicSendMessage |
||
598 | * Description : Starts transmission of a message in BASIC mode. This mode |
||
599 | * does not use the message RAM. |
||
600 | * Input : pCanMsg: Pointer to the message structure containing data to |
||
601 | * transmit. |
||
602 | * Output : None |
||
603 | * Return : An ErrorStatus enumuration value: |
||
604 | * - SUCCESS: Transmission OK |
||
605 | * - ERROR: No transmission |
||
606 | *******************************************************************************/ |
||
607 | ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg) |
||
608 | { |
||
609 | /* clear NewDat bit in IF2 to detect next reception*/ |
||
610 | CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT; |
||
611 | |||
612 | CAN->SR &= ~CAN_SR_TXOK; |
||
196 | killagreg | 613 | |
1 | ingob | 614 | CAN->sMsgObj[0].CMR = CAN_CMR_WRRD |
615 | | CAN_CMR_ARB |
||
616 | | CAN_CMR_CONTROL |
||
617 | | CAN_CMR_DATAA |
||
618 | | CAN_CMR_DATAB; |
||
619 | |||
620 | if (pCanMsg->IdType == CAN_STD_ID) |
||
621 | { |
||
622 | /* standard ID*/ |
||
623 | CAN->sMsgObj[0].A1R = 0; |
||
624 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); |
||
625 | } |
||
626 | else |
||
627 | { |
||
196 | killagreg | 628 | /* extended ID */ |
1 | ingob | 629 | CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); |
196 | killagreg | 630 | CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | CAN_A2R_XTD | EXT_FIXED_ID_ARB_H(pCanMsg->Id); |
1 | ingob | 631 | } |
632 | |||
633 | CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc; |
||
634 | |||
635 | CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; |
||
636 | CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; |
||
637 | CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; |
||
638 | CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; |
||
639 | |||
196 | killagreg | 640 | /* request the transmission*/ |
641 | CAN->sMsgObj[0].CRR = CAN_CRR_BUSY; |
||
642 | |||
1 | ingob | 643 | return SUCCESS; |
644 | } |
||
645 | |||
646 | /******************************************************************************* |
||
647 | * Function Name : CAN_BasicReceiveMessage |
||
648 | * Description : Gets the message in BASIC mode, if received. This mode does |
||
649 | * not use the message RAM. |
||
650 | * Input : pCanMsg: pointer to the message structure where message is copied. |
||
651 | * Output : None |
||
652 | * Return : An ErrorStatus enumuration value: |
||
653 | * - SUCCESS: Reception OK |
||
654 | * - ERROR: No message pending |
||
655 | *******************************************************************************/ |
||
656 | ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg) |
||
657 | { |
||
196 | killagreg | 658 | u32 tmpId; |
659 | |||
1 | ingob | 660 | if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0) |
661 | { |
||
662 | return ERROR; |
||
663 | } |
||
664 | |||
665 | CAN->SR &= ~CAN_SR_RXOK; |
||
666 | |||
667 | CAN->sMsgObj[1].CMR = CAN_CMR_ARB |
||
668 | | CAN_CMR_CONTROL |
||
669 | | CAN_CMR_DATAA |
||
670 | | CAN_CMR_DATAB; |
||
671 | |||
672 | if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) |
||
673 | { |
||
674 | /* standard ID*/ |
||
675 | pCanMsg->IdType = CAN_STD_ID; |
||
676 | pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; |
||
677 | } |
||
678 | else |
||
679 | { |
||
680 | /* extended ID*/ |
||
681 | pCanMsg->IdType = CAN_EXT_ID; |
||
196 | killagreg | 682 | tmpId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16); |
683 | pCanMsg->Id = CAN->sMsgObj[1].A1R | tmpId; |
||
1 | ingob | 684 | } |
685 | |||
686 | pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; |
||
687 | |||
688 | pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; |
||
689 | pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); |
||
690 | pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; |
||
691 | pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); |
||
692 | pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; |
||
693 | pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); |
||
694 | pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; |
||
695 | pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); |
||
696 | |||
697 | return SUCCESS; |
||
698 | } |
||
699 | |||
700 | /******************************************************************************* |
||
701 | * Function Name : CAN_EnterInitMode |
||
702 | * Description : Switchs the CAN into initialization mode. This function must |
||
703 | * be used in conjunction with CAN_LeaveInitMode(). |
||
704 | * Input : InitMask: specifies the CAN configuration in normal mode. |
||
705 | * Output : None |
||
706 | * Return : None |
||
707 | *******************************************************************************/ |
||
708 | void CAN_EnterInitMode(u8 InitMask) |
||
709 | { |
||
710 | CAN->CR = InitMask | CAN_CR_INIT; |
||
711 | CAN->SR = 0; /* reset the status*/ |
||
712 | } |
||
713 | |||
714 | /******************************************************************************* |
||
715 | * Function Name : CAN_LeaveInitMode |
||
716 | * Description : Leaves the initialization mode (switch into normal mode). |
||
717 | * This function must be used in conjunction with CAN_EnterInitMode(). |
||
718 | * Input : None |
||
719 | * Output : None |
||
720 | * Return : None |
||
721 | *******************************************************************************/ |
||
722 | void CAN_LeaveInitMode(void) |
||
723 | { |
||
724 | CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE); |
||
725 | } |
||
726 | |||
727 | /******************************************************************************* |
||
728 | * Function Name : CAN_EnterTestMode |
||
729 | * Description : Switchs the CAN into test mode. This function must be used in |
||
730 | * conjunction with CAN_LeaveTestMode(). |
||
731 | * Input : TestMask: specifies the configuration in test modes. |
||
732 | * Output : None |
||
733 | * Return : None |
||
734 | *******************************************************************************/ |
||
735 | void CAN_EnterTestMode(u8 TestMask) |
||
736 | { |
||
737 | CAN->CR |= CAN_CR_TEST; |
||
738 | CAN->TESTR |= TestMask; |
||
739 | } |
||
740 | |||
741 | /******************************************************************************* |
||
742 | * Function Name : CAN_LeaveTestMode |
||
743 | * Description : Leaves the current test mode (switch into normal mode). |
||
744 | * This function must be used in conjunction with CAN_EnterTestMode(). |
||
745 | * Input : None |
||
746 | * Output : None |
||
747 | * Return : None |
||
748 | *******************************************************************************/ |
||
749 | void CAN_LeaveTestMode(void) |
||
750 | { |
||
751 | CAN->CR |= CAN_CR_TEST; |
||
752 | CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC); |
||
753 | CAN->CR &= ~CAN_CR_TEST; |
||
754 | } |
||
755 | |||
756 | /******************************************************************************* |
||
757 | * Function Name : CAN_ReleaseTxMessage |
||
758 | * Description : Releases the transmit message object. |
||
759 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
760 | * Output : None |
||
761 | * Return : None |
||
762 | *******************************************************************************/ |
||
763 | void CAN_ReleaseTxMessage(u32 msgobj) |
||
764 | { |
||
765 | CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
||
766 | CAN->sMsgObj[0].CRR = 1 + msgobj; |
||
767 | } |
||
768 | |||
769 | /******************************************************************************* |
||
770 | * Function Name : CAN_ReleaseRxMessage |
||
771 | * Description : Releases the receive message object. |
||
772 | * Input : - msgobj: specifies the Message object number, from 0 to 31. |
||
773 | * Output : None |
||
774 | * Return : None |
||
775 | *******************************************************************************/ |
||
776 | void CAN_ReleaseRxMessage(u32 msgobj) |
||
777 | { |
||
778 | CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
||
779 | CAN->sMsgObj[1].CRR = 1 + msgobj; |
||
780 | } |
||
781 | |||
782 | /******************************************************************************* |
||
196 | killagreg | 783 | * Function Name : CAN_GetMsgReceiveStatus |
784 | * Description : Test the waiting status of a received message |
||
785 | * Input 1 : message object number, from 0 to 31 |
||
786 | * Output : None |
||
787 | * Return : SET value if the corresponding message object has |
||
788 | * received a message waiting to be copied, else RESET |
||
1 | ingob | 789 | *******************************************************************************/ |
196 | killagreg | 790 | FlagStatus CAN_GetMsgReceiveStatus(u32 msgobj) |
1 | ingob | 791 | { |
196 | killagreg | 792 | if( msgobj < 16 ) |
793 | { |
||
794 | if ( CAN->ND1R & (1 << msgobj) ) |
||
795 | return SET; |
||
796 | else |
||
797 | return RESET; |
||
798 | } |
||
799 | else |
||
800 | { |
||
801 | if ( CAN->ND2R & (1 << (msgobj - 16) ) ) |
||
802 | return SET; |
||
803 | else |
||
804 | return RESET; |
||
805 | } |
||
1 | ingob | 806 | } |
807 | |||
808 | /******************************************************************************* |
||
196 | killagreg | 809 | * Function Name : CAN_GetMsgTransmitRequestStatus |
810 | * Description : Test the request status of a transmitted message |
||
811 | * Input 1 : message object number, from 0 to 31 |
||
812 | * Output : None |
||
813 | * Return : SET if the corresponding message is requested |
||
814 | * to transmit, else RESET |
||
815 | *******************************************************************************/ |
||
816 | FlagStatus CAN_GetMsgTransmitRequestStatus(u32 msgobj) |
||
817 | { |
||
818 | if( msgobj < 16 ) |
||
819 | { |
||
820 | if ( CAN->TXR1R & (1 << msgobj) ) |
||
821 | return SET; |
||
822 | else |
||
823 | return RESET; |
||
824 | } |
||
825 | else |
||
826 | { |
||
827 | if ( CAN->TXR2R & (1 << (msgobj - 16) ) ) |
||
828 | return SET; |
||
829 | else |
||
830 | return RESET; |
||
831 | } |
||
832 | } |
||
833 | |||
834 | /******************************************************************************* |
||
835 | * Function Name : CAN_GetMsgInterruptStatus |
||
836 | * Description : Test the interrupt status of a message object |
||
837 | * Input 1 : message object number, from 0 to 31 |
||
838 | * Output : None |
||
839 | * Return : SET if the corresponding message has an |
||
840 | * interrupt pending, else RESET |
||
841 | *******************************************************************************/ |
||
842 | FlagStatus CAN_GetMsgInterruptStatus(u32 msgobj) |
||
843 | { |
||
844 | if( msgobj < 16 ) |
||
845 | { |
||
846 | if ( CAN->IP1R & (1 << msgobj) ) |
||
847 | return SET; |
||
848 | else |
||
849 | return RESET; |
||
850 | } |
||
851 | else |
||
852 | { |
||
853 | if ( CAN->IP2R & (1 << (msgobj - 16) ) ) |
||
854 | return SET; |
||
855 | else |
||
856 | return RESET; |
||
857 | } |
||
858 | } |
||
859 | |||
860 | /******************************************************************************* |
||
861 | * Function Name : CAN_GetMsgValidStatus |
||
862 | * Description : Test the validity of a message object (ready to use) |
||
863 | * Input 1 : message object number, from 0 to 31 |
||
864 | * Output : None |
||
865 | * Return : SET if the corresponding message object is valid |
||
866 | * else RESET |
||
867 | *******************************************************************************/ |
||
868 | FlagStatus CAN_GetMsgValidStatus(u32 msgobj) |
||
869 | { |
||
870 | if( msgobj < 16 ) |
||
871 | { |
||
872 | if ( CAN->MV1R & (1 << msgobj) ) |
||
873 | return SET; |
||
874 | else |
||
875 | return RESET; |
||
876 | } |
||
877 | else |
||
878 | { |
||
879 | if ( CAN->MV2R & (1 << (msgobj - 16) ) ) |
||
880 | return SET; |
||
881 | else |
||
882 | return RESET; |
||
883 | } |
||
884 | } |
||
885 | |||
886 | /******************************************************************************* |
||
887 | * Function Name : CAN_GetFlagStatus |
||
888 | * Description : Returns the flasg status of the flag passed in parameter |
||
889 | * Input : One of the following parameters: |
||
890 | * - CAN_SR_TXOK |
||
891 | * - CAN_SR_RXOK |
||
892 | * - CAN_SR_EPASS |
||
893 | * - CAN_SR_EWARN |
||
894 | * - CAN_SR_BOFF |
||
1 | ingob | 895 | * Output : None |
196 | killagreg | 896 | * Return : 1 if the flag is set else 0 |
1 | ingob | 897 | *******************************************************************************/ |
196 | killagreg | 898 | FlagStatus CAN_GetFlagStatus ( u32 CAN_Flag ) |
1 | ingob | 899 | { |
196 | killagreg | 900 | if( CAN->SR & CAN_Flag) |
901 | { |
||
902 | return SET; |
||
903 | } |
||
904 | else |
||
905 | return RESET; |
||
1 | ingob | 906 | } |
907 | |||
908 | /******************************************************************************* |
||
196 | killagreg | 909 | * Function Name : CAN_GetTransmitErrorCounter |
910 | * Description : Reads the CAN cell transmit error counter |
||
911 | * Input : None |
||
1 | ingob | 912 | * Output : None |
196 | killagreg | 913 | * Return : Transmit Error Counter value between 0..255 |
1 | ingob | 914 | *******************************************************************************/ |
196 | killagreg | 915 | u32 CAN_GetTransmitErrorCounter ( void ) |
1 | ingob | 916 | { |
196 | killagreg | 917 | return( CAN->ERR & 0x00FF ); |
1 | ingob | 918 | } |
919 | |||
920 | /******************************************************************************* |
||
196 | killagreg | 921 | * Function Name : CAN_GetReceiveErrorCounter |
922 | * Description : Reads the CAN cell receive error counter |
||
923 | * Input : None |
||
1 | ingob | 924 | * Output : None |
196 | killagreg | 925 | * Return : Receive Error Counter value between 0..127 |
1 | ingob | 926 | *******************************************************************************/ |
196 | killagreg | 927 | u32 CAN_GetReceiveErrorCounter ( void ) |
1 | ingob | 928 | { |
196 | killagreg | 929 | return ( ( CAN->ERR & 0x7F00 ) >> 8); |
1 | ingob | 930 | } |
196 | killagreg | 931 | |
932 | /******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/ |