0,0 → 1,769 |
/******************** (C) COPYRIGHT 2006 STMicroelectronics ******************** |
* File Name : 91x_can.c |
* Author : MCD Application Team |
* Date First Issued : 05/18/2006 : Version 1.0 |
* Description : This file provides all the CAN software functions. |
******************************************************************************** |
* History: |
* 05/22/2007 : Version 1.2 |
* 05/24/2006 : Version 1.1 |
* 05/18/2006 : Version 1.0 |
******************************************************************************** |
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS |
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. |
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, |
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE |
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING |
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
*******************************************************************************/ |
|
/* Includes ------------------------------------------------------------------*/ |
#include "91x_can.h" |
#include "91x_scu.h" |
|
/* Private typedef -----------------------------------------------------------*/ |
/* Private define ------------------------------------------------------------*/ |
/* Private macro -------------------------------------------------------------*/ |
/*----------------------------------------------------------------------------*/ |
/* Macro Name : xxx_ID_MSK, xxx_ID_ARB */ |
/* Description : Form the Mask and Arbitration registers value to filter */ |
/* a range of identifiers or a fixed identifier, for standard*/ |
/* and extended IDs */ |
/*----------------------------------------------------------------------------*/ |
#define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start))) |
#define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end)) |
|
#define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id)) |
#define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id)) |
|
#define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2)) |
#define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2)) |
|
#define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2)) |
#define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2)) |
|
#define EXT_RANGE_ID_MSK_L(range_start, range_end) ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11)) |
#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))) |
#define EXT_RANGE_ID_ARB_L(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11)) |
#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))) |
|
#define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id) >> 11)) |
#define EXT_FIXED_ID_MSK_H(id) ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03))) |
#define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id) >> 11)) |
#define EXT_FIXED_ID_ARB_H(id) ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03))) |
|
/* macro to format the timing register value from the timing parameters*/ |
#define CAN_TIMING(tseg1, tseg2, sjw, brp) ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F)) |
|
/* Private variables ---------------------------------------------------------*/ |
/* array of pre-defined timing parameters for standard bitrates*/ |
u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */ |
CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */ |
CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */ |
CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */ |
CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */ |
CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */ |
}; |
|
/* Private function prototypes -----------------------------------------------*/ |
static u32 GetFreeIF(void); |
/* Private functions ---------------------------------------------------------*/ |
|
/******************************************************************************* |
* Function Name : CAN_DeInit |
* Description : Deinitializes the CAN peripheral registers to their default |
* reset values. |
* Input : None |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_DeInit (void) |
{ |
/* Reset the CAN registers values*/ |
|
SCU_APBPeriphReset(__CAN,ENABLE); /*CAN peripheral is under Reset */ |
SCU_APBPeriphReset(__CAN,DISABLE); /*CAN peripheral Reset off*/ |
|
|
} |
|
/******************************************************************************* |
* Function Name : CAN_Init |
* Description : Initializes the CAN peripheral according to the specified |
* parameters in the CAN_InitStruct. |
* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that |
* contains the configuration information for the CAN peripheral. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_Init(CAN_InitTypeDef* CAN_InitStruct) |
{ |
CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters); |
CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate); |
CAN_LeaveInitMode(); |
CAN_LeaveTestMode(); |
} |
|
/******************************************************************************* |
* Function Name : CAN_StructInit |
* Description : Fills each CAN_InitStruct member with its reset value. |
* Input : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which |
* will be initialized. |
* Output : None |
* Return : None. |
*******************************************************************************/ |
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct) |
{ |
/* Reset CAN init structure parameters values */ |
CAN_InitStruct->CAN_ConfigParameters = 0x0; |
CAN_InitStruct->CAN_Bitrate = 0x2301; |
} |
|
/******************************************************************************* |
* Function Name : CAN_SetBitrate |
* Description : Setups a standard CAN bitrate. |
* Input : bitrate: specifies the bit rate. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_SetBitrate(u32 bitrate) |
{ |
CAN->BTR = CanTimings[bitrate]; /* write the predefined timing value */ |
CAN->BRPR = 0; /* clear the Extended Baud Rate Prescaler */ |
} |
|
/******************************************************************************* |
* Function Name : CAN_SetTiming |
* Description : Setups the CAN timing with specific parameters |
* Input : - tseg1: specifies Time Segment before the sample point. |
* This parameter must be a number between 1 and 16. |
* - tseg2: Time Segment after the sample point. This parameter |
* must be a number between 1 and 8. |
* - sjw: Synchronisation Jump Width. This parameter must be |
* a number between 1 and 4. |
* - brp: Baud Rate Prescaler. This parameter must be a number |
* between 1 and 1024. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp) |
{ |
CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp); |
CAN->BRPR = ((brp-1) >> 6) & 0x0F; |
} |
|
/******************************************************************************* |
* Function Name : GetFreeIF |
* Description : Searchs the first free message interface, starting from 0. |
* Input : None |
* Output : None |
* Return : A free message interface number (0 or 1) if found, else 2 |
*******************************************************************************/ |
static u32 GetFreeIF(void) |
{ |
if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0) |
return 0; |
else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0) |
return 1; |
else |
return 2; |
} |
|
/******************************************************************************* |
* Function Name : CAN_SetUnusedMsgObj |
* Description : Configures the message object as unused |
* Input : msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Interface to treat the message |
* - ERROR: No interface to treat the message |
*******************************************************************************/ |
ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj) |
{ |
u32 msg_if=0; |
|
if ((msg_if = GetFreeIF()) == 2) |
{ |
return ERROR; |
} |
|
CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
| CAN_CMR_MASK |
| CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
CAN->sMsgObj[msg_if].M1R = 0; |
CAN->sMsgObj[msg_if].M2R = 0; |
|
CAN->sMsgObj[msg_if].A1R = 0; |
CAN->sMsgObj[msg_if].A2R = 0; |
|
CAN->sMsgObj[msg_if].MCR = 0; |
|
CAN->sMsgObj[msg_if].DA1R = 0; |
CAN->sMsgObj[msg_if].DA2R = 0; |
CAN->sMsgObj[msg_if].DB1R = 0; |
CAN->sMsgObj[msg_if].DB2R = 0; |
|
CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_SetTxMsgObj |
* Description : Configures the message object as TX. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* - idType: specifies the identifier type of the frames that |
* will be transmitted using this message object. |
* This parameter can be one of the following values: |
* - CAN_STD_ID (standard ID, 11-bit) |
* - CAN_EXT_ID (extended ID, 29-bit) |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Interface to treat the message |
* - ERROR: No interface to treat the message |
*******************************************************************************/ |
ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType) |
{ |
u32 msg_if=0; |
|
if ((msg_if = GetFreeIF()) == 2) |
{ |
return ERROR; |
} |
|
CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
| CAN_CMR_MASK |
| CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
CAN->sMsgObj[msg_if].M1R = 0; |
CAN->sMsgObj[msg_if].A1R = 0; |
|
if (idType == CAN_STD_ID) |
{ |
CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR; |
CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR; |
} |
else |
{ |
CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD; |
CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD; |
} |
|
CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB; |
|
CAN->sMsgObj[msg_if].DA1R = 0; |
CAN->sMsgObj[msg_if].DA2R = 0; |
CAN->sMsgObj[msg_if].DB1R = 0; |
CAN->sMsgObj[msg_if].DB2R = 0; |
|
CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_SetRxMsgObj |
* Description : Configures the message object as RX. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* - idType: specifies the identifier type of the frames that |
* will be transmitted using this message object. |
* This parameter can be one of the following values: |
* - CAN_STD_ID (standard ID, 11-bit) |
* - CAN_EXT_ID (extended ID, 29-bit) |
* - idLow: specifies the low part of the identifier range used |
* for acceptance filtering. |
* - idHigh: specifies the high part of the identifier range |
* used for acceptance filtering. |
* - singleOrFifoLast: specifies the end-of-buffer indicator. |
* This parameter can be one of the following values: |
* - TRUE: for a single receive object or a FIFO receive |
* object that is the last one of the FIFO. |
* - FALSE: for a FIFO receive object that is not the |
* last one. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Interface to treat the message |
* - ERROR: No interface to treat the message |
*******************************************************************************/ |
ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast) |
{ |
u32 msg_if=0; |
|
if ((msg_if = GetFreeIF()) == 2) |
{ |
return ERROR; |
} |
|
CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD |
| CAN_CMR_MASK |
| CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
if (idType == CAN_STD_ID) |
{ |
CAN->sMsgObj[msg_if].M1R = 0; |
CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh); |
|
CAN->sMsgObj[msg_if].A1R = 0; |
CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh); |
} |
else |
{ |
CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh); |
CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh); |
|
CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh); |
CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh); |
} |
|
CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0); |
|
CAN->sMsgObj[msg_if].DA1R = 0; |
CAN->sMsgObj[msg_if].DA2R = 0; |
CAN->sMsgObj[msg_if].DB1R = 0; |
CAN->sMsgObj[msg_if].DB2R = 0; |
|
CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_InvalidateAllMsgObj |
* Description : Configures all the message objects as unused. |
* Input : None |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_InvalidateAllMsgObj(void) |
{ |
u32 i=0; |
for (i = 0; i < 32; i++) |
CAN_SetUnusedMsgObj(i); |
} |
|
|
/******************************************************************************* |
* Function Name : CAN_ReleaseMessage |
* Description : Releases the message object |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Interface to treat the message |
* - ERROR: No interface to treat the message |
*******************************************************************************/ |
ErrorStatus CAN_ReleaseMessage(u32 msgobj) |
{ |
u32 msg_if=0; |
|
if ((msg_if = GetFreeIF()) == 2) |
{ |
return ERROR; |
} |
|
CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
CAN->sMsgObj[msg_if].CRR = 1 + msgobj; |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_SendMessage |
* Description : Start transmission of a message |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* : - pCanMsg: pointer to the message structure containing data |
* to transmit. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Transmission OK |
* - ERROR: No transmission |
*******************************************************************************/ |
ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg) |
{ |
if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
{ |
return ERROR; |
} |
|
CAN->SR &= ~CAN_SR_TXOK; |
|
/* read the Arbitration and Message Control*/ |
CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL; |
|
CAN->sMsgObj[0].CRR = 1 + msgobj; |
|
if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
{ |
return ERROR; |
} |
|
/* update the contents needed for transmission*/ |
CAN->sMsgObj[0].CMR = CAN_CMR_WRRD |
| CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0) |
{ |
/* standard ID*/ |
CAN->sMsgObj[0].A1R = 0; |
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); |
} |
else |
{ |
/* extended ID*/ |
CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); |
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id); |
} |
|
CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc; |
|
CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; |
CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; |
CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; |
CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; |
|
CAN->sMsgObj[0].CRR = 1 + msgobj; |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_ReceiveMessage |
* Description : Gets the message, if received. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* - release: specifies the message release indicator. |
* This parameter can be one of the following values: |
* - TRUE: the message object is released when getting |
* the data. |
* - FALSE: the message object is not released. |
* - pCanMsg: pointer to the message structure where received |
* data is copied. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Reception OK |
* - ERROR: No message pending |
*******************************************************************************/ |
ErrorStatus CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg) |
{ |
if (!CAN_IsMessageWaiting(msgobj)) |
{ |
return ERROR; |
} |
|
CAN->SR &= ~CAN_SR_RXOK; |
|
/* read the message contents*/ |
CAN->sMsgObj[1].CMR = CAN_CMR_MASK |
| CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_CLRINTPND |
| (release ? CAN_CMR_TXRQSTNEWDAT : 0) |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
CAN->sMsgObj[1].CRR = 1 + msgobj; |
|
if (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) |
{ |
return ERROR; |
} |
|
if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) |
{ |
/* standard ID*/ |
pCanMsg->IdType = CAN_STD_ID; |
pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; |
} |
else |
{ |
/* extended ID*/ |
pCanMsg->IdType = CAN_EXT_ID; |
pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF); |
pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11); |
pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27); |
} |
|
pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; |
|
pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; |
pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); |
pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; |
pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); |
pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; |
pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); |
pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; |
pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_WaitEndOfTx |
* Description : Waits until current transmission is finished. |
* Input : None |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Transmission ended |
* - ERROR: Transmission did not occur yet |
*******************************************************************************/ |
ErrorStatus CAN_WaitEndOfTx(void) |
{ |
if ((CAN->SR & CAN_SR_TXOK) == 0) |
{ |
return ERROR; |
} |
CAN->SR &= ~CAN_SR_TXOK; |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_BasicSendMessage |
* Description : Starts transmission of a message in BASIC mode. This mode |
* does not use the message RAM. |
* Input : pCanMsg: Pointer to the message structure containing data to |
* transmit. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Transmission OK |
* - ERROR: No transmission |
*******************************************************************************/ |
ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg) |
{ |
/* clear NewDat bit in IF2 to detect next reception*/ |
CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT; |
|
CAN->SR &= ~CAN_SR_TXOK; |
CAN->sMsgObj[0].CMR = CAN_CMR_WRRD |
| CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
if (pCanMsg->IdType == CAN_STD_ID) |
{ |
/* standard ID*/ |
CAN->sMsgObj[0].A1R = 0; |
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); |
} |
else |
{ |
/* extended ID*/ |
CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); |
CAN->sMsgObj[0].A2R = ((CAN->sMsgObj[0].A2R) & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id); |
} |
|
CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc; |
|
CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; |
CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; |
CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; |
CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; |
|
/* request transmission*/ |
if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY ) |
{ |
return ERROR; |
} |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_BasicReceiveMessage |
* Description : Gets the message in BASIC mode, if received. This mode does |
* not use the message RAM. |
* Input : pCanMsg: pointer to the message structure where message is copied. |
* Output : None |
* Return : An ErrorStatus enumuration value: |
* - SUCCESS: Reception OK |
* - ERROR: No message pending |
*******************************************************************************/ |
ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg) |
{ |
if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0) |
{ |
return ERROR; |
} |
|
CAN->SR &= ~CAN_SR_RXOK; |
|
CAN->sMsgObj[1].CMR = CAN_CMR_ARB |
| CAN_CMR_CONTROL |
| CAN_CMR_DATAA |
| CAN_CMR_DATAB; |
|
if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) |
{ |
/* standard ID*/ |
pCanMsg->IdType = CAN_STD_ID; |
pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; |
} |
else |
{ |
/* extended ID*/ |
pCanMsg->IdType = CAN_EXT_ID; |
pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF); |
pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11); |
pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27); |
} |
|
pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; |
|
pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; |
pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); |
pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; |
pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); |
pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; |
pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); |
pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; |
pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); |
|
return SUCCESS; |
} |
|
/******************************************************************************* |
* Function Name : CAN_EnterInitMode |
* Description : Switchs the CAN into initialization mode. This function must |
* be used in conjunction with CAN_LeaveInitMode(). |
* Input : InitMask: specifies the CAN configuration in normal mode. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_EnterInitMode(u8 InitMask) |
{ |
CAN->CR = InitMask | CAN_CR_INIT; |
CAN->SR = 0; /* reset the status*/ |
} |
|
/******************************************************************************* |
* Function Name : CAN_LeaveInitMode |
* Description : Leaves the initialization mode (switch into normal mode). |
* This function must be used in conjunction with CAN_EnterInitMode(). |
* Input : None |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_LeaveInitMode(void) |
{ |
CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE); |
} |
|
/******************************************************************************* |
* Function Name : CAN_EnterTestMode |
* Description : Switchs the CAN into test mode. This function must be used in |
* conjunction with CAN_LeaveTestMode(). |
* Input : TestMask: specifies the configuration in test modes. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_EnterTestMode(u8 TestMask) |
{ |
CAN->CR |= CAN_CR_TEST; |
CAN->TESTR |= TestMask; |
} |
|
/******************************************************************************* |
* Function Name : CAN_LeaveTestMode |
* Description : Leaves the current test mode (switch into normal mode). |
* This function must be used in conjunction with CAN_EnterTestMode(). |
* Input : None |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_LeaveTestMode(void) |
{ |
CAN->CR |= CAN_CR_TEST; |
CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC); |
CAN->CR &= ~CAN_CR_TEST; |
} |
|
/******************************************************************************* |
* Function Name : CAN_ReleaseTxMessage |
* Description : Releases the transmit message object. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_ReleaseTxMessage(u32 msgobj) |
{ |
CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
CAN->sMsgObj[0].CRR = 1 + msgobj; |
} |
|
/******************************************************************************* |
* Function Name : CAN_ReleaseRxMessage |
* Description : Releases the receive message object. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : None |
*******************************************************************************/ |
void CAN_ReleaseRxMessage(u32 msgobj) |
{ |
CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; |
CAN->sMsgObj[1].CRR = 1 + msgobj; |
} |
|
/******************************************************************************* |
* Function Name : CAN_IsMessageWaiting |
* Description : Tests the waiting status of a received message. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : A non-zero value if the corresponding message object has |
* received a message waiting to be copied, else 0. |
*******************************************************************************/ |
u32 CAN_IsMessageWaiting(u32 msgobj) |
{ |
return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16))); |
} |
|
/******************************************************************************* |
* Function Name : CAN_IsTransmitRequested |
* Description : Tests the request status of a transmitted message. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : A non-zero value if the corresponding message is requested |
* to transmit, else 0. |
*******************************************************************************/ |
u32 CAN_IsTransmitRequested(u32 msgobj) |
{ |
return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16))); |
} |
|
/******************************************************************************* |
* Function Name : CAN_IsInterruptPending |
* Description : Tests the interrupt status of a message object. |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : A non-zero value if the corresponding message has an |
* interrupt pending, else 0. |
*******************************************************************************/ |
u32 CAN_IsInterruptPending(u32 msgobj) |
{ |
return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16))); |
} |
|
/******************************************************************************* |
* Function Name : CAN_IsObjectValid |
* Description : Tests the validity of a message object (ready to use). |
* Input : - msgobj: specifies the Message object number, from 0 to 31. |
* Output : None |
* Return : A non-zero value if the corresponding message object is |
* valid, else 0. |
*******************************************************************************/ |
u32 CAN_IsObjectValid(u32 msgobj) |
{ |
return (msgobj < 16 ? CAN->MV1R & (1 << msgobj) : CAN->MV2R & (1 << (msgobj-16))); |
} |
/******************* (C) COPYRIGHT 2006 STMicroelectronics *****END OF FILE****/ |