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| /******************** (C) COPYRIGHT 2008 STMicroelectronics ******************** |
| * File Name : 91x_can.c |
| * Author : MCD Application Team |
| * Version : V2.1 |
| * Date : 12/22/2008 |
| * Description : This file provides all the CAN firmware functions. |
| ******************************************************************************** |
| * 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)))) |
| |
| #define EXT_RANGE_ID_MSK_H(range_start, range_end) \ |
| ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 16) & 0x1FFF) |
| |
| #define EXT_RANGE_ID_ARB_L(range_start, range_end) \ |
| ((u16)(RANGE_ID_ARB((range_start), (range_end)))) |
| |
| #define EXT_RANGE_ID_ARB_H(range_start, range_end) \ |
| ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 16) & 0x1FFF) |
| |
| #define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id))) |
| |
| #define EXT_FIXED_ID_MSK_H(id) ((u16)(FIXED_ID_MSK(id) >> 16 ) & 0x1FFF) |
| |
| #define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id))) |
| |
| #define EXT_FIXED_ID_ARB_H(id) ((u16)(FIXED_ID_ARB(id) >> 16) & 0x1FFF) |
| |
| /* 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) |
| * - RemoteEN : specifies if the CAN message will answer remote |
| * frames with exactly matching ID; It can be |
| * - ENABLE : remote frame with matching ID is answered |
| * - DISABLE : remote frames with matching ID is not |
| * answered |
| * 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, FunctionalState RemoteEN) |
| { |
| 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 = 0xFFFF; |
| CAN->sMsgObj[msg_if].A1R = 0; |
| |
| if (idType == CAN_STD_ID) |
| { |
| CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | 0x1FFF; |
| CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR; |
| } |
| else |
| { |
| CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD | 0x1FFF; |
| 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 | ( RemoteEN ? CAN_MCR_RMTEN : 0) |
| | ( RemoteEN ? CAN_MCR_UMASK : 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_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 = 0xFFFF; |
| CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | 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_SetUnusedAllMsgObj |
| * Description : Configures all the message objects as unused. |
| * Input : None |
| * Output : None |
| * Return : An ErrorStatus enumuration value: |
| * - SUCCESS: Interface to treat the message |
| * - ERROR: No interface to treat the messageNone |
| *******************************************************************************/ |
| ErrorStatus CAN_SetUnusedAllMsgObj(void) |
| { |
| u32 i=0; |
| for (i = 0; i < 32; i++) |
| { |
| if ( CAN_SetUnusedMsgObj(i) == ERROR) |
| return ERROR; |
| } |
| return SUCCESS; |
| } |
| |
| /******************************************************************************* |
| * 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_UpdateMsgObj |
| * Description : Updates the CAN message object with the pCanMsg fields, it |
| * does not start the transmission of the CAN message object |
| * Input 1 : message object number, from 0 to 31 |
| * Input 2 : pointer to the message structure containing data to transmit |
| * Output : None |
| * Return : An ErrorStatus enumuration value: |
| * - SUCCESS: Interface to treat the message |
| * - ERROR: No interface to treat the message |
| *******************************************************************************/ |
| ErrorStatus CAN_UpdateMsgObj(u32 msgobj, canmsg* pCanMsg) |
| { |
| if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
| return ERROR; |
| |
| /* read the Arbitration and Message Control */ |
| CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL; |
| |
| CAN->sMsgObj[0].CRR = 1 + msgobj; |
| |
| while (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
| { |
| /*Wait*/ |
| } |
| |
| /* 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 |
| | 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; |
| |
| while ( CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) |
| { |
| /* wait */ |
| } |
| 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_UpdateMsgObj(msgobj, pCanMsg) == ERROR) |
| return ERROR; |
| |
| CAN->SR &= ~CAN_SR_TXOK; |
| |
| return ( CAN_TransmitRequest( msgobj)); |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_TransmitRequest |
| * Description : This function requests the transmission of a message object |
| * Input : msgobj: number of the message object that should be |
| * transmitted |
| * Output : None |
| * Return : An ErrorStatus enumuration value: |
| * - SUCCESS: Transmission OK |
| * - ERROR: No transmission started |
| *******************************************************************************/ |
| ErrorStatus CAN_TransmitRequest( u32 msgobj ) |
| { |
| u16 msg_if; |
| |
| if ((msg_if = GetFreeIF()) == 2) |
| return ERROR; |
| |
| /* Set the transmit request in the command mask register */ |
| CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD | CAN_CMR_TXRQSTNEWDAT; |
| |
| /* Write the message object number in the command request register */ |
| CAN->sMsgObj[msg_if].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) |
| { |
| u32 tempId; |
| |
| if (!CAN_GetMsgReceiveStatus(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; |
| tempId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16); |
| pCanMsg->Id = CAN->sMsgObj[1].A1R | tempId; |
| } |
| |
| 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 : None |
| *******************************************************************************/ |
| void CAN_WaitEndOfTx(void) |
| { |
| while ((CAN->SR & CAN_SR_TXOK) == 0) |
| { |
| /*Wait*/ |
| } |
| CAN->SR &= ~CAN_SR_TXOK; |
| } |
| |
| /******************************************************************************* |
| * 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) | CAN_A2R_XTD | 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 the transmission*/ |
| CAN->sMsgObj[0].CRR = CAN_CRR_BUSY; |
| |
| 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) |
| { |
| u32 tmpId; |
| |
| 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; |
| tmpId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16); |
| pCanMsg->Id = CAN->sMsgObj[1].A1R | tmpId; |
| } |
| |
| 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_GetMsgReceiveStatus |
| * Description : Test the waiting status of a received message |
| * Input 1 : message object number, from 0 to 31 |
| * Output : None |
| * Return : SET value if the corresponding message object has |
| * received a message waiting to be copied, else RESET |
| *******************************************************************************/ |
| FlagStatus CAN_GetMsgReceiveStatus(u32 msgobj) |
| { |
| if( msgobj < 16 ) |
| { |
| if ( CAN->ND1R & (1 << msgobj) ) |
| return SET; |
| else |
| return RESET; |
| } |
| else |
| { |
| if ( CAN->ND2R & (1 << (msgobj - 16) ) ) |
| return SET; |
| else |
| return RESET; |
| } |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_GetMsgTransmitRequestStatus |
| * Description : Test the request status of a transmitted message |
| * Input 1 : message object number, from 0 to 31 |
| * Output : None |
| * Return : SET if the corresponding message is requested |
| * to transmit, else RESET |
| *******************************************************************************/ |
| FlagStatus CAN_GetMsgTransmitRequestStatus(u32 msgobj) |
| { |
| if( msgobj < 16 ) |
| { |
| if ( CAN->TXR1R & (1 << msgobj) ) |
| return SET; |
| else |
| return RESET; |
| } |
| else |
| { |
| if ( CAN->TXR2R & (1 << (msgobj - 16) ) ) |
| return SET; |
| else |
| return RESET; |
| } |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_GetMsgInterruptStatus |
| * Description : Test the interrupt status of a message object |
| * Input 1 : message object number, from 0 to 31 |
| * Output : None |
| * Return : SET if the corresponding message has an |
| * interrupt pending, else RESET |
| *******************************************************************************/ |
| FlagStatus CAN_GetMsgInterruptStatus(u32 msgobj) |
| { |
| if( msgobj < 16 ) |
| { |
| if ( CAN->IP1R & (1 << msgobj) ) |
| return SET; |
| else |
| return RESET; |
| } |
| else |
| { |
| if ( CAN->IP2R & (1 << (msgobj - 16) ) ) |
| return SET; |
| else |
| return RESET; |
| } |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_GetMsgValidStatus |
| * Description : Test the validity of a message object (ready to use) |
| * Input 1 : message object number, from 0 to 31 |
| * Output : None |
| * Return : SET if the corresponding message object is valid |
| * else RESET |
| *******************************************************************************/ |
| FlagStatus CAN_GetMsgValidStatus(u32 msgobj) |
| { |
| if( msgobj < 16 ) |
| { |
| if ( CAN->MV1R & (1 << msgobj) ) |
| return SET; |
| else |
| return RESET; |
| } |
| else |
| { |
| if ( CAN->MV2R & (1 << (msgobj - 16) ) ) |
| return SET; |
| else |
| return RESET; |
| } |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_GetFlagStatus |
| * Description : Returns the flasg status of the flag passed in parameter |
| * Input : One of the following parameters: |
| * - CAN_SR_TXOK |
| * - CAN_SR_RXOK |
| * - CAN_SR_EPASS |
| * - CAN_SR_EWARN |
| * - CAN_SR_BOFF |
| * Output : None |
| * Return : 1 if the flag is set else 0 |
| *******************************************************************************/ |
| FlagStatus CAN_GetFlagStatus ( u32 CAN_Flag ) |
| { |
| if( CAN->SR & CAN_Flag) |
| { |
| return SET; |
| } |
| else |
| return RESET; |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_GetTransmitErrorCounter |
| * Description : Reads the CAN cell transmit error counter |
| * Input : None |
| * Output : None |
| * Return : Transmit Error Counter value between 0..255 |
| *******************************************************************************/ |
| u32 CAN_GetTransmitErrorCounter ( void ) |
| { |
| return( CAN->ERR & 0x00FF ); |
| } |
| |
| /******************************************************************************* |
| * Function Name : CAN_GetReceiveErrorCounter |
| * Description : Reads the CAN cell receive error counter |
| * Input : None |
| * Output : None |
| * Return : Receive Error Counter value between 0..127 |
| *******************************************************************************/ |
| u32 CAN_GetReceiveErrorCounter ( void ) |
| { |
| return ( ( CAN->ERR & 0x7F00 ) >> 8); |
| } |
| |
| /******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/ |