WebSVN - NaviCtrl - Diff - Rev 1 and 196 - /tags/V0.26f/libstr91x/src/91x

-/******************** (C) COPYRIGHT 2006 STMicroelectronics ********************
+/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
 * File Name          : 91x_can.c
 * Author             : MCD Application Team
+* Version            : V2.1
-* Date First Issued  : 05/18/2006 : Version 1.0
+* Date               : 12/22/2008
-* Description        : This file provides all the CAN software functions.
+* Description        : This file provides all the CAN firmware 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
 #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)      \
-#define EXT_RANGE_ID_MSK_L(range_start, range_end)      ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11))
+  ((u16)(RANGE_ID_ARB((range_start), (range_end))))
-#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)       \
-#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)))
+  ((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_L(id)  ((u16)(FIXED_ID_MSK(id) >> 11))
+#define EXT_FIXED_ID_MSK_H(id)  ((u16)(FIXED_ID_MSK(id) >> 16 ) & 0x1FFF)
-#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)))
 #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)))
+#define EXT_FIXED_ID_ARB_H(id)  ((u16)(FIXED_ID_ARB(id) >> 16) & 0x1FFF)
+{
   /* Reset the CAN registers values*/
   SCU_APBPeriphReset(__CAN,ENABLE);         /*CAN peripheral is under Reset */
-  SCU_APBPeriphReset(__CAN,DISABLE);        /*CAN peripheral Reset off*/
+  SCU_APBPeriphReset(__CAN,DISABLE);        /*CAN peripheral Reset off*/
+}
 /*******************************************************************************
 * 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)
+ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType, FunctionalState RemoteEN)
+{
   u32 msg_if=0;
   if ((msg_if = GetFreeIF()) == 2)
                            | CAN_CMR_ARB
                            | CAN_CMR_CONTROL
                            | CAN_CMR_DATAA
                            | CAN_CMR_DATAB;
-  CAN->sMsgObj[msg_if].M1R = 0;
+  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;
+    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;
+    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)
-  CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB;
+                            | ( RemoteEN ? CAN_MCR_UMASK : 0);
                            | CAN_CMR_DATAA
                            | CAN_CMR_DATAB;
   if (idType == CAN_STD_ID)
   {
-    CAN->sMsgObj[msg_if].M1R = 0;
+    CAN->sMsgObj[msg_if].M1R = 0xFFFF;
-    CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh);
+    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);
   return SUCCESS;
+}
 /*******************************************************************************
-* Function Name  : CAN_InvalidateAllMsgObj
+* Function Name  : CAN_SetUnusedAllMsgObj
 * Description    : Configures all the message objects as unused.
 * Input          : None
+* Output         : None
+* Return         : An ErrorStatus enumuration value:
-* Output         : None
+*                         - SUCCESS: Interface to treat the message
-* Return         : None
+*                         - ERROR: No interface to treat the messageNone
 *******************************************************************************/
-void CAN_InvalidateAllMsgObj(void)
+ErrorStatus CAN_SetUnusedAllMsgObj(void)
+{
+  u32 i=0;
-  u32 i=0;
+  for (i = 0; i < 32; i++)
+  {
+    if ( CAN_SetUnusedMsgObj(i) == ERROR)
+      return ERROR;
   for (i = 0; i < 32; i++)
-    CAN_SetUnusedMsgObj(i);
   return SUCCESS;
+}
 /*******************************************************************************
 * Function Name  : CAN_ReleaseMessage
   CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
   return SUCCESS;
+}
+/*******************************************************************************
-/*******************************************************************************
+* Function Name  : CAN_UpdateMsgObj
-* Function Name  : CAN_SendMessage
+* Description    : Updates the CAN message object with the pCanMsg fields, it
-* Description    : Start transmission of a message
+*                  does not start the transmission of the CAN message object
-* Input          : - msgobj: specifies the Message object number, from 0 to 31.
-*                : - pCanMsg: pointer to the message structure containing data
+* Input 1        : message object number, from 0 to 31
-*                    to transmit.
+* Input 2        : pointer to the message structure containing data to transmit
 * Output         : None
 * Return         : An ErrorStatus enumuration value:
-*                         - SUCCESS: Transmission OK
+*                         - SUCCESS: Interface to treat the message
-*                         - ERROR: No transmission
+*                         - ERROR: No interface to treat the message
 *******************************************************************************/
-ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg)
+ErrorStatus CAN_UpdateMsgObj(u32 msgobj, canmsg* pCanMsg)
-{
-  if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
+{
-  {
-    return ERROR;
-  }
+ if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
-  CAN->SR &= ~CAN_SR_TXOK;
+  return ERROR;
-  /* read the Arbitration and Message Control*/
+  /* 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)
+  while (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
   {
-    return ERROR;
+    /*Wait*/
   }
-  /* update the contents needed for transmission*/
+  /* update the contents needed for transmission */
-  CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
+  CAN->sMsgObj[0].CMR =   CAN_CMR_WRRD
-                      | CAN_CMR_ARB
+                          | CAN_CMR_ARB
-                      | CAN_CMR_CONTROL
+                          | CAN_CMR_CONTROL
-                      | CAN_CMR_DATAA
+                          | CAN_CMR_DATAA
+                          | CAN_CMR_DATAB;
                       | CAN_CMR_DATAB;
   if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0)
   if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0)
     /* standard ID */
-    /* standard ID*/
+    CAN->sMsgObj[0].A1R = 0;
-    CAN->sMsgObj[0].A1R = 0;
+    CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000)
+                          | STD_FIXED_ID_ARB(pCanMsg->Id);
     CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
-  }
+  else
+  {
-  else
+    /* extended ID*/
-  {
+    CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
-    /* extended ID*/
+    CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000)
-    CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
+                          | EXT_FIXED_ID_ARB_H(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].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc;
+  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;
   CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
-  CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
+     /* Set the transmit request in the command mask register */
-  CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
+     CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD | CAN_CMR_TXRQSTNEWDAT;
   CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
     /* Write the message object number in the command request register */
 * 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_IsMessageWaiting(msgobj))
+  if (!CAN_GetMsgReceiveStatus(msgobj))
+  {
     return ERROR;
+  }
+  }
   else
+  {
     /* extended ID*/
     pCanMsg->IdType = CAN_EXT_ID;
-    pCanMsg->Id  = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
+    tempId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16);
-    pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
+    pCanMsg->Id  = CAN->sMsgObj[1].A1R | tempId;
-    pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
+  }
   pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
 /*******************************************************************************
 * Function Name  : CAN_WaitEndOfTx
 * Description    : Waits until current transmission is finished.
 * Input          : None
 * Output         : None
-* Return         : An ErrorStatus enumuration value:
+* Return         : None
-*                         - SUCCESS: Transmission ended
-*                         - ERROR: Transmission did not occur yet
 *******************************************************************************/
-ErrorStatus CAN_WaitEndOfTx(void)
+void CAN_WaitEndOfTx(void)
+{
-  if ((CAN->SR & CAN_SR_TXOK) == 0)
+  while ((CAN->SR & CAN_SR_TXOK) == 0)
+  {
-    return ERROR;
+    /*Wait*/
+  }
   CAN->SR &= ~CAN_SR_TXOK;
-  return SUCCESS;
+}
 /*******************************************************************************
 * Function Name  : CAN_BasicSendMessage
+{
   /* clear NewDat bit in IF2 to detect next reception*/
   CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT;
+  CAN->SR &= ~CAN_SR_TXOK;
   CAN->SR &= ~CAN_SR_TXOK;
   CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
                       | CAN_CMR_ARB
                       | CAN_CMR_CONTROL
                       | CAN_CMR_DATAA
     CAN->sMsgObj[0].A1R = 0;
     CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
+  }
   else
+  {
-    /* extended ID*/
+    /* 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].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 transmission*/
-  if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY )
-  {
-    return ERROR;
+  /* request the transmission*/
   CAN->sMsgObj[0].CRR = CAN_CRR_BUSY;
   return SUCCESS;
 *                         - 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;
+  }
+  }
   else
+  {
     /* extended ID*/
     pCanMsg->IdType = CAN_EXT_ID;
-    pCanMsg->Id  = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
+    tmpId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16);
-    pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
+    pCanMsg->Id  = CAN->sMsgObj[1].A1R | tmpId;
-    pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
+  }
   pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
   CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
   CAN->sMsgObj[1].CRR = 1 + msgobj;
+}
 /*******************************************************************************
-* Function Name  : CAN_IsMessageWaiting
+* Function Name  : CAN_GetMsgReceiveStatus
-* Description    : Tests the waiting status of a received message.
+* Description    : Test the waiting status of a received message
-* Input          : - msgobj: specifies the Message object number, from 0 to 31.
+* Input 1        : message object number, from 0 to 31
 * Output         : None
-* Return         : A non-zero value if the corresponding message object has
+* Return         : SET value if the corresponding message object has
-*                  received a message waiting to be copied, else 0.
+*                  received a message waiting to be copied, else RESET
 *******************************************************************************/
-u32 CAN_IsMessageWaiting(u32 msgobj)
+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;
   return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16)));
+}
 /*******************************************************************************
+* 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_IsTransmitRequested
+* 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
-* Description    : Tests the request status of a transmitted message.
+*                  - CAN_SR_EWARN
-* Input          : - msgobj: specifies the Message object number, from 0 to 31.
-* Output         : None
+*                  - CAN_SR_BOFF
-* Return         : A non-zero value if the corresponding message is requested
+* Output         : None
-*                  to transmit, else 0.
+* Return         : 1 if the flag is set else 0
 *******************************************************************************/
-u32 CAN_IsTransmitRequested(u32 msgobj)
+FlagStatus CAN_GetFlagStatus ( u32 CAN_Flag )
+{
+  if( CAN->SR & CAN_Flag)
+   {
+     return SET;
+   }
      else
-  return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16)));
+      return RESET;
 }
 /*******************************************************************************
-* Function Name  : CAN_IsInterruptPending
+* Function Name  : CAN_GetTransmitErrorCounter
-* Description    : Tests the interrupt status of a message object.
+* Description    : Reads the CAN cell transmit error counter
-* Input          : - msgobj: specifies the Message object number, from 0 to 31.
-* Output         : None
+* Input          : None
-* Return         : A non-zero value if the corresponding message has an
+* Output         : None
-*                  interrupt pending, else 0.
+* Return         : Transmit Error Counter value between 0..255
 *******************************************************************************/
-u32 CAN_IsInterruptPending(u32 msgobj)
+u32 CAN_GetTransmitErrorCounter ( void )
+{
-  return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16)));
+ return( CAN->ERR & 0x00FF );
 }
 /*******************************************************************************
-* Function Name  : CAN_IsObjectValid
+* Function Name  : CAN_GetReceiveErrorCounter
-* Description    : Tests the validity of a message object (ready to use).
-* Input          : - msgobj: specifies the Message object number, from 0 to 31.
+* Description    : Reads the CAN cell receive error counter
-* Output         : None
+* Input          : None
-* Return         : A non-zero value if the corresponding message object is
+* Output         : None
-*                  valid, else 0.
+* Return         : Receive Error Counter value between 0..127
 *******************************************************************************/
+u32 CAN_GetReceiveErrorCounter ( void )
-u32 CAN_IsObjectValid(u32 msgobj)
+{

Subversion Repositories NaviCtrl

(root)/tags/V0.26f/libstr91x/src/91x_can.c @ 347 - Rev 1 → 196