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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****/