| /******************** (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: | |
| * 05/24/2006 : 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****/ |