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+/******************** (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 for AHB@48MHz */
+u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */
+ CAN_TIMING(13, 6, 4, 24), /* 0x5CD7 100 kbit/s 24 13 6 4 24 */
+ CAN_TIMING(13, 6, 4, 19), /* 0xyyyy 125 kbit/s 20 13 6 4 20 */
+ CAN_TIMING( 6, 3, 5, 19), /* 0xyyyy 250 kbit/s 10 6 3 5 19 */
+ 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->BTR = 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****/
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