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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*/
-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****/
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