From 8c5a743259480ebd0cfdbb17fbde8584e34b2aa4 Mon Sep 17 00:00:00 2001 From: Bert Lange Date: Wed, 15 Apr 2015 13:54:39 +0200 Subject: clean up --- .../str91x_lib/src/91x_can.c | 768 --------------------- 1 file changed, 768 deletions(-) delete mode 100644 uc_str912/prj_blinky_simple_startup/str91x_lib/src/91x_can.c (limited to 'uc_str912/prj_blinky_simple_startup/str91x_lib/src/91x_can.c') diff --git a/uc_str912/prj_blinky_simple_startup/str91x_lib/src/91x_can.c b/uc_str912/prj_blinky_simple_startup/str91x_lib/src/91x_can.c deleted file mode 100644 index e560d03..0000000 --- a/uc_str912/prj_blinky_simple_startup/str91x_lib/src/91x_can.c +++ /dev/null @@ -1,768 +0,0 @@ -/******************** (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****/ -- cgit v1.1