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769 lines
35 KiB
C
769 lines
35 KiB
C
/******************** (C) COPYRIGHT 2006 STMicroelectronics ********************
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* File Name : 91x_can.c
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* Author : MCD Application Team
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* Date First Issued : 05/18/2006 : Version 1.0
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* Description : This file provides all the CAN software functions.
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********************************************************************************
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* History:
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* 05/24/2006 : Version 1.1
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* 05/18/2006 : Version 1.0
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********************************************************************************
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* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
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* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
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* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
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* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
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* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
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* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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*******************************************************************************/
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/* Includes ------------------------------------------------------------------*/
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#include "91x_can.h"
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#include "91x_scu.h"
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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/*----------------------------------------------------------------------------*/
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/* Macro Name : xxx_ID_MSK, xxx_ID_ARB */
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/* Description : Form the Mask and Arbitration registers value to filter */
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/* a range of identifiers or a fixed identifier, for standard*/
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/* and extended IDs */
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/*----------------------------------------------------------------------------*/
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#define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start)))
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#define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end))
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#define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id))
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#define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id))
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#define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2))
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#define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2))
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#define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2))
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#define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2))
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#define EXT_RANGE_ID_MSK_L(range_start, range_end) ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11))
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#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)))
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#define EXT_RANGE_ID_ARB_L(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11))
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#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)))
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#define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id) >> 11))
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#define EXT_FIXED_ID_MSK_H(id) ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03)))
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#define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id) >> 11))
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#define EXT_FIXED_ID_ARB_H(id) ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03)))
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/* macro to format the timing register value from the timing parameters*/
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#define CAN_TIMING(tseg1, tseg2, sjw, brp) ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F))
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/* Private variables ---------------------------------------------------------*/
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/* array of pre-defined timing parameters for standard bitrates*/
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u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */
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CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */
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CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */
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CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */
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CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */
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CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */
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};
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/* Private function prototypes -----------------------------------------------*/
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static u32 GetFreeIF(void);
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/* Private functions ---------------------------------------------------------*/
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/*******************************************************************************
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* Function Name : CAN_DeInit
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* Description : Deinitializes the CAN peripheral registers to their default
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* reset values.
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* Input : None
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_DeInit (void)
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{
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/* Reset the CAN registers values*/
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SCU_APBPeriphReset(__CAN,ENABLE); /*CAN peripheral is under Reset */
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SCU_APBPeriphReset(__CAN,DISABLE); /*CAN peripheral Reset off*/
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}
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/*******************************************************************************
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* Function Name : CAN_Init
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* Description : Initializes the CAN peripheral according to the specified
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* parameters in the CAN_InitStruct.
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* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
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* contains the configuration information for the CAN peripheral.
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
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{
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CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters);
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CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate);
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CAN_LeaveInitMode();
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CAN_LeaveTestMode();
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}
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/*******************************************************************************
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* Function Name : CAN_StructInit
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* Description : Fills each CAN_InitStruct member with its reset value.
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* Input : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which
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* will be initialized.
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* Output : None
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* Return : None.
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*******************************************************************************/
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void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
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{
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/* Reset CAN init structure parameters values */
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CAN_InitStruct->CAN_ConfigParameters = 0x0;
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CAN_InitStruct->CAN_Bitrate = 0x2301;
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}
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/*******************************************************************************
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* Function Name : CAN_SetBitrate
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* Description : Setups a standard CAN bitrate.
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* Input : bitrate: specifies the bit rate.
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_SetBitrate(u32 bitrate)
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{
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CAN->BTR = CanTimings[bitrate]; /* write the predefined timing value */
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CAN->BRPR = 0; /* clear the Extended Baud Rate Prescaler */
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}
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/*******************************************************************************
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* Function Name : CAN_SetTiming
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* Description : Setups the CAN timing with specific parameters
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* Input : - tseg1: specifies Time Segment before the sample point.
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* This parameter must be a number between 1 and 16.
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* - tseg2: Time Segment after the sample point. This parameter
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* must be a number between 1 and 8.
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* - sjw: Synchronisation Jump Width. This parameter must be
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* a number between 1 and 4.
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* - brp: Baud Rate Prescaler. This parameter must be a number
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* between 1 and 1024.
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp)
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{
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CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp);
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CAN->BRPR = ((brp-1) >> 6) & 0x0F;
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}
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/*******************************************************************************
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* Function Name : GetFreeIF
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* Description : Searchs the first free message interface, starting from 0.
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* Input : None
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* Output : None
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* Return : A free message interface number (0 or 1) if found, else 2
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*******************************************************************************/
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static u32 GetFreeIF(void)
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{
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if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0)
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return 0;
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else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0)
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return 1;
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else
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return 2;
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}
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/*******************************************************************************
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* Function Name : CAN_SetUnusedMsgObj
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* Description : Configures the message object as unused
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* Input : msgobj: specifies the Message object number, from 0 to 31.
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* Output : None
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* Return : An ErrorStatus enumuration value:
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* - SUCCESS: Interface to treat the message
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* - ERROR: No interface to treat the message
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*******************************************************************************/
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ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj)
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{
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u32 msg_if=0;
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if ((msg_if = GetFreeIF()) == 2)
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{
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return ERROR;
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}
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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| CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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CAN->sMsgObj[msg_if].M1R = 0;
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CAN->sMsgObj[msg_if].M2R = 0;
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CAN->sMsgObj[msg_if].A1R = 0;
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CAN->sMsgObj[msg_if].A2R = 0;
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CAN->sMsgObj[msg_if].MCR = 0;
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CAN->sMsgObj[msg_if].DA1R = 0;
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CAN->sMsgObj[msg_if].DA2R = 0;
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CAN->sMsgObj[msg_if].DB1R = 0;
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CAN->sMsgObj[msg_if].DB2R = 0;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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return SUCCESS;
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}
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/*******************************************************************************
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* Function Name : CAN_SetTxMsgObj
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* Description : Configures the message object as TX.
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* Input : - msgobj: specifies the Message object number, from 0 to 31.
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* - idType: specifies the identifier type of the frames that
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* will be transmitted using this message object.
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* This parameter can be one of the following values:
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* - CAN_STD_ID (standard ID, 11-bit)
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* - CAN_EXT_ID (extended ID, 29-bit)
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* Output : None
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* Return : An ErrorStatus enumuration value:
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* - SUCCESS: Interface to treat the message
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* - ERROR: No interface to treat the message
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*******************************************************************************/
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ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType)
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{
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u32 msg_if=0;
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if ((msg_if = GetFreeIF()) == 2)
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{
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return ERROR;
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}
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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| CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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CAN->sMsgObj[msg_if].M1R = 0;
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CAN->sMsgObj[msg_if].A1R = 0;
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if (idType == CAN_STD_ID)
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{
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CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR;
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR;
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}
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else
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{
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CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD;
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD;
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}
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CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB;
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CAN->sMsgObj[msg_if].DA1R = 0;
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CAN->sMsgObj[msg_if].DA2R = 0;
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CAN->sMsgObj[msg_if].DB1R = 0;
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CAN->sMsgObj[msg_if].DB2R = 0;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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return SUCCESS;
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}
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/*******************************************************************************
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* Function Name : CAN_SetRxMsgObj
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* Description : Configures the message object as RX.
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* Input : - msgobj: specifies the Message object number, from 0 to 31.
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* - idType: specifies the identifier type of the frames that
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* will be transmitted using this message object.
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* This parameter can be one of the following values:
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* - CAN_STD_ID (standard ID, 11-bit)
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* - CAN_EXT_ID (extended ID, 29-bit)
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* - idLow: specifies the low part of the identifier range used
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* for acceptance filtering.
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* - idHigh: specifies the high part of the identifier range
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* used for acceptance filtering.
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* - singleOrFifoLast: specifies the end-of-buffer indicator.
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* This parameter can be one of the following values:
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* - TRUE: for a single receive object or a FIFO receive
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* object that is the last one of the FIFO.
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* - FALSE: for a FIFO receive object that is not the
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* last one.
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* Output : None
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* Return : An ErrorStatus enumuration value:
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* - SUCCESS: Interface to treat the message
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* - ERROR: No interface to treat the message
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*******************************************************************************/
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ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast)
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{
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u32 msg_if=0;
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if ((msg_if = GetFreeIF()) == 2)
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{
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return ERROR;
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}
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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| CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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if (idType == CAN_STD_ID)
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{
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CAN->sMsgObj[msg_if].M1R = 0;
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CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh);
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CAN->sMsgObj[msg_if].A1R = 0;
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh);
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}
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else
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{
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CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh);
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CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh);
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CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh);
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh);
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}
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CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0);
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CAN->sMsgObj[msg_if].DA1R = 0;
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CAN->sMsgObj[msg_if].DA2R = 0;
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CAN->sMsgObj[msg_if].DB1R = 0;
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CAN->sMsgObj[msg_if].DB2R = 0;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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return SUCCESS;
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}
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/*******************************************************************************
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* Function Name : CAN_InvalidateAllMsgObj
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* Description : Configures all the message objects as unused.
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* Input : None
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_InvalidateAllMsgObj(void)
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{
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u32 i=0;
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for (i = 0; i < 32; i++)
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CAN_SetUnusedMsgObj(i);
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}
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/*******************************************************************************
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* Function Name : CAN_ReleaseMessage
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* Description : Releases the message object
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* Input : - msgobj: specifies the Message object number, from 0 to 31.
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* Output : None
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* Return : An ErrorStatus enumuration value:
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* - SUCCESS: Interface to treat the message
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* - ERROR: No interface to treat the message
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*******************************************************************************/
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ErrorStatus CAN_ReleaseMessage(u32 msgobj)
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{
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u32 msg_if=0;
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if ((msg_if = GetFreeIF()) == 2)
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{
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return ERROR;
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}
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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return SUCCESS;
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}
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/*******************************************************************************
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* Function Name : CAN_SendMessage
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* Description : Start transmission of a message
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* Input : - msgobj: specifies the Message object number, from 0 to 31.
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* : - pCanMsg: pointer to the message structure containing data
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* to transmit.
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* Output : None
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* Return : An ErrorStatus enumuration value:
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* - SUCCESS: Transmission OK
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* - ERROR: No transmission
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*******************************************************************************/
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ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg)
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{
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if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
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{
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return ERROR;
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}
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CAN->SR &= ~CAN_SR_TXOK;
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/* read the Arbitration and Message Control*/
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CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL;
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CAN->sMsgObj[0].CRR = 1 + msgobj;
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if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
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{
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return ERROR;
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}
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/* update the contents needed for transmission*/
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CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0)
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{
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/* standard ID*/
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CAN->sMsgObj[0].A1R = 0;
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CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
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}
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else
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{
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/* extended ID*/
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CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
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CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
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}
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CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc;
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CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
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CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
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CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
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CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
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CAN->sMsgObj[0].CRR = 1 + msgobj;
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return SUCCESS;
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}
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/*******************************************************************************
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* 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****/
|