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1 577 jeremybenn 
/******************** (C) COPYRIGHT 2006 STMicroelectronics ********************
2 
* File Name          : 91x_can.c
3 
* Author             : MCD Application Team
4 
* Date First Issued  : 05/18/2006 : Version 1.0
5 
* Description        : This file provides all the CAN software functions.
6 
********************************************************************************
7 
* History:
8 
* 05/24/2006 : Version 1.1
9 
* 05/18/2006 : Version 1.0
10 
********************************************************************************
11 
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
12 
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
13 
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
14 
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
15 
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
16 
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
17 
*******************************************************************************/
18 
 
19 
/* Includes ------------------------------------------------------------------*/
20 
#include "91x_can.h"
21 
#include "91x_scu.h"
22 
 
23 
/* Private typedef -----------------------------------------------------------*/
24 
/* Private define ------------------------------------------------------------*/
25 
/* Private macro -------------------------------------------------------------*/
26 
/*----------------------------------------------------------------------------*/
27 
/* Macro Name     : xxx_ID_MSK, xxx_ID_ARB                                    */
28 
/* Description    : Form the Mask and Arbitration registers value to filter   */
29 
/*                  a range of identifiers or a fixed identifier, for standard*/
30 
/*                  and extended IDs                                          */
31 
/*----------------------------------------------------------------------------*/
32 
#define RANGE_ID_MSK(range_start, range_end)    (~((range_end) - (range_start)))
33 
#define RANGE_ID_ARB(range_start, range_end)    ((range_start) & (range_end))
34 
 
35 
#define FIXED_ID_MSK(id)        RANGE_ID_MSK((id), (id))
36 
#define FIXED_ID_ARB(id)        RANGE_ID_ARB((id), (id))
37 
 
38 
#define STD_RANGE_ID_MSK(range_start, range_end)        ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2))
39 
#define STD_RANGE_ID_ARB(range_start, range_end)        ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2))
40 
 
41 
#define STD_FIXED_ID_MSK(id)    ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2))
42 
#define STD_FIXED_ID_ARB(id)    ((u16)(FIXED_ID_ARB(id) << 2))
43 
 
44 
#define EXT_RANGE_ID_MSK_L(range_start, range_end)      ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11))
45 
#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)))
46 
#define EXT_RANGE_ID_ARB_L(range_start, range_end)      ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11))
47 
#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)))
48 
 
49 
#define EXT_FIXED_ID_MSK_L(id)  ((u16)(FIXED_ID_MSK(id) >> 11))
50 
#define EXT_FIXED_ID_MSK_H(id)  ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03)))
51 
#define EXT_FIXED_ID_ARB_L(id)  ((u16)(FIXED_ID_ARB(id) >> 11))
52 
#define EXT_FIXED_ID_ARB_H(id)  ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03)))
53 
 
54 
/* macro to format the timing register value from the timing parameters*/
55 
#define CAN_TIMING(tseg1, tseg2, sjw, brp)      ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F))
56 
 
57 
/* Private variables ---------------------------------------------------------*/
58 
/* array of pre-defined timing parameters for standard bitrates*/
59 
u16 CanTimings[] = {       /* value   bitrate     NTQ  TSEG1  TSEG2  SJW  BRP */
60 
  CAN_TIMING(11, 4, 4, 5), /* 0x3AC4  100 kbit/s  16   11     4      4    5   */
61 
  CAN_TIMING(11, 4, 4, 4), /* 0x3AC3  125 kbit/s  16   11     4      4    4   */
62 
  CAN_TIMING( 4, 3, 3, 4), /* 0x2383  250 kbit/s   8    4     3      3    4   */
63 
  CAN_TIMING(13, 2, 1, 1), /* 0x1C00  500 kbit/s  16   13     2      1    1   */
64 
  CAN_TIMING( 4, 3, 1, 1), /* 0x2300  1 Mbit/s     8    4     3      1    1   */
65 
};
66 
 
67 
/* Private function prototypes -----------------------------------------------*/
68 
static u32 GetFreeIF(void);
69 
/* Private functions ---------------------------------------------------------*/
70 
 
71 
/*******************************************************************************
72 
* Function Name  : CAN_DeInit
73 
* Description    : Deinitializes the CAN peripheral registers to their default
74 
*                  reset values.
75 
* Input          : None
76 
* Output         : None
77 
* Return         : None
78 
*******************************************************************************/
79 
void CAN_DeInit (void)
80 
{
81 
  /* Reset the CAN registers values*/
82 
 
83 
  SCU_APBPeriphReset(__CAN,ENABLE);         /*CAN peripheral is under Reset */
84 
  SCU_APBPeriphReset(__CAN,DISABLE);        /*CAN peripheral Reset off*/
85 
 
86 
 
87 
}
88 
 
89 
/*******************************************************************************
90 
* Function Name  : CAN_Init
91 
* Description    : Initializes the CAN peripheral according to the specified
92 
*                  parameters in the CAN_InitStruct.
93 
* Input          : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
94 
*                  contains the configuration information for the CAN peripheral.
95 
* Output         : None
96 
* Return         : None
97 
*******************************************************************************/
98 
void CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
99 
{
100 
  CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters);
101 
  CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate);
102 
  CAN_LeaveInitMode();
103 
  CAN_LeaveTestMode();
104 
}
105 
 
106 
/*******************************************************************************
107 
* Function Name  : CAN_StructInit
108 
* Description    : Fills each CAN_InitStruct member with its reset value.
109 
* Input          : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which
110 
*                  will be initialized.
111 
* Output         : None
112 
* Return         : None.
113 
*******************************************************************************/
114 
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
115 
{
116 
/* Reset CAN init structure parameters values */
117 
  CAN_InitStruct->CAN_ConfigParameters = 0x0;
118 
  CAN_InitStruct->CAN_Bitrate = 0x2301;
119 
}
120 
 
121 
/*******************************************************************************
122 
* Function Name  : CAN_SetBitrate
123 
* Description    : Setups a standard CAN bitrate.
124 
* Input          : bitrate: specifies the bit rate.
125 
* Output         : None
126 
* Return         : None
127 
*******************************************************************************/
128 
void CAN_SetBitrate(u32 bitrate)
129 
{
130 
  CAN->BTR = CanTimings[bitrate];  /* write the predefined timing value */
131 
  CAN->BRPR = 0;                      /* clear the Extended Baud Rate Prescaler */
132 
}
133 
 
134 
/*******************************************************************************
135 
* Function Name  : CAN_SetTiming
136 
* Description    : Setups the CAN timing with specific parameters
137 
* Input          : - tseg1: specifies Time Segment before the sample point.
138 
*                    This parameter must be a number between 1 and 16.
139 
*                  - tseg2: Time Segment after the sample point. This parameter
140 
*                    must be a number between 1 and 8.
141 
*                  - sjw: Synchronisation Jump Width. This parameter must be
142 
*                     a number between 1 and 4.
143 
*                  - brp: Baud Rate Prescaler. This parameter must be a number
144 
*                    between 1 and 1024.
145 
* Output         : None
146 
* Return         : None
147 
*******************************************************************************/
148 
void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp)
149 
{
150 
  CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp);
151 
  CAN->BRPR = ((brp-1) >> 6) & 0x0F;
152 
}
153 
 
154 
/*******************************************************************************
155 
* Function Name  : GetFreeIF
156 
* Description    : Searchs the first free message interface, starting from 0.
157 
* Input          : None
158 
* Output         : None
159 
* Return         : A free message interface number (0 or 1) if found, else 2
160 
*******************************************************************************/
161 
static u32 GetFreeIF(void)
162 
{
163 
  if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0)
164 
    return 0;
165 
  else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0)
166 
    return 1;
167 
  else
168 
   return 2;
169 
}
170 
 
171 
/*******************************************************************************
172 
* Function Name  : CAN_SetUnusedMsgObj
173 
* Description    : Configures the message object as unused
174 
* Input          : msgobj: specifies the Message object number, from 0 to 31.
175 
* Output         : None
176 
* Return         : An ErrorStatus enumuration value:
177 
*                         - SUCCESS: Interface to treat the message
178 
*                         - ERROR: No interface to treat the message
179 
*******************************************************************************/
180 
ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj)
181 
{
182 
  u32 msg_if=0;
183 
 
184 
  if ((msg_if = GetFreeIF()) == 2)
185 
  {
186 
    return ERROR;
187 
  }
188 
 
189 
  CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
190 
                           | CAN_CMR_MASK
191 
                           | CAN_CMR_ARB
192 
                           | CAN_CMR_CONTROL
193 
                           | CAN_CMR_DATAA
194 
                           | CAN_CMR_DATAB;
195 
 
196 
  CAN->sMsgObj[msg_if].M1R = 0;
197 
  CAN->sMsgObj[msg_if].M2R = 0;
198 
 
199 
  CAN->sMsgObj[msg_if].A1R = 0;
200 
  CAN->sMsgObj[msg_if].A2R = 0;
201 
 
202 
  CAN->sMsgObj[msg_if].MCR = 0;
203 
 
204 
  CAN->sMsgObj[msg_if].DA1R = 0;
205 
  CAN->sMsgObj[msg_if].DA2R = 0;
206 
  CAN->sMsgObj[msg_if].DB1R = 0;
207 
  CAN->sMsgObj[msg_if].DB2R = 0;
208 
 
209 
 CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
210 
 
211 
 return SUCCESS;
212 
}
213 
 
214 
/*******************************************************************************
215 
* Function Name  : CAN_SetTxMsgObj
216 
* Description    : Configures the message object as TX.
217 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
218 
*                  - idType: specifies the identifier type of the frames that
219 
*                    will be transmitted using this message object.
220 
*                    This parameter can be one of the following values:
221 
*                          - CAN_STD_ID (standard ID, 11-bit)
222 
*                          - CAN_EXT_ID (extended ID, 29-bit)
223 
* Output         : None
224 
* Return         : An ErrorStatus enumuration value:
225 
*                         - SUCCESS: Interface to treat the message
226 
*                         - ERROR: No interface to treat the message
227 
*******************************************************************************/
228 
ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType)
229 
{
230 
  u32 msg_if=0;
231 
 
232 
  if ((msg_if = GetFreeIF()) == 2)
233 
  {
234 
    return ERROR;
235 
  }
236 
 
237 
  CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
238 
                           | CAN_CMR_MASK
239 
                           | CAN_CMR_ARB
240 
                           | CAN_CMR_CONTROL
241 
                           | CAN_CMR_DATAA
242 
                           | CAN_CMR_DATAB;
243 
 
244 
  CAN->sMsgObj[msg_if].M1R = 0;
245 
  CAN->sMsgObj[msg_if].A1R = 0;
246 
 
247 
  if (idType == CAN_STD_ID)
248 
  {
249 
    CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR;
250 
    CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR;
251 
  }
252 
  else
253 
  {
254 
    CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD;
255 
    CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD;
256 
  }
257 
 
258 
  CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB;
259 
 
260 
  CAN->sMsgObj[msg_if].DA1R = 0;
261 
  CAN->sMsgObj[msg_if].DA2R = 0;
262 
  CAN->sMsgObj[msg_if].DB1R = 0;
263 
  CAN->sMsgObj[msg_if].DB2R = 0;
264 
 
265 
  CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
266 
 
267 
  return SUCCESS;
268 
}
269 
 
270 
/*******************************************************************************
271 
* Function Name  : CAN_SetRxMsgObj
272 
* Description    : Configures the message object as RX.
273 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
274 
*                  - idType: specifies the identifier type of the frames that
275 
*                    will be transmitted using this message object.
276 
*                    This parameter can be one of the following values:
277 
*                          - CAN_STD_ID (standard ID, 11-bit)
278 
*                          - CAN_EXT_ID (extended ID, 29-bit)
279 
*                  - idLow: specifies the low part of the identifier range used
280 
*                    for acceptance filtering.
281 
*                  - idHigh: specifies the high part of the identifier range
282 
*                    used for acceptance filtering.
283 
*                  - singleOrFifoLast: specifies the end-of-buffer indicator.
284 
*                    This parameter can be one of the following values:
285 
*                          - TRUE: for a single receive object or a FIFO receive
286 
*                            object that is the last one of the FIFO.
287 
*                          - FALSE: for a FIFO receive object that is not the
288 
*                            last one.
289 
* Output         : None
290 
* Return         : An ErrorStatus enumuration value:
291 
*                         - SUCCESS: Interface to treat the message
292 
*                         - ERROR: No interface to treat the message
293 
*******************************************************************************/
294 
ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast)
295 
{
296 
  u32 msg_if=0;
297 
 
298 
  if ((msg_if = GetFreeIF()) == 2)
299 
  {
300 
    return ERROR;
301 
  }
302 
 
303 
  CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
304 
                           | CAN_CMR_MASK
305 
                           | CAN_CMR_ARB
306 
                           | CAN_CMR_CONTROL
307 
                           | CAN_CMR_DATAA
308 
                           | CAN_CMR_DATAB;
309 
 
310 
  if (idType == CAN_STD_ID)
311 
  {
312 
    CAN->sMsgObj[msg_if].M1R = 0;
313 
    CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh);
314 
 
315 
    CAN->sMsgObj[msg_if].A1R = 0;
316 
    CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh);
317 
  }
318 
  else
319 
  {
320 
    CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh);
321 
    CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh);
322 
 
323 
    CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh);
324 
    CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh);
325 
  }
326 
 
327 
  CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0);
328 
 
329 
  CAN->sMsgObj[msg_if].DA1R = 0;
330 
  CAN->sMsgObj[msg_if].DA2R = 0;
331 
  CAN->sMsgObj[msg_if].DB1R = 0;
332 
  CAN->sMsgObj[msg_if].DB2R = 0;
333 
 
334 
  CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
335 
 
336 
  return SUCCESS;
337 
}
338 
 
339 
/*******************************************************************************
340 
* Function Name  : CAN_InvalidateAllMsgObj
341 
* Description    : Configures all the message objects as unused.
342 
* Input          : None
343 
* Output         : None
344 
* Return         : None
345 
*******************************************************************************/
346 
void CAN_InvalidateAllMsgObj(void)
347 
{
348 
  u32 i=0;
349 
  for (i = 0; i < 32; i++)
350 
    CAN_SetUnusedMsgObj(i);
351 
}
352 
 
353 
 
354 
/*******************************************************************************
355 
* Function Name  : CAN_ReleaseMessage
356 
* Description    : Releases the message object
357 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
358 
* Output         : None
359 
* Return         : An ErrorStatus enumuration value:
360 
*                         - SUCCESS: Interface to treat the message
361 
*                         - ERROR: No interface to treat the message
362 
*******************************************************************************/
363 
ErrorStatus CAN_ReleaseMessage(u32 msgobj)
364 
{
365 
  u32 msg_if=0;
366 
 
367 
  if ((msg_if = GetFreeIF()) == 2)
368 
  {
369 
    return ERROR;
370 
  }
371 
 
372 
  CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
373 
  CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
374 
 
375 
  return SUCCESS;
376 
}
377 
 
378 
/*******************************************************************************
379 
* Function Name  : CAN_SendMessage
380 
* Description    : Start transmission of a message
381 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
382 
*                : - pCanMsg: pointer to the message structure containing data
383 
*                    to transmit.
384 
* Output         : None
385 
* Return         : An ErrorStatus enumuration value:
386 
*                         - SUCCESS: Transmission OK
387 
*                         - ERROR: No transmission
388 
*******************************************************************************/
389 
ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg)
390 
{
391 
  if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
392 
  {
393 
    return ERROR;
394 
  }
395 
 
396 
  CAN->SR &= ~CAN_SR_TXOK;
397 
 
398 
  /* read the Arbitration and Message Control*/
399 
  CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL;
400 
 
401 
  CAN->sMsgObj[0].CRR = 1 + msgobj;
402 
 
403 
  if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
404 
  {
405 
    return ERROR;
406 
  }
407 
 
408 
  /* update the contents needed for transmission*/
409 
  CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
410 
                      | CAN_CMR_ARB
411 
                      | CAN_CMR_CONTROL
412 
                      | CAN_CMR_DATAA
413 
                      | CAN_CMR_DATAB;
414 
 
415 
  if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0)
416 
  {
417 
    /* standard ID*/
418 
    CAN->sMsgObj[0].A1R = 0;
419 
    CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
420 
  }
421 
  else
422 
  {
423 
    /* extended ID*/
424 
    CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
425 
    CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
426 
  }
427 
 
428 
  CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc;
429 
 
430 
  CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
431 
  CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
432 
  CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
433 
  CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
434 
 
435 
  CAN->sMsgObj[0].CRR = 1 + msgobj;
436 
 
437 
  return SUCCESS;
438 
}
439 
 
440 
/*******************************************************************************
441 
* Function Name  : CAN_ReceiveMessage
442 
* Description    : Gets the message, if received.
443 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
444 
*                  - release: specifies the message release indicator.
445 
*                    This parameter can be one of the following values:
446 
*                          - TRUE: the message object is released when getting
447 
*                            the data.
448 
*                          - FALSE: the message object is not released.
449 
*                  - pCanMsg: pointer to the message structure where received
450 
*                    data is copied.
451 
* Output         : None
452 
* Return         : An ErrorStatus enumuration value:
453 
*                         - SUCCESS: Reception OK
454 
*                         - ERROR: No message pending
455 
*******************************************************************************/
456 
ErrorStatus CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg)
457 
{
458 
  if (!CAN_IsMessageWaiting(msgobj))
459 
  {
460 
    return ERROR;
461 
  }
462 
 
463 
  CAN->SR &= ~CAN_SR_RXOK;
464 
 
465 
  /* read the message contents*/
466 
  CAN->sMsgObj[1].CMR = CAN_CMR_MASK
467 
                      | CAN_CMR_ARB
468 
                      | CAN_CMR_CONTROL
469 
                      | CAN_CMR_CLRINTPND
470 
                      | (release ? CAN_CMR_TXRQSTNEWDAT : 0)
471 
                      | CAN_CMR_DATAA
472 
                      | CAN_CMR_DATAB;
473 
 
474 
  CAN->sMsgObj[1].CRR = 1 + msgobj;
475 
 
476 
  if (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY)
477 
  {
478 
    return ERROR;
479 
  }
480 
 
481 
  if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
482 
  {
483 
    /* standard ID*/
484 
    pCanMsg->IdType = CAN_STD_ID;
485 
    pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
486 
  }
487 
  else
488 
  {
489 
    /* extended ID*/
490 
    pCanMsg->IdType = CAN_EXT_ID;
491 
    pCanMsg->Id  = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
492 
    pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
493 
    pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
494 
  }
495 
 
496 
  pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
497 
 
498 
  pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
499 
  pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
500 
  pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
501 
  pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
502 
  pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
503 
  pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
504 
  pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
505 
  pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
506 
 
507 
  return SUCCESS;
508 
}
509 
 
510 
/*******************************************************************************
511 
* Function Name  : CAN_WaitEndOfTx
512 
* Description    : Waits until current transmission is finished.
513 
* Input          : None
514 
* Output         : None
515 
* Return         : An ErrorStatus enumuration value:
516 
*                         - SUCCESS: Transmission ended
517 
*                         - ERROR: Transmission did not occur yet
518 
*******************************************************************************/
519 
ErrorStatus CAN_WaitEndOfTx(void)
520 
{
521 
  if ((CAN->SR & CAN_SR_TXOK) == 0)
522 
  {
523 
    return ERROR;
524 
  }
525 
  CAN->SR &= ~CAN_SR_TXOK;
526 
 
527 
  return SUCCESS;
528 
}
529 
 
530 
/*******************************************************************************
531 
* Function Name  : CAN_BasicSendMessage
532 
* Description    : Starts transmission of a message in BASIC mode. This mode
533 
*                  does not use the message RAM.
534 
* Input          : pCanMsg: Pointer to the message structure containing data to
535 
*                  transmit.
536 
* Output         : None
537 
* Return         : An ErrorStatus enumuration value:
538 
*                         - SUCCESS: Transmission OK
539 
*                         - ERROR: No transmission
540 
*******************************************************************************/
541 
ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg)
542 
{
543 
  /* clear NewDat bit in IF2 to detect next reception*/
544 
  CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT;
545 
 
546 
  CAN->SR &= ~CAN_SR_TXOK;
547 
  CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
548 
                      | CAN_CMR_ARB
549 
                      | CAN_CMR_CONTROL
550 
                      | CAN_CMR_DATAA
551 
                      | CAN_CMR_DATAB;
552 
 
553 
  if (pCanMsg->IdType == CAN_STD_ID)
554 
  {
555 
    /* standard ID*/
556 
    CAN->sMsgObj[0].A1R = 0;
557 
    CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
558 
  }
559 
  else
560 
  {
561 
    /* extended ID*/
562 
    CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
563 
    CAN->sMsgObj[0].A2R = ((CAN->sMsgObj[0].A2R) & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
564 
  }
565 
 
566 
  CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc;
567 
 
568 
  CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
569 
  CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
570 
  CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
571 
  CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
572 
 
573 
  /* request transmission*/
574 
  if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY )
575 
  {
576 
    return ERROR;
577 
  }
578 
 
579 
  return SUCCESS;
580 
}
581 
 
582 
/*******************************************************************************
583 
* Function Name  : CAN_BasicReceiveMessage
584 
* Description    : Gets the message in BASIC mode, if received. This mode does
585 
*                  not use the message RAM.
586 
* Input          : pCanMsg: pointer to the message structure where message is copied.
587 
* Output         : None
588 
* Return         : An ErrorStatus enumuration value:
589 
*                         - SUCCESS: Reception OK
590 
*                         - ERROR: No message pending
591 
*******************************************************************************/
592 
ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg)
593 
{
594 
  if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0)
595 
  {
596 
    return ERROR;
597 
  }
598 
 
599 
  CAN->SR &= ~CAN_SR_RXOK;
600 
 
601 
  CAN->sMsgObj[1].CMR = CAN_CMR_ARB
602 
                      | CAN_CMR_CONTROL
603 
                      | CAN_CMR_DATAA
604 
                      | CAN_CMR_DATAB;
605 
 
606 
  if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
607 
  {
608 
    /* standard ID*/
609 
    pCanMsg->IdType = CAN_STD_ID;
610 
    pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
611 
  }
612 
  else
613 
  {
614 
    /* extended ID*/
615 
    pCanMsg->IdType = CAN_EXT_ID;
616 
    pCanMsg->Id  = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
617 
    pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
618 
    pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
619 
  }
620 
 
621 
  pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
622 
 
623 
  pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
624 
  pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
625 
  pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
626 
  pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
627 
  pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
628 
  pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
629 
  pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
630 
  pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
631 
 
632 
  return SUCCESS;
633 
}
634 
 
635 
/*******************************************************************************
636 
* Function Name  : CAN_EnterInitMode
637 
* Description    : Switchs the CAN into initialization mode. This function must
638 
*                  be used in conjunction with CAN_LeaveInitMode().
639 
* Input          : InitMask: specifies the CAN configuration in normal mode.
640 
* Output         : None
641 
* Return         : None
642 
*******************************************************************************/
643 
void CAN_EnterInitMode(u8 InitMask)
644 
{
645 
  CAN->CR = InitMask | CAN_CR_INIT;
646 
  CAN->SR = 0;                                   /* reset the status*/
647 
}
648 
 
649 
/*******************************************************************************
650 
* Function Name  : CAN_LeaveInitMode
651 
* Description    : Leaves the initialization mode (switch into normal mode).
652 
*                  This function must be used in conjunction with CAN_EnterInitMode().
653 
* Input          : None
654 
* Output         : None
655 
* Return         : None
656 
*******************************************************************************/
657 
void CAN_LeaveInitMode(void)
658 
{
659 
  CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE);
660 
}
661 
 
662 
/*******************************************************************************
663 
* Function Name  : CAN_EnterTestMode
664 
* Description    : Switchs the CAN into test mode. This function must be used in
665 
*                  conjunction with CAN_LeaveTestMode().
666 
* Input          : TestMask: specifies the configuration in test modes.
667 
* Output         : None
668 
* Return         : None
669 
*******************************************************************************/
670 
void CAN_EnterTestMode(u8 TestMask)
671 
{
672 
  CAN->CR |= CAN_CR_TEST;
673 
  CAN->TESTR |= TestMask;
674 
}
675 
 
676 
/*******************************************************************************
677 
* Function Name  : CAN_LeaveTestMode
678 
* Description    : Leaves the current test mode (switch into normal mode).
679 
*                  This function must be used in conjunction with CAN_EnterTestMode().
680 
* Input          : None
681 
* Output         : None
682 
* Return         : None
683 
*******************************************************************************/
684 
void CAN_LeaveTestMode(void)
685 
{
686 
  CAN->CR |= CAN_CR_TEST;
687 
  CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC);
688 
  CAN->CR &= ~CAN_CR_TEST;
689 
}
690 
 
691 
/*******************************************************************************
692 
* Function Name  : CAN_ReleaseTxMessage
693 
* Description    : Releases the transmit message object.
694 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
695 
* Output         : None
696 
* Return         : None
697 
*******************************************************************************/
698 
void CAN_ReleaseTxMessage(u32 msgobj)
699 
{
700 
  CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
701 
  CAN->sMsgObj[0].CRR = 1 + msgobj;
702 
}
703 
 
704 
/*******************************************************************************
705 
* Function Name  : CAN_ReleaseRxMessage
706 
* Description    : Releases the receive message object.
707 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
708 
* Output         : None
709 
* Return         : None
710 
*******************************************************************************/
711 
void CAN_ReleaseRxMessage(u32 msgobj)
712 
{
713 
  CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
714 
  CAN->sMsgObj[1].CRR = 1 + msgobj;
715 
}
716 
 
717 
/*******************************************************************************
718 
* Function Name  : CAN_IsMessageWaiting
719 
* Description    : Tests the waiting status of a received message.
720 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
721 
* Output         : None
722 
* Return         : A non-zero value if the corresponding message object has
723 
*                  received a message waiting to be copied, else 0.
724 
*******************************************************************************/
725 
u32 CAN_IsMessageWaiting(u32 msgobj)
726 
{
727 
  return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16)));
728 
}
729 
 
730 
/*******************************************************************************
731 
* Function Name  : CAN_IsTransmitRequested
732 
* Description    : Tests the request status of a transmitted message.
733 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
734 
* Output         : None
735 
* Return         : A non-zero value if the corresponding message is requested
736 
*                  to transmit, else 0.
737 
*******************************************************************************/
738 
u32 CAN_IsTransmitRequested(u32 msgobj)
739 
{
740 
  return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16)));
741 
}
742 
 
743 
/*******************************************************************************
744 
* Function Name  : CAN_IsInterruptPending
745 
* Description    : Tests the interrupt status of a message object.
746 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
747 
* Output         : None
748 
* Return         : A non-zero value if the corresponding message has an
749 
*                  interrupt pending, else 0.
750 
*******************************************************************************/
751 
u32 CAN_IsInterruptPending(u32 msgobj)
752 
{
753 
  return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16)));
754 
}
755 
 
756 
/*******************************************************************************
757 
* Function Name  : CAN_IsObjectValid
758 
* Description    : Tests the validity of a message object (ready to use).
759 
* Input          : - msgobj: specifies the Message object number, from 0 to 31.
760 
* Output         : None
761 
* Return         : A non-zero value if the corresponding message object is
762 
*                  valid, else 0.
763 
*******************************************************************************/
764 
u32 CAN_IsObjectValid(u32 msgobj)
765 
{
766 
  return (msgobj < 16 ? CAN->MV1R & (1 << msgobj) : CAN->MV2R & (1 << (msgobj-16)));
767 
}
768 
/******************* (C) COPYRIGHT 2006 STMicroelectronics *****END OF FILE****/

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