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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [CORTEX_STM32F103_GCC_Rowley/] [ST Library/] [src/] [stm32f10x_can.c] - Blame information for rev 582

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1 582 jeremybenn 
/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
2 
* File Name          : stm32f10x_can.c
3 
* Author             : MCD Application Team
4 
* Version            : V2.0.1
5 
* Date               : 06/13/2008
6 
* Description        : This file provides all the CAN firmware functions.
7 
********************************************************************************
8 
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
9 
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
10 
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
11 
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
12 
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
13 
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
14 
*******************************************************************************/
15 
 
16 
/* Includes ------------------------------------------------------------------*/
17 
#include "stm32f10x_can.h"
18 
#include "stm32f10x_rcc.h"
19 
 
20 
/* Private typedef -----------------------------------------------------------*/
21 
 
22 
/* Private define ------------------------------------------------------------*/
23 
/* CAN Master Control Register bits */
24 
#define CAN_MCR_INRQ     ((u32)0x00000001) /* Initialization request */
25 
#define CAN_MCR_SLEEP    ((u32)0x00000002) /* Sleep mode request */
26 
#define CAN_MCR_TXFP     ((u32)0x00000004) /* Transmit FIFO priority */
27 
#define CAN_MCR_RFLM     ((u32)0x00000008) /* Receive FIFO locked mode */
28 
#define CAN_MCR_NART     ((u32)0x00000010) /* No automatic retransmission */
29 
#define CAN_MCR_AWUM     ((u32)0x00000020) /* Automatic wake up mode */
30 
#define CAN_MCR_ABOM     ((u32)0x00000040) /* Automatic bus-off management */
31 
#define CAN_MCR_TTCM     ((u32)0x00000080) /* time triggered communication */
32 
 
33 
/* CAN Master Status Register bits */
34 
#define CAN_MSR_INAK     ((u32)0x00000001)    /* Initialization acknowledge */
35 
#define CAN_MSR_WKUI     ((u32)0x00000008)    /* Wake-up interrupt */
36 
#define CAN_MSR_SLAKI    ((u32)0x00000010)    /* Sleep acknowledge interrupt */
37 
 
38 
/* CAN Transmit Status Register bits */
39 
#define CAN_TSR_RQCP0    ((u32)0x00000001)    /* Request completed mailbox0 */
40 
#define CAN_TSR_TXOK0    ((u32)0x00000002)    /* Transmission OK of mailbox0 */
41 
#define CAN_TSR_ABRQ0    ((u32)0x00000080)    /* Abort request for mailbox0 */
42 
#define CAN_TSR_RQCP1    ((u32)0x00000100)    /* Request completed mailbox1 */
43 
#define CAN_TSR_TXOK1    ((u32)0x00000200)    /* Transmission OK of mailbox1 */
44 
#define CAN_TSR_ABRQ1    ((u32)0x00008000)    /* Abort request for mailbox1 */
45 
#define CAN_TSR_RQCP2    ((u32)0x00010000)    /* Request completed mailbox2 */
46 
#define CAN_TSR_TXOK2    ((u32)0x00020000)    /* Transmission OK of mailbox2 */
47 
#define CAN_TSR_ABRQ2    ((u32)0x00800000)    /* Abort request for mailbox2 */
48 
#define CAN_TSR_TME0     ((u32)0x04000000)    /* Transmit mailbox 0 empty */
49 
#define CAN_TSR_TME1     ((u32)0x08000000)    /* Transmit mailbox 1 empty */
50 
#define CAN_TSR_TME2     ((u32)0x10000000)    /* Transmit mailbox 2 empty */
51 
 
52 
/* CAN Receive FIFO 0 Register bits */
53 
#define CAN_RF0R_FULL0   ((u32)0x00000008)    /* FIFO 0 full */
54 
#define CAN_RF0R_FOVR0   ((u32)0x00000010)    /* FIFO 0 overrun */
55 
#define CAN_RF0R_RFOM0   ((u32)0x00000020)    /* Release FIFO 0 output mailbox */
56 
 
57 
/* CAN Receive FIFO 1 Register bits */
58 
#define CAN_RF1R_FULL1   ((u32)0x00000008)    /* FIFO 1 full */
59 
#define CAN_RF1R_FOVR1   ((u32)0x00000010)    /* FIFO 1 overrun */
60 
#define CAN_RF1R_RFOM1   ((u32)0x00000020)    /* Release FIFO 1 output mailbox */
61 
 
62 
/* CAN Error Status Register bits */
63 
#define CAN_ESR_EWGF     ((u32)0x00000001)    /* Error warning flag */
64 
#define CAN_ESR_EPVF     ((u32)0x00000002)    /* Error passive flag */
65 
#define CAN_ESR_BOFF     ((u32)0x00000004)    /* Bus-off flag */
66 
 
67 
/* CAN Mailbox Transmit Request */
68 
#define CAN_TMIDxR_TXRQ    ((u32)0x00000001) /* Transmit mailbox request */
69 
 
70 
/* CAN Filter Master Register bits */
71 
#define CAN_FMR_FINIT ((u32)0x00000001) /* Filter init mode */
72 
 
73 
 
74 
/* Private macro -------------------------------------------------------------*/
75 
/* Private variables ---------------------------------------------------------*/
76 
/* Private function prototypes -----------------------------------------------*/
77 
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit);
78 
 
79 
/* Private functions ---------------------------------------------------------*/
80 
/*******************************************************************************
81 
* Function Name  : CAN_DeInit
82 
* Description    : Deinitializes the CAN peripheral registers to their default
83 
*                  reset values.
84 
* Input          : None.
85 
* Output         : None.
86 
* Return         : None.
87 
*******************************************************************************/
88 
void CAN_DeInit(void)
89 
{
90 
  /* Enable CAN reset state */
91 
  RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE);
92 
  /* Release CAN from reset state */
93 
  RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, DISABLE);
94 
}
95 
 
96 
/*******************************************************************************
97 
* Function Name  : CAN_Init
98 
* Description    : Initializes the CAN peripheral according to the specified
99 
*                  parameters in the CAN_InitStruct.
100 
* Input          : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
101 
                   contains the configuration information for the CAN peripheral.
102 
* Output         : None.
103 
* Return         : Constant indicates initialization succeed which will be
104 
*                  CANINITFAILED or CANINITOK.
105 
*******************************************************************************/
106 
u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
107 
{
108 
  u8 InitStatus = 0;
109 
  u16 WaitAck;
110 
 
111 
  /* Check the parameters */
112 
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
113 
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
114 
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
115 
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
116 
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
117 
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
118 
  assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
119 
  assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
120 
  assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
121 
  assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
122 
  assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
123 
 
124 
  /* Request initialisation */
125 
  CAN->MCR = CAN_MCR_INRQ;
126 
 
127 
  /* ...and check acknowledged */
128 
  if ((CAN->MSR & CAN_MSR_INAK) == 0)
129 
  {
130 
    InitStatus = CANINITFAILED;
131 
  }
132 
  else
133 
  {
134 
    /* Set the time triggered communication mode */
135 
    if (CAN_InitStruct->CAN_TTCM == ENABLE)
136 
    {
137 
      CAN->MCR |= CAN_MCR_TTCM;
138 
    }
139 
    else
140 
    {
141 
      CAN->MCR &= ~CAN_MCR_TTCM;
142 
    }
143 
 
144 
    /* Set the automatic bus-off management */
145 
    if (CAN_InitStruct->CAN_ABOM == ENABLE)
146 
    {
147 
      CAN->MCR |= CAN_MCR_ABOM;
148 
    }
149 
    else
150 
    {
151 
      CAN->MCR &= ~CAN_MCR_ABOM;
152 
    }
153 
 
154 
    /* Set the automatic wake-up mode */
155 
    if (CAN_InitStruct->CAN_AWUM == ENABLE)
156 
    {
157 
      CAN->MCR |= CAN_MCR_AWUM;
158 
    }
159 
    else
160 
    {
161 
      CAN->MCR &= ~CAN_MCR_AWUM;
162 
    }
163 
 
164 
    /* Set the no automatic retransmission */
165 
    if (CAN_InitStruct->CAN_NART == ENABLE)
166 
    {
167 
      CAN->MCR |= CAN_MCR_NART;
168 
    }
169 
    else
170 
    {
171 
      CAN->MCR &= ~CAN_MCR_NART;
172 
    }
173 
 
174 
    /* Set the receive FIFO locked mode */
175 
    if (CAN_InitStruct->CAN_RFLM == ENABLE)
176 
    {
177 
      CAN->MCR |= CAN_MCR_RFLM;
178 
    }
179 
    else
180 
    {
181 
      CAN->MCR &= ~CAN_MCR_RFLM;
182 
    }
183 
 
184 
    /* Set the transmit FIFO priority */
185 
    if (CAN_InitStruct->CAN_TXFP == ENABLE)
186 
    {
187 
      CAN->MCR |= CAN_MCR_TXFP;
188 
    }
189 
    else
190 
    {
191 
      CAN->MCR &= ~CAN_MCR_TXFP;
192 
    }
193 
 
194 
    /* Set the bit timing register */
195 
    CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
196 
               ((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
197 
               ((u32)CAN_InitStruct->CAN_Prescaler - 1);
198 
 
199 
    InitStatus = CANINITOK;
200 
 
201 
    /* Request leave initialisation */
202 
    CAN->MCR &= ~CAN_MCR_INRQ;
203 
 
204 
    /* Wait the acknowledge */
205 
    for(WaitAck = 0x400; WaitAck > 0x0; WaitAck--)
206 
    {
207 
    }
208 
 
209 
    /* ...and check acknowledged */
210 
    if ((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
211 
    {
212 
      InitStatus = CANINITFAILED;
213 
    }
214 
  }
215 
 
216 
  /* At this step, return the status of initialization */
217 
  return InitStatus;
218 
}
219 
 
220 
/*******************************************************************************
221 
* Function Name  : CAN_FilterInit
222 
* Description    : Initializes the CAN peripheral according to the specified
223 
*                  parameters in the CAN_FilterInitStruct.
224 
* Input          : CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
225 
*                  structure that contains the configuration information.
226 
* Output         : None.
227 
* Return         : None.
228 
*******************************************************************************/
229 
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
230 
{
231 
  u16 FilterNumber_BitPos = 0;
232 
 
233 
  /* Check the parameters */
234 
  assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
235 
  assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
236 
  assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
237 
  assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
238 
  assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
239 
 
240 
  FilterNumber_BitPos =
241 
  (u16)((u16)0x0001 << ((u16)CAN_FilterInitStruct->CAN_FilterNumber));
242 
 
243 
  /* Initialisation mode for the filter */
244 
  CAN->FMR |= CAN_FMR_FINIT;
245 
 
246 
  /* Filter Deactivation */
247 
  CAN->FA1R &= ~(u32)FilterNumber_BitPos;
248 
 
249 
  /* Filter Scale */
250 
  if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
251 
  {
252 
    /* 16-bit scale for the filter */
253 
    CAN->FS1R &= ~(u32)FilterNumber_BitPos;
254 
 
255 
    /* First 16-bit identifier and First 16-bit mask */
256 
    /* Or First 16-bit identifier and Second 16-bit identifier */
257 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
258 
    ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
259 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
260 
 
261 
    /* Second 16-bit identifier and Second 16-bit mask */
262 
    /* Or Third 16-bit identifier and Fourth 16-bit identifier */
263 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
264 
    ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
265 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
266 
  }
267 
  if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
268 
  {
269 
    /* 32-bit scale for the filter */
270 
    CAN->FS1R |= FilterNumber_BitPos;
271 
 
272 
    /* 32-bit identifier or First 32-bit identifier */
273 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
274 
    ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
275 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
276 
 
277 
    /* 32-bit mask or Second 32-bit identifier */
278 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
279 
    ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
280 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
281 
 
282 
  }
283 
 
284 
  /* Filter Mode */
285 
  if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
286 
  {
287 
    /*Id/Mask mode for the filter*/
288 
    CAN->FM1R &= ~(u32)FilterNumber_BitPos;
289 
  }
290 
  else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
291 
  {
292 
    /*Identifier list mode for the filter*/
293 
    CAN->FM1R |= (u32)FilterNumber_BitPos;
294 
  }
295 
 
296 
  /* Filter FIFO assignment */
297 
  if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
298 
  {
299 
    /* FIFO 0 assignation for the filter */
300 
    CAN->FFA1R &= ~(u32)FilterNumber_BitPos;
301 
  }
302 
  if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
303 
  {
304 
    /* FIFO 1 assignation for the filter */
305 
    CAN->FFA1R |= (u32)FilterNumber_BitPos;
306 
  }
307 
 
308 
  /* Filter activation */
309 
  if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
310 
  {
311 
    CAN->FA1R |= FilterNumber_BitPos;
312 
  }
313 
 
314 
  /* Leave the initialisation mode for the filter */
315 
  CAN->FMR &= ~CAN_FMR_FINIT;
316 
}
317 
 
318 
/*******************************************************************************
319 
* Function Name  : CAN_StructInit
320 
* Description    : Fills each CAN_InitStruct member with its default value.
321 
* Input          : CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
322 
*                  will be initialized.
323 
* Output         : None.
324 
* Return         : None.
325 
*******************************************************************************/
326 
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
327 
{
328 
  /* Reset CAN init structure parameters values */
329 
 
330 
  /* Initialize the time triggered communication mode */
331 
  CAN_InitStruct->CAN_TTCM = DISABLE;
332 
 
333 
  /* Initialize the automatic bus-off management */
334 
  CAN_InitStruct->CAN_ABOM = DISABLE;
335 
 
336 
  /* Initialize the automatic wake-up mode */
337 
  CAN_InitStruct->CAN_AWUM = DISABLE;
338 
 
339 
  /* Initialize the no automatic retransmission */
340 
  CAN_InitStruct->CAN_NART = DISABLE;
341 
 
342 
  /* Initialize the receive FIFO locked mode */
343 
  CAN_InitStruct->CAN_RFLM = DISABLE;
344 
 
345 
  /* Initialize the transmit FIFO priority */
346 
  CAN_InitStruct->CAN_TXFP = DISABLE;
347 
 
348 
  /* Initialize the CAN_Mode member */
349 
  CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
350 
 
351 
  /* Initialize the CAN_SJW member */
352 
  CAN_InitStruct->CAN_SJW = CAN_SJW_1tq;
353 
 
354 
  /* Initialize the CAN_BS1 member */
355 
  CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
356 
 
357 
  /* Initialize the CAN_BS2 member */
358 
  CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
359 
 
360 
  /* Initialize the CAN_Prescaler member */
361 
  CAN_InitStruct->CAN_Prescaler = 1;
362 
}
363 
 
364 
/*******************************************************************************
365 
* Function Name  : CAN_ITConfig
366 
* Description    : Enables or disables the specified CAN interrupts.
367 
* Input          : - CAN_IT: specifies the CAN interrupt sources to be enabled or
368 
*                    disabled.
369 
*                    This parameter can be: CAN_IT_TME, CAN_IT_FMP0, CAN_IT_FF0,
370 
*                                           CAN_IT_FOV0, CAN_IT_FMP1, CAN_IT_FF1,
371 
*                                           CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
372 
*                                           CAN_IT_LEC, CAN_IT_ERR, CAN_IT_WKU or
373 
*                                           CAN_IT_SLK.
374 
*                  - NewState: new state of the CAN interrupts.
375 
*                    This parameter can be: ENABLE or DISABLE.
376 
* Output         : None.
377 
* Return         : None.
378 
*******************************************************************************/
379 
void CAN_ITConfig(u32 CAN_IT, FunctionalState NewState)
380 
{
381 
  /* Check the parameters */
382 
  assert_param(IS_CAN_ITConfig(CAN_IT));
383 
  assert_param(IS_FUNCTIONAL_STATE(NewState));
384 
 
385 
  if (NewState != DISABLE)
386 
  {
387 
    /* Enable the selected CAN interrupt */
388 
    CAN->IER |= CAN_IT;
389 
  }
390 
  else
391 
  {
392 
    /* Disable the selected CAN interrupt */
393 
    CAN->IER &= ~CAN_IT;
394 
  }
395 
}
396 
 
397 
/*******************************************************************************
398 
* Function Name  : CAN_Transmit
399 
* Description    : Initiates the transmission of a message.
400 
* Input          : TxMessage: pointer to a structure which contains CAN Id, CAN
401 
*                  DLC and CAN datas.
402 
* Output         : None.
403 
* Return         : The number of the mailbox that is used for transmission
404 
*                  or CAN_NO_MB if there is no empty mailbox.
405 
*******************************************************************************/
406 
u8 CAN_Transmit(CanTxMsg* TxMessage)
407 
{
408 
  u8 TransmitMailbox = 0;
409 
 
410 
  /* Check the parameters */
411 
  assert_param(IS_CAN_STDID(TxMessage->StdId));
412 
  assert_param(IS_CAN_EXTID(TxMessage->StdId));
413 
  assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
414 
  assert_param(IS_CAN_RTR(TxMessage->RTR));
415 
  assert_param(IS_CAN_DLC(TxMessage->DLC));
416 
 
417 
  /* Select one empty transmit mailbox */
418 
  if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
419 
  {
420 
    TransmitMailbox = 0;
421 
  }
422 
  else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
423 
  {
424 
    TransmitMailbox = 1;
425 
  }
426 
  else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
427 
  {
428 
    TransmitMailbox = 2;
429 
  }
430 
  else
431 
  {
432 
    TransmitMailbox = CAN_NO_MB;
433 
  }
434 
 
435 
  if (TransmitMailbox != CAN_NO_MB)
436 
  {
437 
    /* Set up the Id */
438 
    CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ;
439 
    if (TxMessage->IDE == CAN_ID_STD)
440 
    {
441 
      TxMessage->StdId &= (u32)0x000007FF;
442 
      TxMessage->StdId = TxMessage->StdId << 21;
443 
 
444 
      CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->IDE |
445 
                                               TxMessage->RTR);
446 
    }
447 
    else
448 
    {
449 
      TxMessage->ExtId &= (u32)0x1FFFFFFF;
450 
      TxMessage->ExtId <<= 3;
451 
 
452 
      CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->ExtId | TxMessage->IDE |
453 
                                               TxMessage->RTR);
454 
    }
455 
 
456 
    /* Set up the DLC */
457 
    TxMessage->DLC &= (u8)0x0000000F;
458 
    CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
459 
    CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;
460 
 
461 
    /* Set up the data field */
462 
    CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) |
463 
                                             ((u32)TxMessage->Data[2] << 16) |
464 
                                             ((u32)TxMessage->Data[1] << 8) |
465 
                                             ((u32)TxMessage->Data[0]));
466 
    CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) |
467 
                                             ((u32)TxMessage->Data[6] << 16) |
468 
                                             ((u32)TxMessage->Data[5] << 8) |
469 
                                             ((u32)TxMessage->Data[4]));
470 
 
471 
    /* Request transmission */
472 
    CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
473 
  }
474 
 
475 
  return TransmitMailbox;
476 
}
477 
 
478 
/*******************************************************************************
479 
* Function Name  : CAN_TransmitStatus
480 
* Description    : Checks the transmission of a message.
481 
* Input          : TransmitMailbox: the number of the mailbox that is used for
482 
*                  transmission.
483 
* Output         : None.
484 
* Return         : CANTXOK if the CAN driver transmits the message, CANTXFAILED
485 
*                  in an other case.
486 
*******************************************************************************/
487 
u8 CAN_TransmitStatus(u8 TransmitMailbox)
488 
{
489 
  /* RQCP, TXOK and TME bits */
490 
  u8 State = 0;
491 
 
492 
  /* Check the parameters */
493 
  assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
494 
 
495 
  switch (TransmitMailbox)
496 
  {
497 
    case (0): State |= (u8)((CAN->TSR & CAN_TSR_RQCP0) << 2);
498 
      State |= (u8)((CAN->TSR & CAN_TSR_TXOK0) >> 0);
499 
      State |= (u8)((CAN->TSR & CAN_TSR_TME0) >> 26);
500 
      break;
501 
    case (1): State |= (u8)((CAN->TSR & CAN_TSR_RQCP1) >> 6);
502 
      State |= (u8)((CAN->TSR & CAN_TSR_TXOK1) >> 8);
503 
      State |= (u8)((CAN->TSR & CAN_TSR_TME1) >> 27);
504 
      break;
505 
    case (2): State |= (u8)((CAN->TSR & CAN_TSR_RQCP2) >> 14);
506 
      State |= (u8)((CAN->TSR & CAN_TSR_TXOK2) >> 16);
507 
      State |= (u8)((CAN->TSR & CAN_TSR_TME2) >> 28);
508 
      break;
509 
    default:
510 
      State = CANTXFAILED;
511 
      break;
512 
  }
513 
 
514 
  switch (State)
515 
  {
516 
      /* transmit pending  */
517 
    case (0x0): State = CANTXPENDING;
518 
      break;
519 
      /* transmit failed  */
520 
    case (0x5): State = CANTXFAILED;
521 
      break;
522 
      /* transmit succedeed  */
523 
    case (0x7): State = CANTXOK;
524 
      break;
525 
    default:
526 
      State = CANTXFAILED;
527 
      break;
528 
  }
529 
 
530 
  return State;
531 
}
532 
 
533 
/*******************************************************************************
534 
* Function Name  : CAN_CancelTransmit
535 
* Description    : Cancels a transmit request.
536 
* Input          : Mailbox number.
537 
* Output         : None.
538 
* Return         : None.
539 
*******************************************************************************/
540 
void CAN_CancelTransmit(u8 Mailbox)
541 
{
542 
  /* Check the parameters */
543 
  assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox));
544 
 
545 
  /* abort transmission */
546 
  switch (Mailbox)
547 
  {
548 
    case (0): CAN->TSR |= CAN_TSR_ABRQ0;
549 
      break;
550 
    case (1): CAN->TSR |= CAN_TSR_ABRQ1;
551 
      break;
552 
    case (2): CAN->TSR |= CAN_TSR_ABRQ2;
553 
      break;
554 
    default:
555 
      break;
556 
  }
557 
}
558 
 
559 
/*******************************************************************************
560 
* Function Name  : CAN_FIFORelease
561 
* Description    : Releases a FIFO.
562 
* Input          : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
563 
* Output         : None.
564 
* Return         : None.
565 
*******************************************************************************/
566 
void CAN_FIFORelease(u8 FIFONumber)
567 
{
568 
  /* Check the parameters */
569 
  assert_param(IS_CAN_FIFO(FIFONumber));
570 
 
571 
  /* Release FIFO0 */
572 
  if (FIFONumber == CAN_FIFO0)
573 
  {
574 
    CAN->RF0R = CAN_RF0R_RFOM0;
575 
  }
576 
  /* Release FIFO1 */
577 
  else /* FIFONumber == CAN_FIFO1 */
578 
  {
579 
    CAN->RF1R = CAN_RF1R_RFOM1;
580 
  }
581 
}
582 
 
583 
/*******************************************************************************
584 
* Function Name  : CAN_MessagePending
585 
* Description    : Returns the number of pending messages.
586 
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
587 
* Output         : None.
588 
* Return         : NbMessage which is the number of pending message.
589 
*******************************************************************************/
590 
u8 CAN_MessagePending(u8 FIFONumber)
591 
{
592 
  u8 MessagePending=0;
593 
 
594 
  /* Check the parameters */
595 
  assert_param(IS_CAN_FIFO(FIFONumber));
596 
 
597 
  if (FIFONumber == CAN_FIFO0)
598 
  {
599 
    MessagePending = (u8)(CAN->RF0R&(u32)0x03);
600 
  }
601 
  else if (FIFONumber == CAN_FIFO1)
602 
  {
603 
    MessagePending = (u8)(CAN->RF1R&(u32)0x03);
604 
  }
605 
  else
606 
  {
607 
    MessagePending = 0;
608 
  }
609 
  return MessagePending;
610 
}
611 
 
612 
/*******************************************************************************
613 
* Function Name  : CAN_Receive
614 
* Description    : Receives a message.
615 
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
616 
* Output         : RxMessage: pointer to a structure which contains CAN Id,
617 
*                  CAN DLC, CAN datas and FMI number.
618 
* Return         : None.
619 
*******************************************************************************/
620 
void CAN_Receive(u8 FIFONumber, CanRxMsg* RxMessage)
621 
{
622 
  /* Check the parameters */
623 
  assert_param(IS_CAN_FIFO(FIFONumber));
624 
 
625 
  /* Get the Id */
626 
  RxMessage->IDE = (u8)0x04 & CAN->sFIFOMailBox[FIFONumber].RIR;
627 
  if (RxMessage->IDE == CAN_ID_STD)
628 
  {
629 
    RxMessage->StdId = (u32)0x000007FF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 21);
630 
  }
631 
  else
632 
  {
633 
    RxMessage->ExtId = (u32)0x1FFFFFFF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 3);
634 
  }
635 
 
636 
  RxMessage->RTR = (u8)0x02 & CAN->sFIFOMailBox[FIFONumber].RIR;
637 
 
638 
  /* Get the DLC */
639 
  RxMessage->DLC = (u8)0x0F & CAN->sFIFOMailBox[FIFONumber].RDTR;
640 
 
641 
  /* Get the FMI */
642 
  RxMessage->FMI = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDTR >> 8);
643 
 
644 
  /* Get the data field */
645 
  RxMessage->Data[0] = (u8)0xFF & CAN->sFIFOMailBox[FIFONumber].RDLR;
646 
  RxMessage->Data[1] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 8);
647 
  RxMessage->Data[2] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 16);
648 
  RxMessage->Data[3] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 24);
649 
 
650 
  RxMessage->Data[4] = (u8)0xFF & CAN->sFIFOMailBox[FIFONumber].RDHR;
651 
  RxMessage->Data[5] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 8);
652 
  RxMessage->Data[6] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 16);
653 
  RxMessage->Data[7] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 24);
654 
 
655 
  /* Release the FIFO */
656 
  CAN_FIFORelease(FIFONumber);
657 
}
658 
 
659 
/*******************************************************************************
660 
* Function Name  : CAN_Sleep
661 
* Description    : Enters the low power mode.
662 
* Input          : None.
663 
* Output         : None.
664 
* Return         : CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
665 
*******************************************************************************/
666 
u8 CAN_Sleep(void)
667 
{
668 
  u8 SleepStatus = 0;
669 
 
670 
  /* Sleep mode entering request */
671 
  CAN->MCR |= CAN_MCR_SLEEP;
672 
  SleepStatus = CANSLEEPOK;
673 
 
674 
  /* Sleep mode status */
675 
  if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
676 
  {
677 
    /* Sleep mode not entered */
678 
    SleepStatus = CANSLEEPFAILED;
679 
  }
680 
 
681 
  /* At this step, sleep mode status */
682 
  return SleepStatus;
683 
}
684 
 
685 
/*******************************************************************************
686 
* Function Name  : CAN_WakeUp
687 
* Description    : Wakes the CAN up.
688 
* Input          : None.
689 
* Output         : None.
690 
* Return         : CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other
691 
*                  case.
692 
*******************************************************************************/
693 
u8 CAN_WakeUp(void)
694 
{
695 
  u8 WakeUpStatus = 0;
696 
 
697 
  /* Wake up request */
698 
  CAN->MCR &= ~CAN_MCR_SLEEP;
699 
  WakeUpStatus = CANWAKEUPFAILED;
700 
 
701 
  /* Sleep mode status */
702 
  if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
703 
  {
704 
    /* Sleep mode exited */
705 
    WakeUpStatus = CANWAKEUPOK;
706 
  }
707 
 
708 
  /* At this step, sleep mode status */
709 
  return WakeUpStatus;
710 
}
711 
 
712 
/*******************************************************************************
713 
* Function Name  : CAN_GetFlagStatus
714 
* Description    : Checks whether the specified CAN flag is set or not.
715 
* Input          : CAN_FLAG: specifies the flag to check.
716 
*                  This parameter can be: CAN_FLAG_EWG, CAN_FLAG_EPV or
717 
*                                         CAN_FLAG_BOF.
718 
* Output         : None.
719 
* Return         : The new state of CAN_FLAG (SET or RESET).
720 
*******************************************************************************/
721 
FlagStatus CAN_GetFlagStatus(u32 CAN_FLAG)
722 
{
723 
  FlagStatus bitstatus = RESET;
724 
 
725 
  /* Check the parameters */
726 
  assert_param(IS_CAN_FLAG(CAN_FLAG));
727 
 
728 
  /* Check the status of the specified CAN flag */
729 
  if ((CAN->ESR & CAN_FLAG) != (u32)RESET)
730 
  {
731 
    /* CAN_FLAG is set */
732 
    bitstatus = SET;
733 
  }
734 
  else
735 
  {
736 
    /* CAN_FLAG is reset */
737 
    bitstatus = RESET;
738 
  }
739 
  /* Return the CAN_FLAG status */
740 
  return  bitstatus;
741 
}
742 
 
743 
/*******************************************************************************
744 
* Function Name  : CAN_ClearFlag
745 
* Description    : Clears the CAN's pending flags.
746 
* Input          : CAN_FLAG: specifies the flag to clear.
747 
* Output         : None.
748 
* Return         : None.
749 
*******************************************************************************/
750 
void CAN_ClearFlag(u32 CAN_FLAG)
751 
{
752 
  /* Check the parameters */
753 
  assert_param(IS_CAN_FLAG(CAN_FLAG));
754 
 
755 
  /* Clear the selected CAN flags */
756 
  CAN->ESR &= ~CAN_FLAG;
757 
}
758 
 
759 
/*******************************************************************************
760 
* Function Name  : CAN_GetITStatus
761 
* Description    : Checks whether the specified CAN interrupt has occurred or
762 
*                  not.
763 
* Input          : CAN_IT: specifies the CAN interrupt source to check.
764 
*                  This parameter can be: CAN_IT_RQCP0, CAN_IT_RQCP1, CAN_IT_RQCP2,
765 
*                                         CAN_IT_FF0, CAN_IT_FOV0, CAN_IT_FF1,
766 
*                                         CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
767 
*                                         CAN_IT_BOF, CAN_IT_WKU or CAN_IT_SLK.
768 
* Output         : None.
769 
* Return         : The new state of CAN_IT (SET or RESET).
770 
*******************************************************************************/
771 
ITStatus CAN_GetITStatus(u32 CAN_IT)
772 
{
773 
  ITStatus pendingbitstatus = RESET;
774 
 
775 
  /* Check the parameters */
776 
  assert_param(IS_CAN_ITStatus(CAN_IT));
777 
 
778 
  switch (CAN_IT)
779 
  {
780 
    case CAN_IT_RQCP0:
781 
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP0);
782 
      break;
783 
    case CAN_IT_RQCP1:
784 
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP1);
785 
      break;
786 
    case CAN_IT_RQCP2:
787 
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP2);
788 
      break;
789 
    case CAN_IT_FF0:
790 
      pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FULL0);
791 
      break;
792 
    case CAN_IT_FOV0:
793 
      pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FOVR0);
794 
      break;
795 
    case CAN_IT_FF1:
796 
      pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FULL1);
797 
      break;
798 
    case CAN_IT_FOV1:
799 
      pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FOVR1);
800 
      break;
801 
    case CAN_IT_EWG:
802 
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EWGF);
803 
      break;
804 
    case CAN_IT_EPV:
805 
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EPVF);
806 
      break;
807 
    case CAN_IT_BOF:
808 
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_BOFF);
809 
      break;
810 
    case CAN_IT_SLK:
811 
      pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_SLAKI);
812 
      break;
813 
    case CAN_IT_WKU:
814 
      pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_WKUI);
815 
      break;
816 
 
817 
    default :
818 
      pendingbitstatus = RESET;
819 
      break;
820 
  }
821 
 
822 
  /* Return the CAN_IT status */
823 
  return  pendingbitstatus;
824 
}
825 
 
826 
/*******************************************************************************
827 
* Function Name  : CAN_ClearITPendingBit
828 
* Description    : Clears the CAN’s interrupt pending bits.
829 
* Input          : CAN_IT: specifies the interrupt pending bit to clear.
830 
* Output         : None.
831 
* Return         : None.
832 
*******************************************************************************/
833 
void CAN_ClearITPendingBit(u32 CAN_IT)
834 
{
835 
  /* Check the parameters */
836 
  assert_param(IS_CAN_ITStatus(CAN_IT));
837 
 
838 
  switch (CAN_IT)
839 
  {
840 
    case CAN_IT_RQCP0:
841 
      CAN->TSR = CAN_TSR_RQCP0; /* rc_w1*/
842 
      break;
843 
    case CAN_IT_RQCP1:
844 
      CAN->TSR = CAN_TSR_RQCP1; /* rc_w1*/
845 
      break;
846 
    case CAN_IT_RQCP2:
847 
      CAN->TSR = CAN_TSR_RQCP2; /* rc_w1*/
848 
      break;
849 
    case CAN_IT_FF0:
850 
      CAN->RF0R = CAN_RF0R_FULL0; /* rc_w1*/
851 
      break;
852 
    case CAN_IT_FOV0:
853 
      CAN->RF0R = CAN_RF0R_FOVR0; /* rc_w1*/
854 
      break;
855 
    case CAN_IT_FF1:
856 
      CAN->RF1R = CAN_RF1R_FULL1; /* rc_w1*/
857 
      break;
858 
    case CAN_IT_FOV1:
859 
      CAN->RF1R = CAN_RF1R_FOVR1; /* rc_w1*/
860 
      break;
861 
    case CAN_IT_EWG:
862 
      CAN->ESR &= ~ CAN_ESR_EWGF; /* rw */
863 
      break;
864 
    case CAN_IT_EPV:
865 
      CAN->ESR &= ~ CAN_ESR_EPVF; /* rw */
866 
      break;
867 
    case CAN_IT_BOF:
868 
      CAN->ESR &= ~ CAN_ESR_BOFF; /* rw */
869 
      break;
870 
    case CAN_IT_WKU:
871 
      CAN->MSR = CAN_MSR_WKUI;  /* rc_w1*/
872 
      break;
873 
    case CAN_IT_SLK:
874 
      CAN->MSR = CAN_MSR_SLAKI;  /* rc_w1*/
875 
      break;
876 
    default :
877 
      break;
878 
  }
879 
}
880 
 
881 
/*******************************************************************************
882 
* Function Name  : CheckITStatus
883 
* Description    : Checks whether the CAN interrupt has occurred or not.
884 
* Input          : CAN_Reg: specifies the CAN interrupt register to check.
885 
*                  It_Bit: specifies the interrupt source bit to check.
886 
* Output         : None.
887 
* Return         : The new state of the CAN Interrupt (SET or RESET).
888 
*******************************************************************************/
889 
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit)
890 
{
891 
  ITStatus pendingbitstatus = RESET;
892 
 
893 
  if ((CAN_Reg & It_Bit) != (u32)RESET)
894 
  {
895 
    /* CAN_IT is set */
896 
    pendingbitstatus = SET;
897 
  }
898 
  else
899 
  {
900 
    /* CAN_IT is reset */
901 
    pendingbitstatus = RESET;
902 
  }
903 
 
904 
  return pendingbitstatus;
905 
}
906 
 
907 
/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/

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