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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [Common/] [drivers/] [ST/] [STM32F10xFWLib/] [src/] [stm32f10x_can.c] - Blame information for rev 608

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1 608 jeremybenn 
/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
2 
* File Name          : stm32f10x_can.c
3 
* Author             : MCD Application Team
4 
* Date First Issued  : 09/29/2006
5 
* Description        : This file provides all the CAN firmware functions.
6 
********************************************************************************
7 
* History:
8 
* 04/02/2007: V0.2
9 
* 02/05/2007: V0.1
10 
* 09/29/2006: V0.01
11 
********************************************************************************
12 
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
13 
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
14 
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
15 
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
16 
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
17 
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
18 
*******************************************************************************/
19 
 
20 
/* Includes ------------------------------------------------------------------*/
21 
#include "stm32f10x_can.h"
22 
#include "stm32f10x_rcc.h"
23 
 
24 
/* Private typedef -----------------------------------------------------------*/
25 
 
26 
/* Private define ------------------------------------------------------------*/
27 
/* CAN Master Control Register bits */
28 
#define CAN_MCR_INRQ     ((u32)0x00000001) /* Initialization request */
29 
#define CAN_MCR_SLEEP    ((u32)0x00000002) /* Sleep mode request */
30 
#define CAN_MCR_TXFP     ((u32)0x00000004) /* Transmit FIFO priority */
31 
#define CAN_MCR_RFLM     ((u32)0x00000008) /* Receive FIFO locked mode */
32 
#define CAN_MCR_NART     ((u32)0x00000010) /* No automatic retransmission */
33 
#define CAN_MCR_AWUM     ((u32)0x00000020) /* Automatic wake up mode */
34 
#define CAN_MCR_ABOM     ((u32)0x00000040) /* Automatic bus-off management */
35 
#define CAN_MCR_TTCM     ((u32)0x00000080) /* time triggered communication */
36 
 
37 
/* CAN Master Status Register bits */
38 
#define CAN_MSR_INAK     ((u32)0x00000001)    /* Initialization acknowledge */
39 
#define CAN_MSR_WKUI     ((u32)0x00000008)    /* Wake-up interrupt */
40 
#define CAN_MSR_SLAKI    ((u32)0x00000010)    /* Sleep acknowledge interrupt */
41 
 
42 
/* CAN Transmit Status Register bits */
43 
#define CAN_TSR_RQCP0    ((u32)0x00000001)    /* Request completed mailbox0 */
44 
#define CAN_TSR_TXOK0    ((u32)0x00000002)    /* Transmission OK of mailbox0 */
45 
#define CAN_TSR_ABRQ0    ((u32)0x00000080)    /* Abort request for mailbox0 */
46 
#define CAN_TSR_RQCP1    ((u32)0x00000100)    /* Request completed mailbox1 */
47 
#define CAN_TSR_TXOK1    ((u32)0x00000200)    /* Transmission OK of mailbox1 */
48 
#define CAN_TSR_ABRQ1    ((u32)0x00008000)    /* Abort request for mailbox1 */
49 
#define CAN_TSR_RQCP2    ((u32)0x00010000)    /* Request completed mailbox2 */
50 
#define CAN_TSR_TXOK2    ((u32)0x00020000)    /* Transmission OK of mailbox2 */
51 
#define CAN_TSR_ABRQ2    ((u32)0x00800000)    /* Abort request for mailbox2 */
52 
#define CAN_TSR_TME0     ((u32)0x04000000)    /* Transmit mailbox 0 empty */
53 
#define CAN_TSR_TME1     ((u32)0x08000000)    /* Transmit mailbox 1 empty */
54 
#define CAN_TSR_TME2     ((u32)0x10000000)    /* Transmit mailbox 2 empty */
55 
 
56 
/* CAN Receive FIFO 0 Register bits */
57 
#define CAN_RF0R_FULL0   ((u32)0x00000008)    /* FIFO 0 full */
58 
#define CAN_RF0R_FOVR0   ((u32)0x00000010)    /* FIFO 0 overrun */
59 
#define CAN_RF0R_RFOM0   ((u32)0x00000020)    /* Release FIFO 0 output mailbox */
60 
 
61 
/* CAN Receive FIFO 1 Register bits */
62 
#define CAN_RF1R_FULL1   ((u32)0x00000008)    /* FIFO 1 full */
63 
#define CAN_RF1R_FOVR1   ((u32)0x00000010)    /* FIFO 1 overrun */
64 
#define CAN_RF1R_RFOM1   ((u32)0x00000020)    /* Release FIFO 1 output mailbox */
65 
 
66 
/* CAN Error Status Register bits */
67 
#define CAN_ESR_EWGF     ((u32)0x00000001)    /* Error warning flag */
68 
#define CAN_ESR_EPVF     ((u32)0x00000002)    /* Error passive flag */
69 
#define CAN_ESR_BOFF     ((u32)0x00000004)    /* Bus-off flag */
70 
 
71 
/* CAN Mailbox Transmit Request */
72 
#define CAN_TMIDxR_TXRQ    ((u32)0x00000001) /* Transmit mailbox request */
73 
 
74 
/* CAN Filter Master Register bits */
75 
#define CAN_FMR_FINIT ((u32)0x00000001) /* Filter init mode */
76 
 
77 
 
78 
/* Private macro -------------------------------------------------------------*/
79 
/* Private variables ---------------------------------------------------------*/
80 
/* Private function prototypes -----------------------------------------------*/
81 
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit);
82 
 
83 
/* Private functions ---------------------------------------------------------*/
84 
/*******************************************************************************
85 
* Function Name  : CAN_DeInit
86 
* Description    : Deinitializes the CAN peripheral registers to their default
87 
*                  reset values.
88 
* Input          : None.
89 
* Output         : None.
90 
* Return         : None.
91 
*******************************************************************************/
92 
void CAN_DeInit(void)
93 
{
94 
  /* Enable CAN reset state */
95 
  RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE);
96 
  /* Release CAN from reset state */
97 
  RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, DISABLE);
98 
}
99 
 
100 
/*******************************************************************************
101 
* Function Name  : CAN_Init
102 
* Description    : Initializes the CAN peripheral according to the specified
103 
*                  parameters in the CAN_InitStruct.
104 
* Input          : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
105 
                   contains the configuration information for the CAN peripheral.
106 
* Output         : None.
107 
* Return         : Constant indicates initialization succeed which will be
108 
*                  CANINITFAILED or CANINITOK.
109 
*******************************************************************************/
110 
u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
111 
{
112 
  u8 InitStatus = 0;
113 
 
114 
  /* Check the parameters */
115 
  assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
116 
  assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
117 
  assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
118 
  assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
119 
  assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
120 
  assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
121 
  assert(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
122 
  assert(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
123 
  assert(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
124 
  assert(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
125 
  assert(IS_CAN_CLOCK(CAN_InitStruct->CAN_Clock));
126 
  assert(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
127 
 
128 
  /* Request initialisation */
129 
  CAN->MCR = CAN_MCR_INRQ;
130 
 
131 
  /* ...and check acknowledged */
132 
  if ((CAN->MSR & CAN_MSR_INAK) == 0)
133 
  {
134 
    InitStatus = CANINITFAILED;
135 
  }
136 
  else
137 
  {
138 
    /* Set the time triggered communication mode */
139 
    if (CAN_InitStruct->CAN_TTCM == ENABLE)
140 
    {
141 
      CAN->MCR |= CAN_MCR_TTCM;
142 
    }
143 
    else
144 
    {
145 
      CAN->MCR &= ~CAN_MCR_TTCM;
146 
    }
147 
 
148 
    /* Set the automatic bus-off management */
149 
    if (CAN_InitStruct->CAN_ABOM == ENABLE)
150 
    {
151 
      CAN->MCR |= CAN_MCR_ABOM;
152 
    }
153 
    else
154 
    {
155 
      CAN->MCR &= ~CAN_MCR_ABOM;
156 
    }
157 
 
158 
    /* Set the automatic wake-up mode */
159 
    if (CAN_InitStruct->CAN_AWUM == ENABLE)
160 
    {
161 
      CAN->MCR |= CAN_MCR_AWUM;
162 
    }
163 
    else
164 
    {
165 
      CAN->MCR &= ~CAN_MCR_AWUM;
166 
    }
167 
 
168 
    /* Set the no automatic retransmission */
169 
    if (CAN_InitStruct->CAN_NART == ENABLE)
170 
    {
171 
      CAN->MCR |= CAN_MCR_NART;
172 
    }
173 
    else
174 
    {
175 
      CAN->MCR &= ~CAN_MCR_NART;
176 
    }
177 
 
178 
    /* Set the receive FIFO locked mode */
179 
    if (CAN_InitStruct->CAN_RFLM == ENABLE)
180 
    {
181 
      CAN->MCR |= CAN_MCR_RFLM;
182 
    }
183 
    else
184 
    {
185 
      CAN->MCR &= ~CAN_MCR_RFLM;
186 
    }
187 
 
188 
    /* Set the transmit FIFO priority */
189 
    if (CAN_InitStruct->CAN_TXFP == ENABLE)
190 
    {
191 
      CAN->MCR |= CAN_MCR_TXFP;
192 
    }
193 
    else
194 
    {
195 
      CAN->MCR &= ~CAN_MCR_TXFP;
196 
    }
197 
 
198 
    /* Set the bit timing register */
199 
    CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
200 
               ((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
201 
               ((u32)CAN_InitStruct->CAN_Clock << 15) | ((u32)CAN_InitStruct->CAN_Prescaler - 1);
202 
 
203 
    InitStatus = CANINITOK;
204 
 
205 
    /* Request leave initialisation */
206 
    CAN->MCR &= ~CAN_MCR_INRQ;
207 
 
208 
    /* ...and check acknowledged */
209 
    if ((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
210 
    {
211 
      InitStatus = CANINITFAILED;
212 
    }
213 
  }
214 
 
215 
  /* At this step, return the status of initialization */
216 
  return InitStatus;
217 
}
218 
 
219 
/*******************************************************************************
220 
* Function Name  : CAN_FilterInit
221 
* Description    : Initializes the CAN peripheral according to the specified
222 
*                  parameters in the CAN_FilterInitStruct.
223 
* Input          : CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
224 
*                  structure that contains the configuration information.
225 
* Output         : None.
226 
* Return         : None.
227 
*******************************************************************************/
228 
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
229 
{
230 
  u16 FilterNumber_BitPos = 0;
231 
 
232 
  /* Check the parameters */
233 
  assert(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
234 
  assert(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
235 
  assert(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
236 
  assert(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
237 
  assert(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
238 
 
239 
  FilterNumber_BitPos = (u16)((u16)0x0001 << ((u16)CAN_FilterInitStruct->CAN_FilterNumber));
240 
 
241 
  /* Initialisation mode for the filter */
242 
  CAN->FMR |= CAN_FMR_FINIT;
243 
 
244 
  /* Filter Deactivation */
245 
  CAN->FA0R &= ~(u32)FilterNumber_BitPos;
246 
 
247 
  /* Filter Scale */
248 
  if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
249 
  {
250 
    /* 16-bit scale for the filter */
251 
    CAN->FS0R &= ~(u32)FilterNumber_BitPos;
252 
 
253 
    /* First 16-bit identifier and First 16-bit mask */
254 
    /* Or First 16-bit identifier and Second 16-bit identifier */
255 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR0 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
256 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
257 
 
258 
    /* Second 16-bit identifier and Second 16-bit mask */
259 
    /* Or Third 16-bit identifier and Fourth 16-bit identifier */
260 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
261 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
262 
  }
263 
  if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
264 
  {
265 
    /* 32-bit scale for the filter */
266 
    CAN->FS0R |= FilterNumber_BitPos;
267 
 
268 
    /* 32-bit identifier or First 32-bit identifier */
269 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR0 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
270 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
271 
 
272 
    /* 32-bit mask or Second 32-bit identifier */
273 
    CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
274 
        ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
275 
 
276 
  }
277 
 
278 
  /* Filter Mode */
279 
  if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
280 
  {
281 
    /*Id/Mask mode for the filter*/
282 
    CAN->FM0R &= ~(u32)FilterNumber_BitPos;
283 
  }
284 
  else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
285 
  {
286 
    /*Identifier list mode for the filter*/
287 
    CAN->FM0R |= (u32)FilterNumber_BitPos;
288 
  }
289 
 
290 
  /* Filter FIFO assignment */
291 
  if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
292 
  {
293 
    /* FIFO 0 assignation for the filter */
294 
    CAN->FFA0R &= ~(u32)FilterNumber_BitPos;
295 
  }
296 
  if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
297 
  {
298 
    /* FIFO 1 assignation for the filter */
299 
    CAN->FFA0R |= (u32)FilterNumber_BitPos;
300 
  }
301 
 
302 
  /* Filter activation */
303 
  if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
304 
  {
305 
    CAN->FA0R |= FilterNumber_BitPos;
306 
  }
307 
 
308 
  /* Leave the initialisation mode for the filter */
309 
  CAN->FMR &= ~CAN_FMR_FINIT;
310 
}
311 
 
312 
/*******************************************************************************
313 
* Function Name  : CAN_StructInit
314 
* Description    : Fills each CAN_InitStruct member with its default value.
315 
* Input          : CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
316 
*                  will be initialized.
317 
* Output         : None.
318 
* Return         : None.
319 
*******************************************************************************/
320 
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
321 
{
322 
  /* Reset CAN init structure parameters values */
323 
 
324 
  /* Initialize the time triggered communication mode */
325 
  CAN_InitStruct->CAN_TTCM = DISABLE;
326 
 
327 
  /* Initialize the automatic bus-off management */
328 
  CAN_InitStruct->CAN_ABOM = DISABLE;
329 
 
330 
  /* Initialize the automatic wake-up mode */
331 
  CAN_InitStruct->CAN_AWUM = DISABLE;
332 
 
333 
  /* Initialize the no automatic retransmission */
334 
  CAN_InitStruct->CAN_NART = DISABLE;
335 
 
336 
  /* Initialize the receive FIFO locked mode */
337 
  CAN_InitStruct->CAN_RFLM = DISABLE;
338 
 
339 
  /* Initialize the transmit FIFO priority */
340 
  CAN_InitStruct->CAN_TXFP = DISABLE;
341 
 
342 
  /* Initialize the CAN_Mode member */
343 
  CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
344 
 
345 
  /* Initialize the CAN_SJW member */
346 
  CAN_InitStruct->CAN_SJW = CAN_SJW_0tq;
347 
 
348 
  /* Initialize the CAN_BS1 member */
349 
  CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
350 
 
351 
  /* Initialize the CAN_BS2 member */
352 
  CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
353 
 
354 
  /* Initialize the CAN_Clock member */
355 
  CAN_InitStruct->CAN_Clock = CAN_Clock_APB;
356 
 
357 
  /* Initialize the CAN_Prescaler member */
358 
  CAN_InitStruct->CAN_Prescaler = 1;
359 
}
360 
 
361 
/*******************************************************************************
362 
* Function Name  : CAN_ITConfig
363 
* Description    : Enables or disables the CAN interrupts.
364 
* Input          : - CAN_IT: specifies the CAN interrupt sources to be enabled or
365 
*                    disabled.
366 
*                  - NewState: new state of the CAN interrupts.
367 
*                    This parameter can be: ENABLE or DISABLE.
368 
* Output         : None.
369 
* Return         : None.
370 
*******************************************************************************/
371 
void CAN_ITConfig(u32 CAN_IT, FunctionalState NewState)
372 
{
373 
  /* Check the parameters */
374 
  assert(IS_CAN_IT(CAN_IT));
375 
  assert(IS_FUNCTIONAL_STATE(NewState));
376 
 
377 
  if (NewState != DISABLE)
378 
  {
379 
    /* Enable the selected CAN interrupt */
380 
    CAN->IER |= CAN_IT;
381 
  }
382 
  else
383 
  {
384 
    /* Disable the selected CAN interrupt */
385 
    CAN->IER &= ~CAN_IT;
386 
  }
387 
}
388 
 
389 
/*******************************************************************************
390 
* Function Name  : CAN_Transmit
391 
* Description    : Initiates the transmission of a message.
392 
* Input          : TxMessage: pointer to a structure which contains CAN Id, CAN
393 
*                  DLC and CAN datas.
394 
* Output         : None.
395 
* Return         : The number of the mailbox that is used for transmission
396 
*                  or CAN_NO_MB if there is no empty mailbox.
397 
*******************************************************************************/
398 
u8 CAN_Transmit(CanTxMsg* TxMessage)
399 
{
400 
  u8 TransmitMailbox = 0;
401 
 
402 
  /* Check the parameters */
403 
  assert(IS_CAN_STDID(TxMessage->StdId));
404 
  assert(IS_CAN_EXTID(TxMessage->StdId));
405 
  assert(IS_CAN_IDTYPE(TxMessage->IDE));
406 
  assert(IS_CAN_RTR(TxMessage->RTR));
407 
  assert(IS_CAN_DLC(TxMessage->DLC));
408 
 
409 
  /* Select one empty transmit mailbox */
410 
  if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
411 
  {
412 
    TransmitMailbox = 0;
413 
  }
414 
  else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
415 
  {
416 
    TransmitMailbox = 1;
417 
  }
418 
  else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
419 
  {
420 
    TransmitMailbox = 2;
421 
  }
422 
  else
423 
  {
424 
    TransmitMailbox = CAN_NO_MB;
425 
  }
426 
 
427 
  if (TransmitMailbox != CAN_NO_MB)
428 
  {
429 
    /* Set up the Id */
430 
    TxMessage->StdId &= (u32)0x000007FF;
431 
    TxMessage->StdId = TxMessage->StdId << 21;
432 
    TxMessage->ExtId &= (u32)0x0003FFFF;
433 
    TxMessage->ExtId <<= 3;
434 
 
435 
    CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ;
436 
    CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->ExtId |
437 
                                            TxMessage->IDE | TxMessage->RTR);
438 
 
439 
    /* Set up the DLC */
440 
    TxMessage->DLC &= (u8)0x0000000F;
441 
    CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
442 
    CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;
443 
 
444 
    /* Set up the data field */
445 
    CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) | ((u32)TxMessage->Data[2] << 16) |
446 
                                            ((u32)TxMessage->Data[1] << 8) | ((u32)TxMessage->Data[0]));
447 
    CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) | ((u32)TxMessage->Data[6] << 16) |
448 
                                            ((u32)TxMessage->Data[5] << 8) | ((u32)TxMessage->Data[4]));
449 
 
450 
    /* Request transmission */
451 
    CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
452 
  }
453 
 
454 
  return TransmitMailbox;
455 
}
456 
 
457 
/*******************************************************************************
458 
* Function Name  : CAN_TransmitStatus
459 
* Description    : Check the transmission of a message.
460 
* Input          : TransmitMailbox: the number of the mailbox that is used for
461 
*                  transmission.
462 
* Output         : None.
463 
* Return         : CANTXOK if the CAN driver transmits the message, CANTXFAILED
464 
*                  in an other case.
465 
*******************************************************************************/
466 
u32 CAN_TransmitStatus(u8 TransmitMailbox)
467 
{
468 
  /* RQCP, TXOK and TME bits */
469 
  u32 State = 0;
470 
 
471 
  /* Check the parameters */
472 
  assert(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
473 
 
474 
  switch (TransmitMailbox)
475 
  {
476 
    case (0): State |= ((CAN->TSR & CAN_TSR_RQCP0) << 2);
477 
      State |= ((CAN->TSR & CAN_TSR_TXOK0) >> 0);
478 
      State |= ((CAN->TSR & CAN_TSR_TME0) >> 26);
479 
      break;
480 
    case (1): State |= ((CAN->TSR & CAN_TSR_RQCP1) >> 6);
481 
      State |= ((CAN->TSR & CAN_TSR_TXOK1) >> 8);
482 
      State |= ((CAN->TSR & CAN_TSR_TME1) >> 27);
483 
      break;
484 
    case (2): State |= ((CAN->TSR & CAN_TSR_RQCP2) >> 14);
485 
      State |= ((CAN->TSR & CAN_TSR_TXOK2) >> 16);
486 
      State |= ((CAN->TSR & CAN_TSR_TME2) >> 28);
487 
      break;
488 
    default:
489 
      State = CANTXFAILED;
490 
      break;
491 
  }
492 
 
493 
  switch (State)
494 
  {
495 
      /* transmit pending  */
496 
    case (0x0): State = CANTXPENDING;
497 
      break;
498 
      /* transmit failed  */
499 
    case (0x5): State = CANTXFAILED;
500 
      break;
501 
      /* transmit succedeed  */
502 
    case (0x7): State = CANTXOK;
503 
      break;
504 
    default:
505 
      State = CANTXFAILED;
506 
      break;
507 
  }
508 
 
509 
  return State;
510 
}
511 
 
512 
/*******************************************************************************
513 
* Function Name  : CAN_CancelTransmit
514 
* Description    : Cancels a transmit request.
515 
* Input          : Mailbox number.
516 
* Output         : None.
517 
* Return         : None.
518 
*******************************************************************************/
519 
void CAN_CancelTransmit(u8 Mailbox)
520 
{
521 
  /* Check the parameters */
522 
  assert(IS_CAN_TRANSMITMAILBOX(Mailbox));
523 
 
524 
  /* abort transmission */
525 
  switch (Mailbox)
526 
  {
527 
    case (0): CAN->TSR |= CAN_TSR_ABRQ0;
528 
      break;
529 
    case (1): CAN->TSR |= CAN_TSR_ABRQ1;
530 
      break;
531 
    case (2): CAN->TSR |= CAN_TSR_ABRQ2;
532 
      break;
533 
    default:
534 
      break;
535 
  }
536 
}
537 
 
538 
/*******************************************************************************
539 
* Function Name  : CAN_FIFORelease
540 
* Description    : Release a FIFO.
541 
* Input          : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
542 
* Output         : None.
543 
* Return         : None.
544 
*******************************************************************************/
545 
void CAN_FIFORelease(u8 FIFONumber)
546 
{
547 
  /* Check the parameters */
548 
  assert(IS_CAN_FIFO(FIFONumber));
549 
 
550 
  /* Release FIFO0 */
551 
  if (FIFONumber == CAN_FIFO0)
552 
  {
553 
    CAN->RF0R = CAN_RF0R_RFOM0;
554 
  }
555 
  /* Release FIFO1 */
556 
  else /* FIFONumber == CAN_FIFO1 */
557 
  {
558 
    CAN->RF1R = CAN_RF1R_RFOM1;
559 
  }
560 
}
561 
 
562 
/*******************************************************************************
563 
* Function Name  : CAN_MessagePending
564 
* Description    : Return the number of pending messages.
565 
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
566 
* Output         : None.
567 
* Return         : NbMessage which is the number of pending message.
568 
*******************************************************************************/
569 
u8 CAN_MessagePending(u8 FIFONumber)
570 
{
571 
  u8 MessagePending=0;
572 
 
573 
  /* Check the parameters */
574 
  assert(IS_CAN_FIFO(FIFONumber));
575 
 
576 
  if (FIFONumber == CAN_FIFO0)
577 
  {
578 
    MessagePending = (u8)(CAN->RF0R&(u32)0x03);
579 
  }
580 
  else if (FIFONumber == CAN_FIFO1)
581 
  {
582 
    MessagePending = (u8)(CAN->RF1R&(u32)0x03);
583 
  }
584 
  else
585 
  {
586 
    MessagePending = 0;
587 
  }
588 
  return MessagePending;
589 
}
590 
 
591 
/*******************************************************************************
592 
* Function Name  : CAN_Receive
593 
* Description    : Receives a message.
594 
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
595 
* Output         : RxMessage: pointer to a structure which contains CAN Id,
596 
*                  CAN DLC, CAN datas and FMI number.
597 
* Return         : None.
598 
*******************************************************************************/
599 
void CAN_Receive(u8 FIFONumber, CanRxMsg* RxMessage)
600 
{
601 
  /* Check the parameters */
602 
  assert(IS_CAN_FIFO(FIFONumber));
603 
 
604 
  /* Get the Id */
605 
  RxMessage->StdId = (u32)0x000007FF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 21);
606 
  RxMessage->ExtId = (u32)0x0003FFFF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 3);
607 
 
608 
  RxMessage->IDE = (u32)0x00000004 & CAN->sFIFOMailBox[FIFONumber].RIR;
609 
  RxMessage->RTR = (u32)0x00000002 & CAN->sFIFOMailBox[FIFONumber].RIR;
610 
 
611 
  /* Get the DLC */
612 
  RxMessage->DLC = (u32)0x0000000F & CAN->sFIFOMailBox[FIFONumber].RDTR;
613 
 
614 
  /* Get the FMI */
615 
  RxMessage->FMI = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDTR >> 8);
616 
 
617 
  /* Get the data field */
618 
  RxMessage->Data[0] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDLR;
619 
  RxMessage->Data[1] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 8);
620 
  RxMessage->Data[2] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 16);
621 
  RxMessage->Data[3] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 24);
622 
 
623 
  RxMessage->Data[4] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDHR;
624 
  RxMessage->Data[5] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 8);
625 
  RxMessage->Data[6] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 16);
626 
  RxMessage->Data[7] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 24);
627 
 
628 
  /* Release the FIFO */
629 
  CAN_FIFORelease(FIFONumber);
630 
}
631 
 
632 
/*******************************************************************************
633 
* Function Name  : CAN_Sleep
634 
* Description    : Enters the low power mode.
635 
* Input          : None.
636 
* Output         : None.
637 
* Return         : CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
638 
*******************************************************************************/
639 
u8 CAN_Sleep(void)
640 
{
641 
  u8 SleepStatus = 0;
642 
 
643 
  /* Sleep mode entering request */
644 
  CAN->MCR |= CAN_MCR_SLEEP;
645 
  SleepStatus = CANSLEEPOK;
646 
 
647 
  /* Sleep mode status */
648 
  if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
649 
  {
650 
    /* Sleep mode not entered */
651 
    SleepStatus = CANSLEEPFAILED;
652 
  }
653 
 
654 
  /* At this step, sleep mode status */
655 
  return SleepStatus;
656 
}
657 
 
658 
/*******************************************************************************
659 
* Function Name  : CAN_WakeUp
660 
* Description    : Wakes the CAN up.
661 
* Input          : None.
662 
* Output         : None.
663 
* Return         : CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other
664 
*                  case.
665 
*******************************************************************************/
666 
u8 CAN_WakeUp(void)
667 
{
668 
  u8 WakeUpStatus = 0;
669 
 
670 
  /* Wake up request */
671 
  CAN->MCR &= ~CAN_MCR_SLEEP;
672 
  WakeUpStatus = CANWAKEUPFAILED;
673 
 
674 
  /* Sleep mode status */
675 
  if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
676 
  {
677 
    /* Sleep mode exited */
678 
    WakeUpStatus = CANWAKEUPOK;
679 
  }
680 
 
681 
  /* At this step, sleep mode status */
682 
  return WakeUpStatus;
683 
}
684 
 
685 
/*******************************************************************************
686 
* Function Name  : CAN_GetFlagStatus
687 
* Description    : Checks whether the CAN flag is set or not.
688 
* Input          : CAN_FLAG: specifies the flag to check.
689 
* Output         : None.
690 
* Return         : The new state of CAN_FLAG (SET or RESET).
691 
*******************************************************************************/
692 
FlagStatus CAN_GetFlagStatus(u32 CAN_FLAG)
693 
{
694 
  FlagStatus bitstatus = RESET;
695 
 
696 
  /* Check the parameters */
697 
  assert(IS_CAN_FLAG(CAN_FLAG));
698 
 
699 
  /* Check the status of the specified CAN flag */
700 
  if ((CAN->ESR & CAN_FLAG) != (u32)RESET)
701 
  {
702 
    /* CAN_FLAG is set */
703 
    bitstatus = SET;
704 
  }
705 
  else
706 
  {
707 
    /* CAN_FLAG is reset */
708 
    bitstatus = RESET;
709 
  }
710 
  /* Return the CAN_FLAG status */
711 
  return  bitstatus;
712 
}
713 
 
714 
/*******************************************************************************
715 
* Function Name  : CAN_ClearFlag
716 
* Description    : Clears the CAN's pending flags.
717 
* Input          : CAN_FLAG: specifies the flag to clear.
718 
* Output         : None.
719 
* Return         : None.
720 
*******************************************************************************/
721 
void CAN_ClearFlag(u32 CAN_FLAG)
722 
{
723 
  /* Check the parameters */
724 
  assert(IS_CAN_FLAG(CAN_FLAG));
725 
 
726 
  /* Clear the selected CAN flags */
727 
  CAN->ESR &= ~CAN_FLAG;
728 
}
729 
 
730 
/*******************************************************************************
731 
* Function Name  : CAN_GetITStatus
732 
* Description    : Checks whether the CAN interrupt has occurred or not.
733 
* Input          : CAN_IT: specifies the CAN interrupt source to check.
734 
* Output         : None.
735 
* Return         : The new state of CAN_IT (SET or RESET).
736 
*******************************************************************************/
737 
ITStatus CAN_GetITStatus(u32 CAN_IT)
738 
{
739 
  ITStatus pendingbitstatus = RESET;
740 
 
741 
  /* Check the parameters */
742 
  assert(IS_CAN_IT(CAN_IT));
743 
 
744 
  switch (CAN_IT)
745 
  {
746 
    case CAN_IT_RQCP0:
747 
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP0);
748 
      break;
749 
    case CAN_IT_RQCP1:
750 
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP1);
751 
      break;
752 
    case CAN_IT_RQCP2:
753 
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP2);
754 
      break;
755 
    case CAN_IT_FF0:
756 
      pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FULL0);
757 
      break;
758 
    case CAN_IT_FOV0:
759 
      pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FOVR0);
760 
      break;
761 
    case CAN_IT_FF1:
762 
      pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FULL1);
763 
      break;
764 
    case CAN_IT_FOV1:
765 
      pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FOVR1);
766 
      break;
767 
    case CAN_IT_EWG:
768 
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EWGF);
769 
      break;
770 
    case CAN_IT_EPV:
771 
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EPVF);
772 
      break;
773 
    case CAN_IT_BOF:
774 
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_BOFF);
775 
      break;
776 
    case CAN_IT_SLK:
777 
      pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_SLAKI);
778 
      break;
779 
    case CAN_IT_WKU:
780 
      pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_WKUI);
781 
      break;
782 
 
783 
    default :
784 
      pendingbitstatus = RESET;
785 
      break;
786 
  }
787 
 
788 
  /* Return the CAN_IT status */
789 
  return  pendingbitstatus;
790 
}
791 
 
792 
/*******************************************************************************
793 
* Function Name  : CAN_ClearITPendingBit
794 
* Description    : Clears the CAN’s interrupt pending bits.
795 
* Input          : CAN_IT: specifies the interrupt pending bit to clear.
796 
* Output         : None.
797 
* Return         : None.
798 
*******************************************************************************/
799 
void CAN_ClearITPendingBit(u32 CAN_IT)
800 
{
801 
  /* Check the parameters */
802 
  assert(IS_CAN_IT(CAN_IT));
803 
 
804 
  switch (CAN_IT)
805 
  {
806 
    case CAN_IT_RQCP0:
807 
      CAN->TSR = CAN_TSR_RQCP0; /* rc_w1*/
808 
      break;
809 
    case CAN_IT_RQCP1:
810 
      CAN->TSR = CAN_TSR_RQCP1; /* rc_w1*/
811 
      break;
812 
    case CAN_IT_RQCP2:
813 
      CAN->TSR = CAN_TSR_RQCP2; /* rc_w1*/
814 
      break;
815 
    case CAN_IT_FF0:
816 
      CAN->RF0R = CAN_RF0R_FULL0; /* rc_w1*/
817 
      break;
818 
    case CAN_IT_FOV0:
819 
      CAN->RF0R = CAN_RF0R_FOVR0; /* rc_w1*/
820 
      break;
821 
    case CAN_IT_FF1:
822 
      CAN->RF1R = CAN_RF1R_FULL1; /* rc_w1*/
823 
      break;
824 
    case CAN_IT_FOV1:
825 
      CAN->RF1R = CAN_RF1R_FOVR1; /* rc_w1*/
826 
      break;
827 
    case CAN_IT_EWG:
828 
      CAN->ESR &= ~ CAN_ESR_EWGF; /* rw */
829 
      break;
830 
    case CAN_IT_EPV:
831 
      CAN->ESR &= ~ CAN_ESR_EPVF; /* rw */
832 
      break;
833 
    case CAN_IT_BOF:
834 
      CAN->ESR &= ~ CAN_ESR_BOFF; /* rw */
835 
      break;
836 
    case CAN_IT_WKU:
837 
      CAN->MSR = CAN_MSR_WKUI;  /* rc_w1*/
838 
      break;
839 
    case CAN_IT_SLK:
840 
      CAN->MSR = CAN_MSR_SLAKI;  /* rc_w1*/
841 
      break;
842 
    default :
843 
      break;
844 
  }
845 
}
846 
 
847 
/*******************************************************************************
848 
* Function Name  : CheckITStatus
849 
* Description    : Checks whether the CAN interrupt has occurred or not.
850 
* Input          : CAN_Reg: specifies the CAN interrupt register to check.
851 
*                  It_Bit: specifies the interrupt source bit to check.
852 
* Output         : None.
853 
* Return         : The new state of the CAN Interrupt (SET or RESET).
854 
*******************************************************************************/
855 
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit)
856 
{
857 
  ITStatus pendingbitstatus = RESET;
858 
 
859 
  if ((CAN_Reg & It_Bit) != (u32)RESET)
860 
  {
861 
    /* CAN_IT is set */
862 
    pendingbitstatus = SET;
863 
  }
864 
  else
865 
  {
866 
    /* CAN_IT is reset */
867 
    pendingbitstatus = RESET;
868 
  }
869 
 
870 
  return pendingbitstatus;
871 
}
872 
 
873 
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/

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