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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ARM9_STR91X_IAR/] [Library/] [source/] [91x_can.c] - Rev 581
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/******************** (C) COPYRIGHT 2006 STMicroelectronics ******************** * File Name : 91x_can.c * Author : MCD Application Team * Date First Issued : 05/18/2006 : Version 1.0 * Description : This file provides all the CAN software functions. ******************************************************************************** * History: * 05/24/2006 : Version 1.1 * 05/18/2006 : Version 1.0 ******************************************************************************** * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. *******************************************************************************/ /* Includes ------------------------------------------------------------------*/ #include "91x_can.h" #include "91x_scu.h" /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/ /* Macro Name : xxx_ID_MSK, xxx_ID_ARB */ /* Description : Form the Mask and Arbitration registers value to filter */ /* a range of identifiers or a fixed identifier, for standard*/ /* and extended IDs */ /*----------------------------------------------------------------------------*/ #define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start))) #define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end)) #define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id)) #define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id)) #define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2)) #define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2)) #define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2)) #define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2)) #define EXT_RANGE_ID_MSK_L(range_start, range_end) ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11)) #define EXT_RANGE_ID_MSK_H(range_start, range_end) ((u16)(STD_RANGE_ID_MSK((range_start), (range_end)) | ((RANGE_ID_MSK((range_start), (range_end)) >> 27) & 0x03))) #define EXT_RANGE_ID_ARB_L(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11)) #define EXT_RANGE_ID_ARB_H(range_start, range_end) ((u16)(STD_RANGE_ID_ARB((range_start), (range_end)) | ((RANGE_ID_ARB((range_start), (range_end)) >> 27) & 0x03))) #define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id) >> 11)) #define EXT_FIXED_ID_MSK_H(id) ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03))) #define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id) >> 11)) #define EXT_FIXED_ID_ARB_H(id) ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03))) /* macro to format the timing register value from the timing parameters*/ #define CAN_TIMING(tseg1, tseg2, sjw, brp) ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F)) /* Private variables ---------------------------------------------------------*/ /* array of pre-defined timing parameters for standard bitrates*/ u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */ CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */ CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */ CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */ CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */ CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */ }; /* Private function prototypes -----------------------------------------------*/ static u32 GetFreeIF(void); /* Private functions ---------------------------------------------------------*/ /******************************************************************************* * Function Name : CAN_DeInit * Description : Deinitializes the CAN peripheral registers to their default * reset values. * Input : None * Output : None * Return : None *******************************************************************************/ void CAN_DeInit (void) { /* Reset the CAN registers values*/ SCU_APBPeriphReset(__CAN,ENABLE); /*CAN peripheral is under Reset */ SCU_APBPeriphReset(__CAN,DISABLE); /*CAN peripheral Reset off*/ } /******************************************************************************* * Function Name : CAN_Init * Description : Initializes the CAN peripheral according to the specified * parameters in the CAN_InitStruct. * Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that * contains the configuration information for the CAN peripheral. * Output : None * Return : None *******************************************************************************/ void CAN_Init(CAN_InitTypeDef* CAN_InitStruct) { CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters); CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate); CAN_LeaveInitMode(); CAN_LeaveTestMode(); } /******************************************************************************* * Function Name : CAN_StructInit * Description : Fills each CAN_InitStruct member with its reset value. * Input : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which * will be initialized. * Output : None * Return : None. *******************************************************************************/ void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct) { /* Reset CAN init structure parameters values */ CAN_InitStruct->CAN_ConfigParameters = 0x0; CAN_InitStruct->CAN_Bitrate = 0x2301; } /******************************************************************************* * Function Name : CAN_SetBitrate * Description : Setups a standard CAN bitrate. * Input : bitrate: specifies the bit rate. * Output : None * Return : None *******************************************************************************/ void CAN_SetBitrate(u32 bitrate) { CAN->BTR = CanTimings[bitrate]; /* write the predefined timing value */ CAN->BRPR = 0; /* clear the Extended Baud Rate Prescaler */ } /******************************************************************************* * Function Name : CAN_SetTiming * Description : Setups the CAN timing with specific parameters * Input : - tseg1: specifies Time Segment before the sample point. * This parameter must be a number between 1 and 16. * - tseg2: Time Segment after the sample point. This parameter * must be a number between 1 and 8. * - sjw: Synchronisation Jump Width. This parameter must be * a number between 1 and 4. * - brp: Baud Rate Prescaler. This parameter must be a number * between 1 and 1024. * Output : None * Return : None *******************************************************************************/ void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp) { CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp); CAN->BRPR = ((brp-1) >> 6) & 0x0F; } /******************************************************************************* * Function Name : GetFreeIF * Description : Searchs the first free message interface, starting from 0. * Input : None * Output : None * Return : A free message interface number (0 or 1) if found, else 2 *******************************************************************************/ static u32 GetFreeIF(void) { if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0) return 0; else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0) return 1; else return 2; } /******************************************************************************* * Function Name : CAN_SetUnusedMsgObj * Description : Configures the message object as unused * Input : msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Interface to treat the message * - ERROR: No interface to treat the message *******************************************************************************/ ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj) { u32 msg_if=0; if ((msg_if = GetFreeIF()) == 2) { return ERROR; } CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD | CAN_CMR_MASK | CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_DATAA | CAN_CMR_DATAB; CAN->sMsgObj[msg_if].M1R = 0; CAN->sMsgObj[msg_if].M2R = 0; CAN->sMsgObj[msg_if].A1R = 0; CAN->sMsgObj[msg_if].A2R = 0; CAN->sMsgObj[msg_if].MCR = 0; CAN->sMsgObj[msg_if].DA1R = 0; CAN->sMsgObj[msg_if].DA2R = 0; CAN->sMsgObj[msg_if].DB1R = 0; CAN->sMsgObj[msg_if].DB2R = 0; CAN->sMsgObj[msg_if].CRR = 1 + msgobj; return SUCCESS; } /******************************************************************************* * Function Name : CAN_SetTxMsgObj * Description : Configures the message object as TX. * Input : - msgobj: specifies the Message object number, from 0 to 31. * - idType: specifies the identifier type of the frames that * will be transmitted using this message object. * This parameter can be one of the following values: * - CAN_STD_ID (standard ID, 11-bit) * - CAN_EXT_ID (extended ID, 29-bit) * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Interface to treat the message * - ERROR: No interface to treat the message *******************************************************************************/ ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType) { u32 msg_if=0; if ((msg_if = GetFreeIF()) == 2) { return ERROR; } CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD | CAN_CMR_MASK | CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_DATAA | CAN_CMR_DATAB; CAN->sMsgObj[msg_if].M1R = 0; CAN->sMsgObj[msg_if].A1R = 0; if (idType == CAN_STD_ID) { CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR; CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR; } else { CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD; CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD; } CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB; CAN->sMsgObj[msg_if].DA1R = 0; CAN->sMsgObj[msg_if].DA2R = 0; CAN->sMsgObj[msg_if].DB1R = 0; CAN->sMsgObj[msg_if].DB2R = 0; CAN->sMsgObj[msg_if].CRR = 1 + msgobj; return SUCCESS; } /******************************************************************************* * Function Name : CAN_SetRxMsgObj * Description : Configures the message object as RX. * Input : - msgobj: specifies the Message object number, from 0 to 31. * - idType: specifies the identifier type of the frames that * will be transmitted using this message object. * This parameter can be one of the following values: * - CAN_STD_ID (standard ID, 11-bit) * - CAN_EXT_ID (extended ID, 29-bit) * - idLow: specifies the low part of the identifier range used * for acceptance filtering. * - idHigh: specifies the high part of the identifier range * used for acceptance filtering. * - singleOrFifoLast: specifies the end-of-buffer indicator. * This parameter can be one of the following values: * - TRUE: for a single receive object or a FIFO receive * object that is the last one of the FIFO. * - FALSE: for a FIFO receive object that is not the * last one. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Interface to treat the message * - ERROR: No interface to treat the message *******************************************************************************/ ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast) { u32 msg_if=0; if ((msg_if = GetFreeIF()) == 2) { return ERROR; } CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD | CAN_CMR_MASK | CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_DATAA | CAN_CMR_DATAB; if (idType == CAN_STD_ID) { CAN->sMsgObj[msg_if].M1R = 0; CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh); CAN->sMsgObj[msg_if].A1R = 0; CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh); } else { CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh); CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh); CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh); CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh); } CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0); CAN->sMsgObj[msg_if].DA1R = 0; CAN->sMsgObj[msg_if].DA2R = 0; CAN->sMsgObj[msg_if].DB1R = 0; CAN->sMsgObj[msg_if].DB2R = 0; CAN->sMsgObj[msg_if].CRR = 1 + msgobj; return SUCCESS; } /******************************************************************************* * Function Name : CAN_InvalidateAllMsgObj * Description : Configures all the message objects as unused. * Input : None * Output : None * Return : None *******************************************************************************/ void CAN_InvalidateAllMsgObj(void) { u32 i=0; for (i = 0; i < 32; i++) CAN_SetUnusedMsgObj(i); } /******************************************************************************* * Function Name : CAN_ReleaseMessage * Description : Releases the message object * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Interface to treat the message * - ERROR: No interface to treat the message *******************************************************************************/ ErrorStatus CAN_ReleaseMessage(u32 msgobj) { u32 msg_if=0; if ((msg_if = GetFreeIF()) == 2) { return ERROR; } CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; CAN->sMsgObj[msg_if].CRR = 1 + msgobj; return SUCCESS; } /******************************************************************************* * Function Name : CAN_SendMessage * Description : Start transmission of a message * Input : - msgobj: specifies the Message object number, from 0 to 31. * : - pCanMsg: pointer to the message structure containing data * to transmit. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Transmission OK * - ERROR: No transmission *******************************************************************************/ ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg) { if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) { return ERROR; } CAN->SR &= ~CAN_SR_TXOK; /* read the Arbitration and Message Control*/ CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL; CAN->sMsgObj[0].CRR = 1 + msgobj; if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) { return ERROR; } /* update the contents needed for transmission*/ CAN->sMsgObj[0].CMR = CAN_CMR_WRRD | CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_DATAA | CAN_CMR_DATAB; if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0) { /* standard ID*/ CAN->sMsgObj[0].A1R = 0; CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); } else { /* extended ID*/ CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id); } CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc; CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; CAN->sMsgObj[0].CRR = 1 + msgobj; return SUCCESS; } /******************************************************************************* * Function Name : CAN_ReceiveMessage * Description : Gets the message, if received. * Input : - msgobj: specifies the Message object number, from 0 to 31. * - release: specifies the message release indicator. * This parameter can be one of the following values: * - TRUE: the message object is released when getting * the data. * - FALSE: the message object is not released. * - pCanMsg: pointer to the message structure where received * data is copied. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Reception OK * - ERROR: No message pending *******************************************************************************/ ErrorStatus CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg) { if (!CAN_IsMessageWaiting(msgobj)) { return ERROR; } CAN->SR &= ~CAN_SR_RXOK; /* read the message contents*/ CAN->sMsgObj[1].CMR = CAN_CMR_MASK | CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_CLRINTPND | (release ? CAN_CMR_TXRQSTNEWDAT : 0) | CAN_CMR_DATAA | CAN_CMR_DATAB; CAN->sMsgObj[1].CRR = 1 + msgobj; if (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) { return ERROR; } if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) { /* standard ID*/ pCanMsg->IdType = CAN_STD_ID; pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; } else { /* extended ID*/ pCanMsg->IdType = CAN_EXT_ID; pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF); pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11); pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27); } pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); return SUCCESS; } /******************************************************************************* * Function Name : CAN_WaitEndOfTx * Description : Waits until current transmission is finished. * Input : None * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Transmission ended * - ERROR: Transmission did not occur yet *******************************************************************************/ ErrorStatus CAN_WaitEndOfTx(void) { if ((CAN->SR & CAN_SR_TXOK) == 0) { return ERROR; } CAN->SR &= ~CAN_SR_TXOK; return SUCCESS; } /******************************************************************************* * Function Name : CAN_BasicSendMessage * Description : Starts transmission of a message in BASIC mode. This mode * does not use the message RAM. * Input : pCanMsg: Pointer to the message structure containing data to * transmit. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Transmission OK * - ERROR: No transmission *******************************************************************************/ ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg) { /* clear NewDat bit in IF2 to detect next reception*/ CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT; CAN->SR &= ~CAN_SR_TXOK; CAN->sMsgObj[0].CMR = CAN_CMR_WRRD | CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_DATAA | CAN_CMR_DATAB; if (pCanMsg->IdType == CAN_STD_ID) { /* standard ID*/ CAN->sMsgObj[0].A1R = 0; CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id); } else { /* extended ID*/ CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id); CAN->sMsgObj[0].A2R = ((CAN->sMsgObj[0].A2R) & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id); } CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc; CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0]; CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2]; CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4]; CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6]; /* request transmission*/ if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY ) { return ERROR; } return SUCCESS; } /******************************************************************************* * Function Name : CAN_BasicReceiveMessage * Description : Gets the message in BASIC mode, if received. This mode does * not use the message RAM. * Input : pCanMsg: pointer to the message structure where message is copied. * Output : None * Return : An ErrorStatus enumuration value: * - SUCCESS: Reception OK * - ERROR: No message pending *******************************************************************************/ ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg) { if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0) { return ERROR; } CAN->SR &= ~CAN_SR_RXOK; CAN->sMsgObj[1].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL | CAN_CMR_DATAA | CAN_CMR_DATAB; if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0) { /* standard ID*/ pCanMsg->IdType = CAN_STD_ID; pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF; } else { /* extended ID*/ pCanMsg->IdType = CAN_EXT_ID; pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF); pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11); pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27); } pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F; pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R; pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8); pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R; pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8); pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R; pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8); pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R; pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8); return SUCCESS; } /******************************************************************************* * Function Name : CAN_EnterInitMode * Description : Switchs the CAN into initialization mode. This function must * be used in conjunction with CAN_LeaveInitMode(). * Input : InitMask: specifies the CAN configuration in normal mode. * Output : None * Return : None *******************************************************************************/ void CAN_EnterInitMode(u8 InitMask) { CAN->CR = InitMask | CAN_CR_INIT; CAN->SR = 0; /* reset the status*/ } /******************************************************************************* * Function Name : CAN_LeaveInitMode * Description : Leaves the initialization mode (switch into normal mode). * This function must be used in conjunction with CAN_EnterInitMode(). * Input : None * Output : None * Return : None *******************************************************************************/ void CAN_LeaveInitMode(void) { CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE); } /******************************************************************************* * Function Name : CAN_EnterTestMode * Description : Switchs the CAN into test mode. This function must be used in * conjunction with CAN_LeaveTestMode(). * Input : TestMask: specifies the configuration in test modes. * Output : None * Return : None *******************************************************************************/ void CAN_EnterTestMode(u8 TestMask) { CAN->CR |= CAN_CR_TEST; CAN->TESTR |= TestMask; } /******************************************************************************* * Function Name : CAN_LeaveTestMode * Description : Leaves the current test mode (switch into normal mode). * This function must be used in conjunction with CAN_EnterTestMode(). * Input : None * Output : None * Return : None *******************************************************************************/ void CAN_LeaveTestMode(void) { CAN->CR |= CAN_CR_TEST; CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC); CAN->CR &= ~CAN_CR_TEST; } /******************************************************************************* * Function Name : CAN_ReleaseTxMessage * Description : Releases the transmit message object. * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : None *******************************************************************************/ void CAN_ReleaseTxMessage(u32 msgobj) { CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; CAN->sMsgObj[0].CRR = 1 + msgobj; } /******************************************************************************* * Function Name : CAN_ReleaseRxMessage * Description : Releases the receive message object. * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : None *******************************************************************************/ void CAN_ReleaseRxMessage(u32 msgobj) { CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT; CAN->sMsgObj[1].CRR = 1 + msgobj; } /******************************************************************************* * Function Name : CAN_IsMessageWaiting * Description : Tests the waiting status of a received message. * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : A non-zero value if the corresponding message object has * received a message waiting to be copied, else 0. *******************************************************************************/ u32 CAN_IsMessageWaiting(u32 msgobj) { return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16))); } /******************************************************************************* * Function Name : CAN_IsTransmitRequested * Description : Tests the request status of a transmitted message. * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : A non-zero value if the corresponding message is requested * to transmit, else 0. *******************************************************************************/ u32 CAN_IsTransmitRequested(u32 msgobj) { return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16))); } /******************************************************************************* * Function Name : CAN_IsInterruptPending * Description : Tests the interrupt status of a message object. * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : A non-zero value if the corresponding message has an * interrupt pending, else 0. *******************************************************************************/ u32 CAN_IsInterruptPending(u32 msgobj) { return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16))); } /******************************************************************************* * Function Name : CAN_IsObjectValid * Description : Tests the validity of a message object (ready to use). * Input : - msgobj: specifies the Message object number, from 0 to 31. * Output : None * Return : A non-zero value if the corresponding message object is * valid, else 0. *******************************************************************************/ u32 CAN_IsObjectValid(u32 msgobj) { return (msgobj < 16 ? CAN->MV1R & (1 << msgobj) : CAN->MV2R & (1 << (msgobj-16))); } /******************* (C) COPYRIGHT 2006 STMicroelectronics *****END OF FILE****/
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