1 /******************** (C) COPYRIGHT 2006 STMicroelectronics ********************
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2 * File Name : 75x_can.c
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3 * Author : MCD Application Team
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4 * Date First Issued : 03/10/2006
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5 * Description : This file provides all the CAN software functions.
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6 ********************************************************************************
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10 ********************************************************************************
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11 * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
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12 * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
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13 * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
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14 * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
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15 * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
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16 * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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17 *******************************************************************************/
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19 /* Includes ------------------------------------------------------------------*/
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20 #include "75x_can.h"
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21 #include "75x_mrcc.h"
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23 /* Private typedef -----------------------------------------------------------*/
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24 /* Private define ------------------------------------------------------------*/
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25 /* Private macro -------------------------------------------------------------*/
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26 /*----------------------------------------------------------------------------*/
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27 /* Macro Name : xxx_ID_MSK, xxx_ID_ARB */
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28 /* Description : Form the Mask and Arbitration registers value to filter */
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29 /* a range of identifiers or a fixed identifier, for standard*/
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30 /* and extended IDs */
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31 /*----------------------------------------------------------------------------*/
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32 #define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start)))
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33 #define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end))
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35 #define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id))
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36 #define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id))
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38 #define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2))
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39 #define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2))
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41 #define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2))
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42 #define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2))
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44 #define EXT_RANGE_ID_MSK_L(range_start, range_end) ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11))
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45 #define EXT_RANGE_ID_MSK_H(range_start, range_end) ((u16)(STD_RANGE_ID_MSK((range_start), (range_end)) | ((RANGE_ID_MSK((range_start), (range_end)) >> 27) & 0x03)))
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46 #define EXT_RANGE_ID_ARB_L(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11))
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47 #define EXT_RANGE_ID_ARB_H(range_start, range_end) ((u16)(STD_RANGE_ID_ARB((range_start), (range_end)) | ((RANGE_ID_ARB((range_start), (range_end)) >> 27) & 0x03)))
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49 #define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id) >> 11))
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50 #define EXT_FIXED_ID_MSK_H(id) ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03)))
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51 #define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id) >> 11))
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52 #define EXT_FIXED_ID_ARB_H(id) ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03)))
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54 /* macro to format the timing register value from the timing parameters*/
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55 #define CAN_TIMING(tseg1, tseg2, sjw, brp) ((((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F))
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57 /* Private variables ---------------------------------------------------------*/
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58 /* array of pre-defined timing parameters for standard bitrates*/
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59 u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */
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60 CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */
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61 CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */
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62 CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */
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63 CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */
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64 CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */
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67 /* Private function prototypes -----------------------------------------------*/
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68 static u32 GetFreeIF(void);
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69 /* Private functions ---------------------------------------------------------*/
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71 /*******************************************************************************
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72 * Function Name : CAN_DeInit
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73 * Description : Deinitializes the CAN peripheral registers to their default
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78 *******************************************************************************/
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79 void CAN_DeInit (void)
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81 /* Reset the CAN registers values*/
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82 MRCC_PeripheralSWResetConfig(MRCC_Peripheral_CAN,ENABLE);
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83 MRCC_PeripheralSWResetConfig(MRCC_Peripheral_CAN,DISABLE);
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86 /*******************************************************************************
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87 * Function Name : CAN_Init
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88 * Description : Initializes the CAN peripheral according to the specified
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89 * parameters in the CAN_InitStruct.
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90 * Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
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91 * contains the configuration information for the CAN peripheral.
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94 *******************************************************************************/
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95 void CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
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97 CAN_EnterInitMode(CAN_CR_CCE | CAN_InitStruct->CAN_ConfigParameters);
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98 CAN_SetBitrate(CAN_InitStruct->CAN_Bitrate);
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99 CAN_LeaveInitMode();
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100 CAN_LeaveTestMode();
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103 /*******************************************************************************
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104 * Function Name : CAN_StructInit
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105 * Description : Fills each CAN_InitStruct member with its reset value.
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106 * Input : CAN_InitStruct : pointer to a CAN_InitTypeDef structure which
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107 * will be initialized.
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110 *******************************************************************************/
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111 void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
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113 /* Reset CAN init structure parameters values */
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114 CAN_InitStruct->CAN_ConfigParameters = 0x0;
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115 CAN_InitStruct->CAN_Bitrate = 0x2301;
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118 /*******************************************************************************
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119 * Function Name : CAN_SetBitrate
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120 * Description : Setups a standard CAN bitrate.
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121 * Input : bitrate: specifies the bit rate.
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124 *******************************************************************************/
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125 void CAN_SetBitrate(u32 bitrate)
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127 CAN->BTR = CanTimings[bitrate]; /* write the predefined timing value */
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128 CAN->BRPR = 0; /* clear the Extended Baud Rate Prescaler */
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131 /*******************************************************************************
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132 * Function Name : CAN_SetTiming
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133 * Description : Setups the CAN timing with specific parameters
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134 * Input : - tseg1: specifies Time Segment before the sample point.
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135 * This parameter must be a number between 1 and 16.
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136 * - tseg2: Time Segment after the sample point. This parameter
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137 * must be a number between 1 and 8.
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138 * - sjw: Synchronisation Jump Width. This parameter must be
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139 * a number between 1 and 4.
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140 * - brp: Baud Rate Prescaler. This parameter must be a number
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141 * between 1 and 1024.
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144 *******************************************************************************/
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145 void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp)
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147 CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp);
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148 CAN->BRPR = ((brp-1) >> 6) & 0x0F;
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151 /*******************************************************************************
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152 * Function Name : GetFreeIF
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153 * Description : Searchs the first free message interface, starting from 0.
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156 * Return : A free message interface number (0 or 1) if found, else 2
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157 *******************************************************************************/
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158 static u32 GetFreeIF(void)
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160 if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0)
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162 else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0)
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168 /*******************************************************************************
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169 * Function Name : CAN_SetUnusedMsgObj
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170 * Description : Configures the message object as unused
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171 * Input : msgobj: specifies the Message object number, from 0 to 31.
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173 * Return : An ErrorStatus enumuration value:
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174 * - SUCCESS: Interface to treat the message
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175 * - ERROR: No interface found to treat the message
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176 *******************************************************************************/
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177 ErrorStatus CAN_SetUnusedMsgObj(u32 msgobj)
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181 if ((msg_if = GetFreeIF()) == 2)
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186 CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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193 CAN->sMsgObj[msg_if].M1R = 0;
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194 CAN->sMsgObj[msg_if].M2R = 0;
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196 CAN->sMsgObj[msg_if].A1R = 0;
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197 CAN->sMsgObj[msg_if].A2R = 0;
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199 CAN->sMsgObj[msg_if].MCR = 0;
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201 CAN->sMsgObj[msg_if].DA1R = 0;
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202 CAN->sMsgObj[msg_if].DA2R = 0;
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203 CAN->sMsgObj[msg_if].DB1R = 0;
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204 CAN->sMsgObj[msg_if].DB2R = 0;
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206 CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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211 /*******************************************************************************
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212 * Function Name : CAN_SetTxMsgObj
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213 * Description : Configures the message object as TX.
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214 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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215 * - idType: specifies the identifier type of the frames that
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216 * will be transmitted using this message object.
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217 * This parameter can be one of the following values:
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218 * - CAN_STD_ID (standard ID, 11-bit)
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219 * - CAN_EXT_ID (extended ID, 29-bit)
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221 * Return : An ErrorStatus enumuration value:
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222 * - SUCCESS: Interface to treat the message
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223 * - ERROR: No interface found to treat the message
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224 *******************************************************************************/
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225 ErrorStatus CAN_SetTxMsgObj(u32 msgobj, u32 idType)
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229 if ((msg_if = GetFreeIF()) == 2)
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234 CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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241 CAN->sMsgObj[msg_if].M1R = 0;
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242 CAN->sMsgObj[msg_if].A1R = 0;
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244 if (idType == CAN_STD_ID)
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246 CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR;
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247 CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR;
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251 CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD;
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252 CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD;
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255 CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB;
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257 CAN->sMsgObj[msg_if].DA1R = 0;
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258 CAN->sMsgObj[msg_if].DA2R = 0;
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259 CAN->sMsgObj[msg_if].DB1R = 0;
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260 CAN->sMsgObj[msg_if].DB2R = 0;
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262 CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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267 /*******************************************************************************
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268 * Function Name : CAN_SetRxMsgObj
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269 * Description : Configures the message object as RX.
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270 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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271 * - idType: specifies the identifier type of the frames that
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272 * will be transmitted using this message object.
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273 * This parameter can be one of the following values:
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274 * - CAN_STD_ID (standard ID, 11-bit)
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275 * - CAN_EXT_ID (extended ID, 29-bit)
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276 * - idLow: specifies the low part of the identifier range used
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277 * for acceptance filtering.
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278 * - idHigh: specifies the high part of the identifier range
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279 * used for acceptance filtering.
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280 * - singleOrFifoLast: specifies the end-of-buffer indicator.
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281 * This parameter can be one of the following values:
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282 * - TRUE: for a single receive object or a FIFO receive
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283 * object that is the last one of the FIFO.
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284 * - FALSE: for a FIFO receive object that is not the
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287 * Return : An ErrorStatus enumuration value:
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288 * - SUCCESS: Interface to treat the message
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289 * - ERROR: No interface found to treat the message
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290 *******************************************************************************/
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291 ErrorStatus CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast)
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295 if ((msg_if = GetFreeIF()) == 2)
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300 CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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307 if (idType == CAN_STD_ID)
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309 CAN->sMsgObj[msg_if].M1R = 0;
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310 CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh);
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312 CAN->sMsgObj[msg_if].A1R = 0;
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313 CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh);
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317 CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh);
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318 CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh);
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320 CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh);
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321 CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh);
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324 CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0);
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326 CAN->sMsgObj[msg_if].DA1R = 0;
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327 CAN->sMsgObj[msg_if].DA2R = 0;
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328 CAN->sMsgObj[msg_if].DB1R = 0;
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329 CAN->sMsgObj[msg_if].DB2R = 0;
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331 CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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336 /*******************************************************************************
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337 * Function Name : CAN_InvalidateAllMsgObj
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338 * Description : Configures all the message objects as unused.
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342 *******************************************************************************/
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343 void CAN_InvalidateAllMsgObj(void)
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346 for (i = 0; i < 32; i++)
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347 CAN_SetUnusedMsgObj(i);
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351 /*******************************************************************************
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352 * Function Name : CAN_ReleaseMessage
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353 * Description : Releases the message object
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354 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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356 * Return : An ErrorStatus enumuration value:
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357 * - SUCCESS: Interface to treat the message
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358 * - ERROR: No interface found to treat the message
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359 *******************************************************************************/
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360 ErrorStatus CAN_ReleaseMessage(u32 msgobj)
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364 if ((msg_if = GetFreeIF()) == 2)
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369 CAN->sMsgObj[msg_if].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
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370 CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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375 /*******************************************************************************
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376 * Function Name : CAN_SendMessage
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377 * Description : Start transmission of a message
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378 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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379 * : - pCanMsg: pointer to the message structure containing data
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382 * Return : An ErrorStatus enumuration value:
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383 * - SUCCESS: Transmission OK
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384 * - ERROR: No transmission
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385 *******************************************************************************/
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386 ErrorStatus CAN_SendMessage(u32 msgobj, canmsg* pCanMsg)
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388 if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
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393 CAN->SR &= ~CAN_SR_TXOK;
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395 /* read the Arbitration and Message Control*/
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396 CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL;
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398 CAN->sMsgObj[0].CRR = 1 + msgobj;
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400 if (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY)
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405 /* update the contents needed for transmission*/
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406 CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
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412 if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0)
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415 CAN->sMsgObj[0].A1R = 0;
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416 CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
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421 CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
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422 CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
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425 CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc;
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427 CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
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428 CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
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429 CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
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430 CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
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432 CAN->sMsgObj[0].CRR = 1 + msgobj;
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437 /*******************************************************************************
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438 * Function Name : CAN_ReceiveMessage
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439 * Description : Gets the message, if received.
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440 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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441 * - release: specifies the message release indicator.
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442 * This parameter can be one of the following values:
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443 * - TRUE: the message object is released when getting
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445 * - FALSE: the message object is not released.
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446 * - pCanMsg: pointer to the message structure where received
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449 * Return : An ErrorStatus enumuration value:
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450 * - SUCCESS: Reception OK
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451 * - ERROR: No message pending
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452 *******************************************************************************/
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453 ErrorStatus CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg)
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455 if (!CAN_IsMessageWaiting(msgobj))
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460 CAN->SR &= ~CAN_SR_RXOK;
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462 /* read the message contents*/
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463 CAN->sMsgObj[1].CMR = CAN_CMR_MASK
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466 | CAN_CMR_CLRINTPND
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467 | (release ? CAN_CMR_TXRQSTNEWDAT : 0)
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471 CAN->sMsgObj[1].CRR = 1 + msgobj;
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473 if (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY)
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478 if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
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481 pCanMsg->IdType = CAN_STD_ID;
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482 pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
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487 pCanMsg->IdType = CAN_EXT_ID;
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488 pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
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489 pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
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490 pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
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493 pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
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495 pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
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496 pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
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497 pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
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498 pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
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499 pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
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500 pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
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501 pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
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502 pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
\r
507 /*******************************************************************************
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508 * Function Name : CAN_WaitEndOfTx
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509 * Description : Waits until current transmission is finished.
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512 * Return : An ErrorStatus enumuration value:
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513 * - SUCCESS: Transmission ended
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514 * - ERROR: Transmission did not occur yet
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515 *******************************************************************************/
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516 ErrorStatus CAN_WaitEndOfTx(void)
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518 if ((CAN->SR & CAN_SR_TXOK) == 0)
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522 CAN->SR &= ~CAN_SR_TXOK;
\r
527 /*******************************************************************************
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528 * Function Name : CAN_BasicSendMessage
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529 * Description : Starts transmission of a message in BASIC mode. This mode
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530 * does not use the message RAM.
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531 * Input : pCanMsg: Pointer to the message structure containing data to
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534 * Return : An ErrorStatus enumuration value:
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535 * - SUCCESS: Transmission OK
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536 * - ERROR: No transmission
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537 *******************************************************************************/
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538 ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg)
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540 /* clear NewDat bit in IF2 to detect next reception*/
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541 CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT;
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543 CAN->SR &= ~CAN_SR_TXOK;
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544 CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
\r
550 if (pCanMsg->IdType == CAN_STD_ID)
\r
553 CAN->sMsgObj[0].A1R = 0;
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554 CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
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559 CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
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560 CAN->sMsgObj[0].A2R = ((CAN->sMsgObj[0].A2R) & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
\r
563 CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc;
\r
565 CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
\r
566 CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
\r
567 CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
\r
568 CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
\r
570 /* request transmission*/
\r
571 if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY )
\r
579 /*******************************************************************************
\r
580 * Function Name : CAN_BasicReceiveMessage
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581 * Description : Gets the message in BASIC mode, if received. This mode does
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582 * not use the message RAM.
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583 * Input : pCanMsg: pointer to the message structure where message is copied.
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585 * Return : An ErrorStatus enumuration value:
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586 * - SUCCESS: Reception OK
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587 * - ERROR: No message pending
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588 *******************************************************************************/
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589 ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg)
\r
591 if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0)
\r
596 CAN->SR &= ~CAN_SR_RXOK;
\r
598 CAN->sMsgObj[1].CMR = CAN_CMR_ARB
\r
603 if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
\r
606 pCanMsg->IdType = CAN_STD_ID;
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607 pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
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612 pCanMsg->IdType = CAN_EXT_ID;
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613 pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
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614 pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
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615 pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
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618 pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
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620 pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
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621 pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
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622 pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
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623 pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
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624 pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
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625 pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
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626 pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
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627 pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
\r
632 /*******************************************************************************
\r
633 * Function Name : CAN_EnterInitMode
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634 * Description : Switchs the CAN into initialization mode. This function must
\r
635 * be used in conjunction with CAN_LeaveInitMode().
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636 * Input : InitMask: specifies the CAN configuration in normal mode.
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639 *******************************************************************************/
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640 void CAN_EnterInitMode(u8 InitMask)
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642 CAN->CR = InitMask | CAN_CR_INIT;
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643 CAN->SR = 0; /* reset the status*/
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646 /*******************************************************************************
\r
647 * Function Name : CAN_LeaveInitMode
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648 * Description : Leaves the initialization mode (switch into normal mode).
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649 * This function must be used in conjunction with CAN_EnterInitMode().
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653 *******************************************************************************/
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654 void CAN_LeaveInitMode(void)
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656 CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE);
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659 /*******************************************************************************
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660 * Function Name : CAN_EnterTestMode
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661 * Description : Switchs the CAN into test mode. This function must be used in
\r
662 * conjunction with CAN_LeaveTestMode().
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663 * Input : TestMask: specifies the configuration in test modes.
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666 *******************************************************************************/
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667 void CAN_EnterTestMode(u8 TestMask)
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669 CAN->CR |= CAN_CR_TEST;
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670 CAN->TESTR |= TestMask;
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673 /*******************************************************************************
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674 * Function Name : CAN_LeaveTestMode
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675 * Description : Leaves the current test mode (switch into normal mode).
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676 * This function must be used in conjunction with CAN_EnterTestMode().
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680 *******************************************************************************/
\r
681 void CAN_LeaveTestMode(void)
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683 CAN->CR |= CAN_CR_TEST;
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684 CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC);
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685 CAN->CR &= ~CAN_CR_TEST;
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688 /*******************************************************************************
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689 * Function Name : CAN_ReleaseTxMessage
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690 * Description : Releases the transmit message object.
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691 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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694 *******************************************************************************/
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695 void CAN_ReleaseTxMessage(u32 msgobj)
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697 CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
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698 CAN->sMsgObj[0].CRR = 1 + msgobj;
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701 /*******************************************************************************
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702 * Function Name : CAN_ReleaseRxMessage
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703 * Description : Releases the receive message object.
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704 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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707 *******************************************************************************/
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708 void CAN_ReleaseRxMessage(u32 msgobj)
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710 CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
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711 CAN->sMsgObj[1].CRR = 1 + msgobj;
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714 /*******************************************************************************
\r
715 * Function Name : CAN_IsMessageWaiting
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716 * Description : Tests the waiting status of a received message.
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717 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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719 * Return : A non-zero value if the corresponding message object has
\r
720 * received a message waiting to be copied, else 0.
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721 *******************************************************************************/
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722 u32 CAN_IsMessageWaiting(u32 msgobj)
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724 return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16)));
\r
727 /*******************************************************************************
\r
728 * Function Name : CAN_IsTransmitRequested
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729 * Description : Tests the request status of a transmitted message.
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730 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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732 * Return : A non-zero value if the corresponding message is requested
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733 * to transmit, else 0.
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734 *******************************************************************************/
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735 u32 CAN_IsTransmitRequested(u32 msgobj)
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737 return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16)));
\r
740 /*******************************************************************************
\r
741 * Function Name : CAN_IsInterruptPending
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742 * Description : Tests the interrupt status of a message object.
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743 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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745 * Return : A non-zero value if the corresponding message has an
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746 * interrupt pending, else 0.
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747 *******************************************************************************/
\r
748 u32 CAN_IsInterruptPending(u32 msgobj)
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750 return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16)));
\r
753 /*******************************************************************************
\r
754 * Function Name : CAN_IsObjectValid
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755 * Description : Tests the validity of a message object (ready to use).
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756 * Input : - msgobj: specifies the Message object number, from 0 to 31.
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758 * Return : A non-zero value if the corresponding message object is
\r
760 *******************************************************************************/
\r
761 u32 CAN_IsObjectValid(u32 msgobj)
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763 return (msgobj < 16 ? CAN->MV1R & (1 << msgobj) : CAN->MV2R & (1 << (msgobj-16)));
\r
765 /******************* (C) COPYRIGHT 2006 STMicroelectronics *****END OF FILE****/
\r