1 /******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
\r
2 * File Name : stm32f10x_can.c
\r
3 * Author : MCD Application Team
\r
4 * Date First Issued : 09/29/2006
\r
5 * Description : This file provides all the CAN firmware functions.
\r
6 ********************************************************************************
\r
11 ********************************************************************************
\r
12 * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
\r
13 * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
\r
14 * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
\r
15 * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
\r
16 * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
\r
17 * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
\r
18 *******************************************************************************/
\r
20 /* Includes ------------------------------------------------------------------*/
\r
21 #include "stm32f10x_can.h"
\r
22 #include "stm32f10x_rcc.h"
\r
24 /* Private typedef -----------------------------------------------------------*/
\r
26 /* Private define ------------------------------------------------------------*/
\r
27 /* CAN Master Control Register bits */
\r
28 #define CAN_MCR_INRQ ((u32)0x00000001) /* Initialization request */
\r
29 #define CAN_MCR_SLEEP ((u32)0x00000002) /* Sleep mode request */
\r
30 #define CAN_MCR_TXFP ((u32)0x00000004) /* Transmit FIFO priority */
\r
31 #define CAN_MCR_RFLM ((u32)0x00000008) /* Receive FIFO locked mode */
\r
32 #define CAN_MCR_NART ((u32)0x00000010) /* No automatic retransmission */
\r
33 #define CAN_MCR_AWUM ((u32)0x00000020) /* Automatic wake up mode */
\r
34 #define CAN_MCR_ABOM ((u32)0x00000040) /* Automatic bus-off management */
\r
35 #define CAN_MCR_TTCM ((u32)0x00000080) /* time triggered communication */
\r
37 /* CAN Master Status Register bits */
\r
38 #define CAN_MSR_INAK ((u32)0x00000001) /* Initialization acknowledge */
\r
39 #define CAN_MSR_WKUI ((u32)0x00000008) /* Wake-up interrupt */
\r
40 #define CAN_MSR_SLAKI ((u32)0x00000010) /* Sleep acknowledge interrupt */
\r
42 /* CAN Transmit Status Register bits */
\r
43 #define CAN_TSR_RQCP0 ((u32)0x00000001) /* Request completed mailbox0 */
\r
44 #define CAN_TSR_TXOK0 ((u32)0x00000002) /* Transmission OK of mailbox0 */
\r
45 #define CAN_TSR_ABRQ0 ((u32)0x00000080) /* Abort request for mailbox0 */
\r
46 #define CAN_TSR_RQCP1 ((u32)0x00000100) /* Request completed mailbox1 */
\r
47 #define CAN_TSR_TXOK1 ((u32)0x00000200) /* Transmission OK of mailbox1 */
\r
48 #define CAN_TSR_ABRQ1 ((u32)0x00008000) /* Abort request for mailbox1 */
\r
49 #define CAN_TSR_RQCP2 ((u32)0x00010000) /* Request completed mailbox2 */
\r
50 #define CAN_TSR_TXOK2 ((u32)0x00020000) /* Transmission OK of mailbox2 */
\r
51 #define CAN_TSR_ABRQ2 ((u32)0x00800000) /* Abort request for mailbox2 */
\r
52 #define CAN_TSR_TME0 ((u32)0x04000000) /* Transmit mailbox 0 empty */
\r
53 #define CAN_TSR_TME1 ((u32)0x08000000) /* Transmit mailbox 1 empty */
\r
54 #define CAN_TSR_TME2 ((u32)0x10000000) /* Transmit mailbox 2 empty */
\r
56 /* CAN Receive FIFO 0 Register bits */
\r
57 #define CAN_RF0R_FULL0 ((u32)0x00000008) /* FIFO 0 full */
\r
58 #define CAN_RF0R_FOVR0 ((u32)0x00000010) /* FIFO 0 overrun */
\r
59 #define CAN_RF0R_RFOM0 ((u32)0x00000020) /* Release FIFO 0 output mailbox */
\r
61 /* CAN Receive FIFO 1 Register bits */
\r
62 #define CAN_RF1R_FULL1 ((u32)0x00000008) /* FIFO 1 full */
\r
63 #define CAN_RF1R_FOVR1 ((u32)0x00000010) /* FIFO 1 overrun */
\r
64 #define CAN_RF1R_RFOM1 ((u32)0x00000020) /* Release FIFO 1 output mailbox */
\r
66 /* CAN Error Status Register bits */
\r
67 #define CAN_ESR_EWGF ((u32)0x00000001) /* Error warning flag */
\r
68 #define CAN_ESR_EPVF ((u32)0x00000002) /* Error passive flag */
\r
69 #define CAN_ESR_BOFF ((u32)0x00000004) /* Bus-off flag */
\r
71 /* CAN Mailbox Transmit Request */
\r
72 #define CAN_TMIDxR_TXRQ ((u32)0x00000001) /* Transmit mailbox request */
\r
74 /* CAN Filter Master Register bits */
\r
75 #define CAN_FMR_FINIT ((u32)0x00000001) /* Filter init mode */
\r
78 /* Private macro -------------------------------------------------------------*/
\r
79 /* Private variables ---------------------------------------------------------*/
\r
80 /* Private function prototypes -----------------------------------------------*/
\r
81 static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit);
\r
83 /* Private functions ---------------------------------------------------------*/
\r
84 /*******************************************************************************
\r
85 * Function Name : CAN_DeInit
\r
86 * Description : Deinitializes the CAN peripheral registers to their default
\r
91 *******************************************************************************/
\r
92 void CAN_DeInit(void)
\r
94 /* Enable CAN reset state */
\r
95 RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE);
\r
96 /* Release CAN from reset state */
\r
97 RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, DISABLE);
\r
100 /*******************************************************************************
\r
101 * Function Name : CAN_Init
\r
102 * Description : Initializes the CAN peripheral according to the specified
\r
103 * parameters in the CAN_InitStruct.
\r
104 * Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
\r
105 contains the configuration information for the CAN peripheral.
\r
107 * Return : Constant indicates initialization succeed which will be
\r
108 * CANINITFAILED or CANINITOK.
\r
109 *******************************************************************************/
\r
110 u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
\r
114 /* Check the parameters */
\r
115 assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
\r
116 assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
\r
117 assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
\r
118 assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
\r
119 assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
\r
120 assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
\r
121 assert(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
\r
122 assert(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
\r
123 assert(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
\r
124 assert(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
\r
125 assert(IS_CAN_CLOCK(CAN_InitStruct->CAN_Clock));
\r
126 assert(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
\r
128 /* Request initialisation */
\r
129 CAN->MCR = CAN_MCR_INRQ;
\r
131 /* ...and check acknowledged */
\r
132 if ((CAN->MSR & CAN_MSR_INAK) == 0)
\r
134 InitStatus = CANINITFAILED;
\r
138 /* Set the time triggered communication mode */
\r
139 if (CAN_InitStruct->CAN_TTCM == ENABLE)
\r
141 CAN->MCR |= CAN_MCR_TTCM;
\r
145 CAN->MCR &= ~CAN_MCR_TTCM;
\r
148 /* Set the automatic bus-off management */
\r
149 if (CAN_InitStruct->CAN_ABOM == ENABLE)
\r
151 CAN->MCR |= CAN_MCR_ABOM;
\r
155 CAN->MCR &= ~CAN_MCR_ABOM;
\r
158 /* Set the automatic wake-up mode */
\r
159 if (CAN_InitStruct->CAN_AWUM == ENABLE)
\r
161 CAN->MCR |= CAN_MCR_AWUM;
\r
165 CAN->MCR &= ~CAN_MCR_AWUM;
\r
168 /* Set the no automatic retransmission */
\r
169 if (CAN_InitStruct->CAN_NART == ENABLE)
\r
171 CAN->MCR |= CAN_MCR_NART;
\r
175 CAN->MCR &= ~CAN_MCR_NART;
\r
178 /* Set the receive FIFO locked mode */
\r
179 if (CAN_InitStruct->CAN_RFLM == ENABLE)
\r
181 CAN->MCR |= CAN_MCR_RFLM;
\r
185 CAN->MCR &= ~CAN_MCR_RFLM;
\r
188 /* Set the transmit FIFO priority */
\r
189 if (CAN_InitStruct->CAN_TXFP == ENABLE)
\r
191 CAN->MCR |= CAN_MCR_TXFP;
\r
195 CAN->MCR &= ~CAN_MCR_TXFP;
\r
198 /* Set the bit timing register */
\r
199 CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
\r
200 ((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
\r
201 ((u32)CAN_InitStruct->CAN_Clock << 15) | ((u32)CAN_InitStruct->CAN_Prescaler - 1);
\r
203 InitStatus = CANINITOK;
\r
205 /* Request leave initialisation */
\r
206 CAN->MCR &= ~CAN_MCR_INRQ;
\r
208 /* ...and check acknowledged */
\r
209 if ((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
\r
211 InitStatus = CANINITFAILED;
\r
215 /* At this step, return the status of initialization */
\r
219 /*******************************************************************************
\r
220 * Function Name : CAN_FilterInit
\r
221 * Description : Initializes the CAN peripheral according to the specified
\r
222 * parameters in the CAN_FilterInitStruct.
\r
223 * Input : CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
\r
224 * structure that contains the configuration information.
\r
227 *******************************************************************************/
\r
228 void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
\r
230 u16 FilterNumber_BitPos = 0;
\r
232 /* Check the parameters */
\r
233 assert(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
\r
234 assert(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
\r
235 assert(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
\r
236 assert(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
\r
237 assert(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
\r
239 FilterNumber_BitPos = (u16)((u16)0x0001 << ((u16)CAN_FilterInitStruct->CAN_FilterNumber));
\r
241 /* Initialisation mode for the filter */
\r
242 CAN->FMR |= CAN_FMR_FINIT;
\r
244 /* Filter Deactivation */
\r
245 CAN->FA0R &= ~(u32)FilterNumber_BitPos;
\r
248 if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
\r
250 /* 16-bit scale for the filter */
\r
251 CAN->FS0R &= ~(u32)FilterNumber_BitPos;
\r
253 /* First 16-bit identifier and First 16-bit mask */
\r
254 /* Or First 16-bit identifier and Second 16-bit identifier */
\r
255 CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR0 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
\r
256 ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
\r
258 /* Second 16-bit identifier and Second 16-bit mask */
\r
259 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
\r
260 CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
\r
261 ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
\r
263 if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
\r
265 /* 32-bit scale for the filter */
\r
266 CAN->FS0R |= FilterNumber_BitPos;
\r
268 /* 32-bit identifier or First 32-bit identifier */
\r
269 CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR0 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
\r
270 ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
\r
272 /* 32-bit mask or Second 32-bit identifier */
\r
273 CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
\r
274 ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
\r
279 if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
\r
281 /*Id/Mask mode for the filter*/
\r
282 CAN->FM0R &= ~(u32)FilterNumber_BitPos;
\r
284 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
\r
286 /*Identifier list mode for the filter*/
\r
287 CAN->FM0R |= (u32)FilterNumber_BitPos;
\r
290 /* Filter FIFO assignment */
\r
291 if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
\r
293 /* FIFO 0 assignation for the filter */
\r
294 CAN->FFA0R &= ~(u32)FilterNumber_BitPos;
\r
296 if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
\r
298 /* FIFO 1 assignation for the filter */
\r
299 CAN->FFA0R |= (u32)FilterNumber_BitPos;
\r
302 /* Filter activation */
\r
303 if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
\r
305 CAN->FA0R |= FilterNumber_BitPos;
\r
308 /* Leave the initialisation mode for the filter */
\r
309 CAN->FMR &= ~CAN_FMR_FINIT;
\r
312 /*******************************************************************************
\r
313 * Function Name : CAN_StructInit
\r
314 * Description : Fills each CAN_InitStruct member with its default value.
\r
315 * Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
\r
316 * will be initialized.
\r
319 *******************************************************************************/
\r
320 void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
\r
322 /* Reset CAN init structure parameters values */
\r
324 /* Initialize the time triggered communication mode */
\r
325 CAN_InitStruct->CAN_TTCM = DISABLE;
\r
327 /* Initialize the automatic bus-off management */
\r
328 CAN_InitStruct->CAN_ABOM = DISABLE;
\r
330 /* Initialize the automatic wake-up mode */
\r
331 CAN_InitStruct->CAN_AWUM = DISABLE;
\r
333 /* Initialize the no automatic retransmission */
\r
334 CAN_InitStruct->CAN_NART = DISABLE;
\r
336 /* Initialize the receive FIFO locked mode */
\r
337 CAN_InitStruct->CAN_RFLM = DISABLE;
\r
339 /* Initialize the transmit FIFO priority */
\r
340 CAN_InitStruct->CAN_TXFP = DISABLE;
\r
342 /* Initialize the CAN_Mode member */
\r
343 CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
\r
345 /* Initialize the CAN_SJW member */
\r
346 CAN_InitStruct->CAN_SJW = CAN_SJW_0tq;
\r
348 /* Initialize the CAN_BS1 member */
\r
349 CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
\r
351 /* Initialize the CAN_BS2 member */
\r
352 CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
\r
354 /* Initialize the CAN_Clock member */
\r
355 CAN_InitStruct->CAN_Clock = CAN_Clock_APB;
\r
357 /* Initialize the CAN_Prescaler member */
\r
358 CAN_InitStruct->CAN_Prescaler = 1;
\r
361 /*******************************************************************************
\r
362 * Function Name : CAN_ITConfig
\r
363 * Description : Enables or disables the CAN interrupts.
\r
364 * Input : - CAN_IT: specifies the CAN interrupt sources to be enabled or
\r
366 * - NewState: new state of the CAN interrupts.
\r
367 * This parameter can be: ENABLE or DISABLE.
\r
370 *******************************************************************************/
\r
371 void CAN_ITConfig(u32 CAN_IT, FunctionalState NewState)
\r
373 /* Check the parameters */
\r
374 assert(IS_CAN_IT(CAN_IT));
\r
375 assert(IS_FUNCTIONAL_STATE(NewState));
\r
377 if (NewState != DISABLE)
\r
379 /* Enable the selected CAN interrupt */
\r
380 CAN->IER |= CAN_IT;
\r
384 /* Disable the selected CAN interrupt */
\r
385 CAN->IER &= ~CAN_IT;
\r
389 /*******************************************************************************
\r
390 * Function Name : CAN_Transmit
\r
391 * Description : Initiates the transmission of a message.
\r
392 * Input : TxMessage: pointer to a structure which contains CAN Id, CAN
\r
393 * DLC and CAN datas.
\r
395 * Return : The number of the mailbox that is used for transmission
\r
396 * or CAN_NO_MB if there is no empty mailbox.
\r
397 *******************************************************************************/
\r
398 u8 CAN_Transmit(CanTxMsg* TxMessage)
\r
400 u8 TransmitMailbox = 0;
\r
402 /* Check the parameters */
\r
403 assert(IS_CAN_STDID(TxMessage->StdId));
\r
404 assert(IS_CAN_EXTID(TxMessage->StdId));
\r
405 assert(IS_CAN_IDTYPE(TxMessage->IDE));
\r
406 assert(IS_CAN_RTR(TxMessage->RTR));
\r
407 assert(IS_CAN_DLC(TxMessage->DLC));
\r
409 /* Select one empty transmit mailbox */
\r
410 if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
\r
412 TransmitMailbox = 0;
\r
414 else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
\r
416 TransmitMailbox = 1;
\r
418 else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
\r
420 TransmitMailbox = 2;
\r
424 TransmitMailbox = CAN_NO_MB;
\r
427 if (TransmitMailbox != CAN_NO_MB)
\r
429 /* Set up the Id */
\r
430 TxMessage->StdId &= (u32)0x000007FF;
\r
431 TxMessage->StdId = TxMessage->StdId << 21;
\r
432 TxMessage->ExtId &= (u32)0x0003FFFF;
\r
433 TxMessage->ExtId <<= 3;
\r
435 CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ;
\r
436 CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->ExtId |
\r
437 TxMessage->IDE | TxMessage->RTR);
\r
439 /* Set up the DLC */
\r
440 TxMessage->DLC &= (u8)0x0000000F;
\r
441 CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
\r
442 CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;
\r
444 /* Set up the data field */
\r
445 CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) | ((u32)TxMessage->Data[2] << 16) |
\r
446 ((u32)TxMessage->Data[1] << 8) | ((u32)TxMessage->Data[0]));
\r
447 CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) | ((u32)TxMessage->Data[6] << 16) |
\r
448 ((u32)TxMessage->Data[5] << 8) | ((u32)TxMessage->Data[4]));
\r
450 /* Request transmission */
\r
451 CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
\r
454 return TransmitMailbox;
\r
457 /*******************************************************************************
\r
458 * Function Name : CAN_TransmitStatus
\r
459 * Description : Check the transmission of a message.
\r
460 * Input : TransmitMailbox: the number of the mailbox that is used for
\r
463 * Return : CANTXOK if the CAN driver transmits the message, CANTXFAILED
\r
464 * in an other case.
\r
465 *******************************************************************************/
\r
466 u32 CAN_TransmitStatus(u8 TransmitMailbox)
\r
468 /* RQCP, TXOK and TME bits */
\r
471 /* Check the parameters */
\r
472 assert(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
\r
474 switch (TransmitMailbox)
\r
476 case (0): State |= ((CAN->TSR & CAN_TSR_RQCP0) << 2);
\r
477 State |= ((CAN->TSR & CAN_TSR_TXOK0) >> 0);
\r
478 State |= ((CAN->TSR & CAN_TSR_TME0) >> 26);
\r
480 case (1): State |= ((CAN->TSR & CAN_TSR_RQCP1) >> 6);
\r
481 State |= ((CAN->TSR & CAN_TSR_TXOK1) >> 8);
\r
482 State |= ((CAN->TSR & CAN_TSR_TME1) >> 27);
\r
484 case (2): State |= ((CAN->TSR & CAN_TSR_RQCP2) >> 14);
\r
485 State |= ((CAN->TSR & CAN_TSR_TXOK2) >> 16);
\r
486 State |= ((CAN->TSR & CAN_TSR_TME2) >> 28);
\r
489 State = CANTXFAILED;
\r
495 /* transmit pending */
\r
496 case (0x0): State = CANTXPENDING;
\r
498 /* transmit failed */
\r
499 case (0x5): State = CANTXFAILED;
\r
501 /* transmit succedeed */
\r
502 case (0x7): State = CANTXOK;
\r
505 State = CANTXFAILED;
\r
512 /*******************************************************************************
\r
513 * Function Name : CAN_CancelTransmit
\r
514 * Description : Cancels a transmit request.
\r
515 * Input : Mailbox number.
\r
518 *******************************************************************************/
\r
519 void CAN_CancelTransmit(u8 Mailbox)
\r
521 /* Check the parameters */
\r
522 assert(IS_CAN_TRANSMITMAILBOX(Mailbox));
\r
524 /* abort transmission */
\r
527 case (0): CAN->TSR |= CAN_TSR_ABRQ0;
\r
529 case (1): CAN->TSR |= CAN_TSR_ABRQ1;
\r
531 case (2): CAN->TSR |= CAN_TSR_ABRQ2;
\r
538 /*******************************************************************************
\r
539 * Function Name : CAN_FIFORelease
\r
540 * Description : Release a FIFO.
\r
541 * Input : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
\r
544 *******************************************************************************/
\r
545 void CAN_FIFORelease(u8 FIFONumber)
\r
547 /* Check the parameters */
\r
548 assert(IS_CAN_FIFO(FIFONumber));
\r
550 /* Release FIFO0 */
\r
551 if (FIFONumber == CAN_FIFO0)
\r
553 CAN->RF0R = CAN_RF0R_RFOM0;
\r
555 /* Release FIFO1 */
\r
556 else /* FIFONumber == CAN_FIFO1 */
\r
558 CAN->RF1R = CAN_RF1R_RFOM1;
\r
562 /*******************************************************************************
\r
563 * Function Name : CAN_MessagePending
\r
564 * Description : Return the number of pending messages.
\r
565 * Input : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
\r
567 * Return : NbMessage which is the number of pending message.
\r
568 *******************************************************************************/
\r
569 u8 CAN_MessagePending(u8 FIFONumber)
\r
571 u8 MessagePending=0;
\r
573 /* Check the parameters */
\r
574 assert(IS_CAN_FIFO(FIFONumber));
\r
576 if (FIFONumber == CAN_FIFO0)
\r
578 MessagePending = (u8)(CAN->RF0R&(u32)0x03);
\r
580 else if (FIFONumber == CAN_FIFO1)
\r
582 MessagePending = (u8)(CAN->RF1R&(u32)0x03);
\r
586 MessagePending = 0;
\r
588 return MessagePending;
\r
591 /*******************************************************************************
\r
592 * Function Name : CAN_Receive
\r
593 * Description : Receives a message.
\r
594 * Input : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
\r
595 * Output : RxMessage: pointer to a structure which contains CAN Id,
\r
596 * CAN DLC, CAN datas and FMI number.
\r
598 *******************************************************************************/
\r
599 void CAN_Receive(u8 FIFONumber, CanRxMsg* RxMessage)
\r
601 /* Check the parameters */
\r
602 assert(IS_CAN_FIFO(FIFONumber));
\r
605 RxMessage->StdId = (u32)0x000007FF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 21);
\r
606 RxMessage->ExtId = (u32)0x0003FFFF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 3);
\r
608 RxMessage->IDE = (u32)0x00000004 & CAN->sFIFOMailBox[FIFONumber].RIR;
\r
609 RxMessage->RTR = (u32)0x00000002 & CAN->sFIFOMailBox[FIFONumber].RIR;
\r
612 RxMessage->DLC = (u32)0x0000000F & CAN->sFIFOMailBox[FIFONumber].RDTR;
\r
615 RxMessage->FMI = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDTR >> 8);
\r
617 /* Get the data field */
\r
618 RxMessage->Data[0] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDLR;
\r
619 RxMessage->Data[1] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 8);
\r
620 RxMessage->Data[2] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 16);
\r
621 RxMessage->Data[3] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 24);
\r
623 RxMessage->Data[4] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDHR;
\r
624 RxMessage->Data[5] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 8);
\r
625 RxMessage->Data[6] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 16);
\r
626 RxMessage->Data[7] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 24);
\r
628 /* Release the FIFO */
\r
629 CAN_FIFORelease(FIFONumber);
\r
632 /*******************************************************************************
\r
633 * Function Name : CAN_Sleep
\r
634 * Description : Enters the low power mode.
\r
637 * Return : CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
\r
638 *******************************************************************************/
\r
641 u8 SleepStatus = 0;
\r
643 /* Sleep mode entering request */
\r
644 CAN->MCR |= CAN_MCR_SLEEP;
\r
645 SleepStatus = CANSLEEPOK;
\r
647 /* Sleep mode status */
\r
648 if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
\r
650 /* Sleep mode not entered */
\r
651 SleepStatus = CANSLEEPFAILED;
\r
654 /* At this step, sleep mode status */
\r
655 return SleepStatus;
\r
658 /*******************************************************************************
\r
659 * Function Name : CAN_WakeUp
\r
660 * Description : Wakes the CAN up.
\r
663 * Return : CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other
\r
665 *******************************************************************************/
\r
666 u8 CAN_WakeUp(void)
\r
668 u8 WakeUpStatus = 0;
\r
670 /* Wake up request */
\r
671 CAN->MCR &= ~CAN_MCR_SLEEP;
\r
672 WakeUpStatus = CANWAKEUPFAILED;
\r
674 /* Sleep mode status */
\r
675 if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
\r
677 /* Sleep mode exited */
\r
678 WakeUpStatus = CANWAKEUPOK;
\r
681 /* At this step, sleep mode status */
\r
682 return WakeUpStatus;
\r
685 /*******************************************************************************
\r
686 * Function Name : CAN_GetFlagStatus
\r
687 * Description : Checks whether the CAN flag is set or not.
\r
688 * Input : CAN_FLAG: specifies the flag to check.
\r
690 * Return : The new state of CAN_FLAG (SET or RESET).
\r
691 *******************************************************************************/
\r
692 FlagStatus CAN_GetFlagStatus(u32 CAN_FLAG)
\r
694 FlagStatus bitstatus = RESET;
\r
696 /* Check the parameters */
\r
697 assert(IS_CAN_FLAG(CAN_FLAG));
\r
699 /* Check the status of the specified CAN flag */
\r
700 if ((CAN->ESR & CAN_FLAG) != (u32)RESET)
\r
702 /* CAN_FLAG is set */
\r
707 /* CAN_FLAG is reset */
\r
710 /* Return the CAN_FLAG status */
\r
714 /*******************************************************************************
\r
715 * Function Name : CAN_ClearFlag
\r
716 * Description : Clears the CAN's pending flags.
\r
717 * Input : CAN_FLAG: specifies the flag to clear.
\r
720 *******************************************************************************/
\r
721 void CAN_ClearFlag(u32 CAN_FLAG)
\r
723 /* Check the parameters */
\r
724 assert(IS_CAN_FLAG(CAN_FLAG));
\r
726 /* Clear the selected CAN flags */
\r
727 CAN->ESR &= ~CAN_FLAG;
\r
730 /*******************************************************************************
\r
731 * Function Name : CAN_GetITStatus
\r
732 * Description : Checks whether the CAN interrupt has occurred or not.
\r
733 * Input : CAN_IT: specifies the CAN interrupt source to check.
\r
735 * Return : The new state of CAN_IT (SET or RESET).
\r
736 *******************************************************************************/
\r
737 ITStatus CAN_GetITStatus(u32 CAN_IT)
\r
739 ITStatus pendingbitstatus = RESET;
\r
741 /* Check the parameters */
\r
742 assert(IS_CAN_IT(CAN_IT));
\r
747 pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP0);
\r
750 pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP1);
\r
753 pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP2);
\r
756 pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FULL0);
\r
759 pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FOVR0);
\r
762 pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FULL1);
\r
765 pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FOVR1);
\r
768 pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EWGF);
\r
771 pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EPVF);
\r
774 pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_BOFF);
\r
777 pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_SLAKI);
\r
780 pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_WKUI);
\r
784 pendingbitstatus = RESET;
\r
788 /* Return the CAN_IT status */
\r
789 return pendingbitstatus;
\r
792 /*******************************************************************************
\r
793 * Function Name : CAN_ClearITPendingBit
\r
794 * Description : Clears the CAN
\92s interrupt pending bits.
\r
795 * Input : CAN_IT: specifies the interrupt pending bit to clear.
\r
798 *******************************************************************************/
\r
799 void CAN_ClearITPendingBit(u32 CAN_IT)
\r
801 /* Check the parameters */
\r
802 assert(IS_CAN_IT(CAN_IT));
\r
807 CAN->TSR = CAN_TSR_RQCP0; /* rc_w1*/
\r
810 CAN->TSR = CAN_TSR_RQCP1; /* rc_w1*/
\r
813 CAN->TSR = CAN_TSR_RQCP2; /* rc_w1*/
\r
816 CAN->RF0R = CAN_RF0R_FULL0; /* rc_w1*/
\r
819 CAN->RF0R = CAN_RF0R_FOVR0; /* rc_w1*/
\r
822 CAN->RF1R = CAN_RF1R_FULL1; /* rc_w1*/
\r
825 CAN->RF1R = CAN_RF1R_FOVR1; /* rc_w1*/
\r
828 CAN->ESR &= ~ CAN_ESR_EWGF; /* rw */
\r
831 CAN->ESR &= ~ CAN_ESR_EPVF; /* rw */
\r
834 CAN->ESR &= ~ CAN_ESR_BOFF; /* rw */
\r
837 CAN->MSR = CAN_MSR_WKUI; /* rc_w1*/
\r
840 CAN->MSR = CAN_MSR_SLAKI; /* rc_w1*/
\r
847 /*******************************************************************************
\r
848 * Function Name : CheckITStatus
\r
849 * Description : Checks whether the CAN interrupt has occurred or not.
\r
850 * Input : CAN_Reg: specifies the CAN interrupt register to check.
\r
851 * It_Bit: specifies the interrupt source bit to check.
\r
853 * Return : The new state of the CAN Interrupt (SET or RESET).
\r
854 *******************************************************************************/
\r
855 static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit)
\r
857 ITStatus pendingbitstatus = RESET;
\r
859 if ((CAN_Reg & It_Bit) != (u32)RESET)
\r
861 /* CAN_IT is set */
\r
862 pendingbitstatus = SET;
\r
866 /* CAN_IT is reset */
\r
867 pendingbitstatus = RESET;
\r
870 return pendingbitstatus;
\r
873 /******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/
\r