stm32f10x_can.c

UCOS-III

  * @param  NewState : Mode new state , can be one of @ref FunctionalState.
  * @note   when enabled, Time stamp (TIME[15:0]) value is sent in the last 
  *         two data bytes of the 8-byte message: TIME[7:0] in data byte 6 
  *         and TIME[15:8] in data byte 7 
  * @note   DLC must be programmed as 8 in order Time Stamp (2 bytes) to be 
  *         sent over the CAN bus.  
  * @retval None
  */
void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_FUNCTIONAL_STATE(NewState));
  if (NewState != DISABLE)
  {
    /* Enable the TTCM mode */
    CANx->MCR |= CAN_MCR_TTCM;

    /* Set TGT bits */
    CANx->sTxMailBox[0].TDTR |= ((uint32_t)CAN_TDT0R_TGT);
    CANx->sTxMailBox[1].TDTR |= ((uint32_t)CAN_TDT1R_TGT);
    CANx->sTxMailBox[2].TDTR |= ((uint32_t)CAN_TDT2R_TGT);
  }
  else
  {
    /* Disable the TTCM mode */
    CANx->MCR &= (uint32_t)(~(uint32_t)CAN_MCR_TTCM);

    /* Reset TGT bits */
    CANx->sTxMailBox[0].TDTR &= ((uint32_t)~CAN_TDT0R_TGT);
    CANx->sTxMailBox[1].TDTR &= ((uint32_t)~CAN_TDT1R_TGT);
    CANx->sTxMailBox[2].TDTR &= ((uint32_t)~CAN_TDT2R_TGT);
  }
}
/**
  * @brief  Initiates the transmission of a message.
  * @param  CANx:      where x can be 1 or 2 to to select the CAN peripheral.
  * @param  TxMessage: pointer to a structure which contains CAN Id, CAN
  *                    DLC and CAN data.
  * @retval The number of the mailbox that is used for transmission
  *                    or CAN_TxStatus_NoMailBox if there is no empty mailbox.
  */
uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage)
{
  uint8_t transmit_mailbox = 0;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
  assert_param(IS_CAN_RTR(TxMessage->RTR));
  assert_param(IS_CAN_DLC(TxMessage->DLC));

  /* Select one empty transmit mailbox */
  if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
  {
    transmit_mailbox = 0;
  }
  else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
  {
    transmit_mailbox = 1;
  }
  else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
  {
    transmit_mailbox = 2;
  }
  else
  {
    transmit_mailbox = CAN_TxStatus_NoMailBox;
  }

  if (transmit_mailbox != CAN_TxStatus_NoMailBox)
  {
    /* Set up the Id */
    CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ;
    if (TxMessage->IDE == CAN_Id_Standard)
    {
      assert_param(IS_CAN_STDID(TxMessage->StdId));  
      CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \
                                                  TxMessage->RTR);
    }
    else
    {
      assert_param(IS_CAN_EXTID(TxMessage->ExtId));
      CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \
                                                  TxMessage->IDE | \
                                                  TxMessage->RTR);
    }
    
    /* Set up the DLC */
    TxMessage->DLC &= (uint8_t)0x0000000F;
    CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0;
    CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC;

    /* Set up the data field */
    CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) | 
                                             ((uint32_t)TxMessage->Data[2] << 16) |
                                             ((uint32_t)TxMessage->Data[1] << 8) | 
                                             ((uint32_t)TxMessage->Data[0]));
    CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) | 
                                             ((uint32_t)TxMessage->Data[6] << 16) |
                                             ((uint32_t)TxMessage->Data[5] << 8) |
                                             ((uint32_t)TxMessage->Data[4]));
    /* Request transmission */
    CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ;
  }
  return transmit_mailbox;
}

/**
  * @brief  Checks the transmission of a message.
  * @param  CANx:            where x can be 1 or 2 to to select the 
  *                          CAN peripheral.
  * @param  TransmitMailbox: the number of the mailbox that is used for 
  *                          transmission.
  * @retval CAN_TxStatus_Ok if the CAN driver transmits the message, CAN_TxStatus_Failed 
  *         in an other case.
  */
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox)
{
  uint32_t state = 0;

  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
 
  switch (TransmitMailbox)
  {
    case (CAN_TXMAILBOX_0): 
      state =   CANx->TSR &  (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
      break;
    case (CAN_TXMAILBOX_1): 
      state =   CANx->TSR &  (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
      break;
    case (CAN_TXMAILBOX_2): 
      state =   CANx->TSR &  (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
      break;
    default:
      state = CAN_TxStatus_Failed;
      break;
  }
  switch (state)
  {
      /* transmit pending  */
    case (0x0): state = CAN_TxStatus_Pending;
      break;
      /* transmit failed  */
     case (CAN_TSR_RQCP0 | CAN_TSR_TME0): state = CAN_TxStatus_Failed;
      break;
     case (CAN_TSR_RQCP1 | CAN_TSR_TME1): state = CAN_TxStatus_Failed;
      break;
     case (CAN_TSR_RQCP2 | CAN_TSR_TME2): state = CAN_TxStatus_Failed;
      break;
      /* transmit succeeded  */
    case (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0):state = CAN_TxStatus_Ok;
      break;
    case (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1):state = CAN_TxStatus_Ok;
      break;
    case (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2):state = CAN_TxStatus_Ok;
      break;
    default: state = CAN_TxStatus_Failed;
      break;
  }
  return (uint8_t) state;
}

/**
  * @brief  Cancels a transmit request.
  * @param  CANx:     where x can be 1 or 2 to to select the CAN peripheral. 
  * @param  Mailbox:  Mailbox number.
  * @retval None.
  */
void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox));
  /* abort transmission */
  switch (Mailbox)
  {
    case (CAN_TXMAILBOX_0): CANx->TSR |= CAN_TSR_ABRQ0;
      break;
    case (CAN_TXMAILBOX_1): CANx->TSR |= CAN_TSR_ABRQ1;
      break;
    case (CAN_TXMAILBOX_2): CANx->TSR |= CAN_TSR_ABRQ2;
      break;
    default:
      break;
  }
}


/**
  * @brief  Receives a message.
  * @param  CANx:       where x can be 1 or 2 to to select the CAN peripheral.
  * @param  FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
  * @param  RxMessage:  pointer to a structure receive message which contains 
  *                     CAN Id, CAN DLC, CAN datas and FMI number.
  * @retval None.
  */
void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_FIFO(FIFONumber));
  /* Get the Id */
  RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONumber].RIR;
  if (RxMessage->IDE == CAN_Id_Standard)
  {
    RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 21);
  }
  else
  {
    RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 3);
  }
  
  RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONumber].RIR;
  /* Get the DLC */
  RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONumber].RDTR;
  /* Get the FMI */
  RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDTR >> 8);
  /* Get the data field */
  RxMessage->Data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDLR;
  RxMessage->Data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 8);
  RxMessage->Data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 16);
  RxMessage->Data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 24);
  RxMessage->Data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDHR;
  RxMessage->Data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 8);
  RxMessage->Data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 16);
  RxMessage->Data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 24);
  /* Release the FIFO */
  /* Release FIFO0 */
  if (FIFONumber == CAN_FIFO0)
  {
    CANx->RF0R |= CAN_RF0R_RFOM0;
  }
  /* Release FIFO1 */
  else /* FIFONumber == CAN_FIFO1 */
  {
    CANx->RF1R |= CAN_RF1R_RFOM1;
  }
}

/**
  * @brief  Releases the specified FIFO.
  * @param  CANx:       where x can be 1 or 2 to to select the CAN peripheral. 
  * @param  FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
  * @retval None.
  */
void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_FIFO(FIFONumber));
  /* Release FIFO0 */
  if (FIFONumber == CAN_FIFO0)
  {
    CANx->RF0R |= CAN_RF0R_RFOM0;
  }
  /* Release FIFO1 */
  else /* FIFONumber == CAN_FIFO1 */
  {
    CANx->RF1R |= CAN_RF1R_RFOM1;
  }
}

/**
  * @brief  Returns the number of pending messages.
  * @param  CANx:       where x can be 1 or 2 to to select the CAN peripheral.
  * @param  FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
  * @retval NbMessage : which is the number of pending message.
  */
uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber)
{
  uint8_t message_pending=0;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_FIFO(FIFONumber));
  if (FIFONumber == CAN_FIFO0)
  {
    message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03);
  }
  else if (FIFONumber == CAN_FIFO1)
  {
    message_pending = (uint8_t)(CANx->RF1R&(uint32_t)0x03);
  }
  else
  {
    message_pending = 0;
  }
  return message_pending;
}


/**
  * @brief   Select the CAN Operation mode.
  * @param CAN_OperatingMode : CAN Operating Mode. This parameter can be one 
  *                            of @ref CAN_OperatingMode_TypeDef enumeration.
  * @retval status of the requested mode which can be 
  *         - CAN_ModeStatus_Failed    CAN failed entering the specific mode 
  *         - CAN_ModeStatus_Success   CAN Succeed entering the specific mode 

  */
uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode)
{
  uint8_t status = CAN_ModeStatus_Failed;
  
  /* Timeout for INAK or also for SLAK bits*/
  uint32_t timeout = INAK_TIMEOUT; 

  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_OPERATING_MODE(CAN_OperatingMode));

  if (CAN_OperatingMode == CAN_OperatingMode_Initialization)
  {
    /* Request initialisation */
    CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_SLEEP)) | CAN_MCR_INRQ);

    /* Wait the acknowledge */
    while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) && (timeout != 0))
    {
      timeout--;
    }
    if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK)
    {
      status = CAN_ModeStatus_Failed;
    }
    else
    {
      status = CAN_ModeStatus_Success;
    }
  }
  else  if (CAN_OperatingMode == CAN_OperatingMode_Normal)
  {
    /* Request leave initialisation and sleep mode  and enter Normal mode */
    CANx->MCR &= (uint32_t)(~(CAN_MCR_SLEEP|CAN_MCR_INRQ));

    /* Wait the acknowledge */
    while (((CANx->MSR & CAN_MODE_MASK) != 0) && (timeout!=0))
    {
      timeout--;
    }
    if ((CANx->MSR & CAN_MODE_MASK) != 0)
    {
      status = CAN_ModeStatus_Failed;
    }
    else
    {
      status = CAN_ModeStatus_Success;
    }
  }
  else  if (CAN_OperatingMode == CAN_OperatingMode_Sleep)
  {
    /* Request Sleep mode */
    CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);

    /* Wait the acknowledge */
    while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) && (timeout!=0))
    {
      timeout--;
    }
    if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK)
    {
      status = CAN_ModeStatus_Failed;
    }
    else
    {
      status = CAN_ModeStatus_Success;
    }
  }
  else
  {
    status = CAN_ModeStatus_Failed;
  }

  return  (uint8_t) status;
}

/**
  * @brief  Enters the low power mode.
  * @param  CANx:   where x can be 1 or 2 to to select the CAN peripheral.
  * @retval status: CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed in an 
  *                 other case.
  */
uint8_t CAN_Sleep(CAN_TypeDef* CANx)
{
  uint8_t sleepstatus = CAN_Sleep_Failed;
  
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
    
  /* Request Sleep mode */
   CANx->MCR = (((CANx->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
   
  /* Sleep mode status */
  if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK)
  {
    /* Sleep mode not entered */
    sleepstatus =  CAN_Sleep_Ok;
  }
  /* return sleep mode status */
   return (uint8_t)sleepstatus;
}

/**
  * @brief  Wakes the CAN up.
  * @param  CANx:    where x can be 1 or 2 to to select the CAN peripheral.
  * @retval status:  CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed in an 
  *                  other case.
  */
uint8_t CAN_WakeUp(CAN_TypeDef* CANx)
{
  uint32_t wait_slak = SLAK_TIMEOUT;
  uint8_t wakeupstatus = CAN_WakeUp_Failed;
  
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
    
  /* Wake up request */
  CANx->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
    
  /* Sleep mode status */
  while(((CANx->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)&&(wait_slak!=0x00))
  {
   wait_slak--;
  }
  if((CANx->MSR & CAN_MSR_SLAK) != CAN_MSR_SLAK)
  {
   /* wake up done : Sleep mode exited */
    wakeupstatus = CAN_WakeUp_Ok;
  }
  /* return wakeup status */
  return (uint8_t)wakeupstatus;
}


/**
  * @brief  Returns the CANx's last error code (LEC).
  * @param  CANx:          where x can be 1 or 2 to to select the CAN peripheral.  
  * @retval CAN_ErrorCode: specifies the Error code : 
  *                        - CAN_ERRORCODE_NoErr            No Error  
  *                        - CAN_ERRORCODE_StuffErr         Stuff Error
  *                        - CAN_ERRORCODE_FormErr          Form Error
  *                        - CAN_ERRORCODE_ACKErr           Acknowledgment Error
  *                        - CAN_ERRORCODE_BitRecessiveErr  Bit Recessive Error
  *                        - CAN_ERRORCODE_BitDominantErr   Bit Dominant Error
  *                        - CAN_ERRORCODE_CRCErr           CRC Error
  *                        - CAN_ERRORCODE_SoftwareSetErr   Software Set Error  
  */
 
uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx)
{
  uint8_t errorcode=0;
  
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  
  /* Get the error code*/
  errorcode = (((uint8_t)CANx->ESR) & (uint8_t)CAN_ESR_LEC);
  
  /* Return the error code*/
  return errorcode;
}
/**
  * @brief  Returns the CANx Receive Error Counter (REC).
  * @note   In case of an error during reception, this counter is incremented 
  *         by 1 or by 8 depending on the error condition as defined by the CAN 
  *         standard. After every successful reception, the counter is 
  *         decremented by 1 or reset to 120 if its value was higher than 128. 
  *         When the counter value exceeds 127, the CAN controller enters the 
  *         error passive state.  
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.  
  * @retval CAN Receive Error Counter.