stm32f2xx_can.c

STM32+Grlib

  
  /* Initialize the automatic bus-off management */
  CAN_InitStruct->CAN_ABOM = DISABLE;
  
  /* Initialize the automatic wake-up mode */
  CAN_InitStruct->CAN_AWUM = DISABLE;
  
  /* Initialize the no automatic retransmission */
  CAN_InitStruct->CAN_NART = DISABLE;
  
  /* Initialize the receive FIFO locked mode */
  CAN_InitStruct->CAN_RFLM = DISABLE;
  
  /* Initialize the transmit FIFO priority */
  CAN_InitStruct->CAN_TXFP = DISABLE;
  
  /* Initialize the CAN_Mode member */
  CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
  
  /* Initialize the CAN_SJW member */
  CAN_InitStruct->CAN_SJW = CAN_SJW_1tq;
  
  /* Initialize the CAN_BS1 member */
  CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
  
  /* Initialize the CAN_BS2 member */
  CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
  
  /* Initialize the CAN_Prescaler member */
  CAN_InitStruct->CAN_Prescaler = 1;
}

/**
  * @brief  Select the start bank filter for slave CAN.
  * @param  CAN_BankNumber: Select the start slave bank filter from 1..27.
  * @retval None
  */
void CAN_SlaveStartBank(uint8_t CAN_BankNumber) 
{
  /* Check the parameters */
  assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber));
  
  /* Enter Initialisation mode for the filter */
  CAN1->FMR |= FMR_FINIT;
  
  /* Select the start slave bank */
  CAN1->FMR &= (uint32_t)0xFFFFC0F1 ;
  CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8;
  
  /* Leave Initialisation mode for the filter */
  CAN1->FMR &= ~FMR_FINIT;
}

/**
  * @brief  Enables or disables the DBG Freeze for CAN.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  NewState: new state of the CAN peripheral. 
  *          This parameter can be: ENABLE (CAN reception/transmission is frozen
  *          during debug. Reception FIFOs can still be accessed/controlled normally) 
  *          or DISABLE (CAN is working during debug).
  * @retval None
  */
void CAN_DBGFreeze(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 Debug Freeze  */
    CANx->MCR |= MCR_DBF;
  }
  else
  {
    /* Disable Debug Freeze */
    CANx->MCR &= ~MCR_DBF;
  }
}


/**
  * @brief  Enables or disables the CAN Time TriggerOperation communication mode.
  * @note   DLC must be programmed as 8 in order Time Stamp (2 bytes) to be 
  *         sent over the CAN bus.  
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  NewState: Mode new state. This parameter can be: ENABLE or DISABLE.
  *         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. 
  * @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);
  }
}
/**
  * @}
  */


/** @defgroup CAN_Group2 CAN Frames Transmission functions
 *  @brief    CAN Frames Transmission functions 
 *
@verbatim    
 ===============================================================================
                      CAN Frames Transmission functions
 ===============================================================================  
  This section provides functions allowing to 
   - Initiate and transmit a CAN frame message (if there is an empty mailbox).
   - Check the transmission status of a CAN Frame
   - Cancel a transmit request
   
@endverbatim
  * @{
  */

/**
  * @brief  Initiates and transmits a CAN frame 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 status of a CAN Frame.
  * @param  CANx: where x can be 1 or 2 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 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;
  }
}
/**
  * @}
  */


/** @defgroup CAN_Group3 CAN Frames Reception functions
 *  @brief    CAN Frames Reception functions 
 *
@verbatim    
 ===============================================================================
                      CAN Frames Reception functions
 ===============================================================================  
  This section provides functions allowing to 
   -  Receive a correct CAN frame
   -  Release a specified receive FIFO (2 FIFOs are available)
   -  Return the number of the pending received CAN frames
   
@endverbatim
  * @{
  */

/**
  * @brief  Receives a correct CAN frame.
  * @param  CANx: where x can be 1 or 2 to select the CAN peripheral.
  * @param  FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
  * @param  RxMessage: pointer to a structure receive frame which contains CAN Id,
  *         CAN DLC, CAN data 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 receive FIFO.
  * @param  CANx: where x can be 1 or 2 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 received messages.
  * @param  CANx: where x can be 1 or 2 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;
}
/**
  * @}
  */


/** @defgroup CAN_Group4 CAN Operation modes functions
 *  @brief    CAN Operation modes functions 
 *
@verbatim    
 ===============================================================================
                      CAN Operation modes functions
 ===============================================================================  
  This section provides functions allowing to select the CAN Operation modes
  - sleep mode