stm32f10x_can.c

ssd1289驱动源码

  /* 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.
  * @note   This function applies only to STM32 Connectivity line devices.
  * @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 specified CANx interrupts.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  CAN_IT: specifies the CAN interrupt sources to be enabled or disabled.
  *   This parameter can be: 
  *        -CAN_IT_TME, 
  *        -CAN_IT_FMP0, 
  *        -CAN_IT_FF0,
  *        -CAN_IT_FOV0, 
  *        -CAN_IT_FMP1, 
  *        -CAN_IT_FF1,
  *        -CAN_IT_FOV1, 
  *        -CAN_IT_EWG, 
  *        -CAN_IT_EPV,
  *        -CAN_IT_LEC, 
  *        -CAN_IT_ERR, 
  *        -CAN_IT_WKU or 
  *        -CAN_IT_SLK.
  * @param  NewState: new state of the CAN interrupts.
  *   This parameter can be: ENABLE or DISABLE.
  * @retval None.
  */
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_IT(CAN_IT));
  assert_param(IS_FUNCTIONAL_STATE(NewState));

  if (NewState != DISABLE)
  {
    /* Enable the selected CANx interrupt */
    CANx->IER |= CAN_IT;
  }
  else
  {
    /* Disable the selected CANx interrupt */
    CANx->IER &= ~CAN_IT;
  }
}

/**
  * @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 datas.
  * @retval The number of the mailbox that is used for transmission
  *   or CAN_NO_MB 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_NO_MB;
  }

  if (transmit_mailbox != CAN_NO_MB)
  {
    /* Set up the Id */
    CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ;
    if (TxMessage->IDE == CAN_ID_STD)
    {
      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 CANTXOK if the CAN driver transmits the message, CANTXFAILED in an other case.
  */
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox)
{
  /* RQCP, TXOK and TME bits */
  uint8_t state = 0;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
  switch (TransmitMailbox)
  {
    case (0): state |= (uint8_t)((CANx->TSR & CAN_TSR_RQCP0) << 2);
      state |= (uint8_t)((CANx->TSR & CAN_TSR_TXOK0) >> 0);
      state |= (uint8_t)((CANx->TSR & CAN_TSR_TME0) >> 26);
      break;
    case (1): state |= (uint8_t)((CANx->TSR & CAN_TSR_RQCP1) >> 6);
      state |= (uint8_t)((CANx->TSR & CAN_TSR_TXOK1) >> 8);
      state |= (uint8_t)((CANx->TSR & CAN_TSR_TME1) >> 27);
      break;
    case (2): state |= (uint8_t)((CANx->TSR & CAN_TSR_RQCP2) >> 14);
      state |= (uint8_t)((CANx->TSR & CAN_TSR_TXOK2) >> 16);
      state |= (uint8_t)((CANx->TSR & CAN_TSR_TME2) >> 28);
      break;
    default:
      state = CANTXFAILED;
      break;
  }
  switch (state)
  {
      /* transmit pending  */
    case (0x0): state = CANTXPENDING;
      break;
      /* transmit failed  */
    case (0x5): state = CANTXFAILED;
      break;
      /* transmit succedeed  */
    case (0x7): state = CANTXOK;
      break;
    default:
      state = CANTXFAILED;
      break;
  }
  return 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 (0): CANx->TSR |= CAN_TSR_ABRQ0;
      break;
    case (1): CANx->TSR |= CAN_TSR_ABRQ1;
      break;
    case (2): CANx->TSR |= CAN_TSR_ABRQ2;
      break;
    default:
      break;
  }
}

/**
  * @brief  Releases a 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  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_STD)
  {
    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 */
  CAN_FIFORelease(CANx, FIFONumber);
}

/**
  * @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 or DISABLE.
  * @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  Enters the low power mode.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @retval CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
  */
uint8_t CAN_Sleep(CAN_TypeDef* CANx)
{
  uint8_t sleepstatus = CANSLEEPFAILED;
  
  /* 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 =  CANSLEEPOK;
  }
  /* At this step, 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 CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other case.
  */
uint8_t CAN_WakeUp(CAN_TypeDef* CANx)
{
  uint32_t wait_slak = SLAK_TIMEOUT;
  uint8_t wakeupstatus = CANWAKEUPFAILED;
  
  /* 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)
  {
   /* Sleep mode exited */
    wakeupstatus = CANWAKEUPOK;
  }
  /* At this step, sleep mode status */
  return (uint8_t)wakeupstatus;
}

/**
  * @brief  Checks whether the specified CAN flag is set or not.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.