📄 csp_can.c
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/*-----------------------------------------------------------------------------
* EUROPE TECHNOLOGIES Software Support
*------------------------------------------------------------------------------
* The software is delivered "AS IS" without warranty or condition of any
* kind, either express, implied or statutory. This includes without
* limitation any warranty or condition with respect to merchantability or
* fitness for any particular purpose, or against the infringements of
* intellectual property rights of others.
*------------------------------------------------------------------------------
*
* File Name : csp_can.c
* Description : Function declarations for Controller Area Network management
* Library Version : 2.00
* Module Version : 1.XX
*
* +----- (NEW | MODify | ADD | DELete)
* |
* No | When Who What
*-----+---+----------+------------------+--------------------------------------
* 000 NEW 01/05/99 Patrice VILCHEZ Creation
* 001 MOD 01/04/01 Olivier MAZUYER Clean up
* 002 MOD 23/05/01 Tristan BONHOMME Clean up
* 003 MOD 26/05/01 Patrice VILCHEZ Set correct ID in SendData function
* Correct SPY mode in ReceiveData
* function
* Use memcpy function in ReceiveData
* function
* 004 MOD 19/11/01 Christophe GARDIN Clean Up
* 005 MOD 11/04/02 Christophe GARDIN Add CSP_CANClose function
*----------------------------------------------------------------------------*/
/******************************************************************************
* Include Files
******************************************************************************/
#include "csp.h"
/******************************************************************************
**************************** F U N C T I O N S ******************************
******************************************************************************/
/******************************************************************************
Function : CSP_CANInit
Description : Switch on the clock, reset the registers and wait for channels
registers initialization (8 * nb channels * core clock period)
and configure the CAN module mode
Inputs :
- <*can> = Pointer to CAN structure
- <mode> = Configure the CAN mode
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANInit(CSP_CAN_T *const can, U32_T mode)
{
/* Local Variables */
U16_T i = 0;
/* Enable CAN Clock */
CSP_CAN_SET_ECR(can, CAN);
/* CAN Software Reset */
CSP_CAN_SET_CR(can, SWRST);
/* Wait for channels registers initialization */
/* This avoid using the interrupt that should take more time to process */
for(i = 0; i < (8u * 32u); i++)
{
}
/* Configure CAN Mode */
CSP_CAN_SET_MR(can, mode);
}
/******************************************************************************
Function : CSP_CANClose
Description : Reset and switch off the clock
Inputs : <*can> = Pointer to CAN structure
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANClose(CSP_CAN_T *const can)
{
/* CAN Software Reset */
CSP_CAN_SET_CR(can, SWRST);
/* Disable CAN Clock */
CSP_CAN_SET_DCR(can, CAN);
}
/******************************************************************************
Function : CSP_CANConfigInterrupt
Description : Configure CAN Interrupts
Inputs :
- <*can> = Pointer to CAN structure
- <int_mode> = Configure the priority level and source type
- <int_mask> = Configure which interrupt bits are activated
- <callback> = Function called through the assembler interrupt handler
Functions called : 创CSP_GET_INTERRUPT_NUMBER创, 创CSP_GICConfigInterrupt创
Returns : None
******************************************************************************/
void CSP_CANConfigInterrupt(CSP_CAN_T *const can,
U32_T int_mode,
U32_T int_mask,
U32_T callback)
{
/* Local Variables */
U8_T int_num = 0;
/* Get Peripheral Interrupt Number */
int_num = CSP_GET_INTERRUPT_NUMBER(can);
/* Disable and clear all interrupt */
CSP_CAN_SET_IDR(can, 0xFFFFFFFF);
CSP_CAN_SET_SIDR(can, 0xFFFFFFFF);
CSP_CAN_SET_CISR(can, 0xFFFFFFFF);
/* Interrupt Enable in Peripheral */
CSP_CAN_SET_IER(can, int_mask);
/* Configure CAN controller interrupt mode in GIC module */
CSP_GICConfigInterrupt(int_num, int_mode, callback);
}
/******************************************************************************
Function : CSP_CANChannelConfigInterrupt
Description : Configure/Enable CAN Channel Interrupt
Inputs :
- <*can> = Pointer to CAN structure
- <channel> = Channel [0-31] to be configured
- <int_mask> = Configure which channel interrupt bits are activated
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANChannelConfigInterrupt(CSP_CAN_T *const can,
U8_T channel,
U32_T int_mask)
{
/* Set Channel Interrupt Enable */
CSP_CAN_CHANNEL_SET_IER(can, channel, int_mask);
/* Set Channel Interrupt Source in CAN Controller */
CSP_CAN_SET_SIER(can, (CSP_CAN_GET_SIMR(can) | (0x1ul << channel)));
}
/******************************************************************************
Function : CSP_CANEnable
Description : Enable CAN (12 祍 is necessary at 30MHz after an enable
command to transfer and receive data)
Inputs : <*can> = Pointer to CAN structure
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANEnable(CSP_CAN_T *const can)
{
/* Enable CAN */
CSP_CAN_SET_CR(can, CANEN);
}
/******************************************************************************
Function : CSP_CANDisable
Description : Disable CAN
Inputs : <*can> = Pointer to CAN structure
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANDisable(CSP_CAN_T *const can)
{
/* Disable CAN */
CSP_CAN_SET_CR(can, CANDIS);
}
/******************************************************************************
Function : CSP_CANReceive
Description : Configure a CAN channel to pick up message from the network
User defines if the message waited is a remote frame or a
data frame.
Inputs :
- <*can> = Pointer to CAN structure
- <channel> = Receiver channel [0-31]
- <id> = Configure the identifier and the remote request
- <mask> = Configure the mask and the remote request
- <control> = Configure the number of byte to receive and the control bits
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANReceive(CSP_CAN_T *const can,
U8_T channel,
U32_T id,
U32_T mask,
U8_T control)
{
if((control & IDE) == IDE)
{
/* Set Id Register (29 bits length) */
CSP_CAN_CHANNEL_SET_IR(can, channel, (((id & 0x1FFC0000ul) >> 18) |
((id & 0x3FFFFul) << 11)) |
(id & 0xE0000000ul));
/* Set Mask Register (29 bits length) */
CSP_CAN_CHANNEL_SET_MSK(can, channel, (((mask & 0x1FFC0000ul) >> 18) |
((mask & 0x3FFFFul) << 11)) |
(mask & 0xE0000000ul));
}
else
{
/* Set Id Register (11 bits length) */
CSP_CAN_CHANNEL_SET_IR(can, channel, (id & 0xE00007FFul));
/* Set Mask Register (11 bits length) */
CSP_CAN_CHANNEL_SET_MSK(can, channel, (mask & 0xE00007FFul));
}
/* Set the length and the receive command */
CSP_CAN_CHANNEL_SET_CR(can, channel, (CHANEN | control));
}
/******************************************************************************
Function : CSP_CANTransmit
Description : Configure a CAN channel to transmit message on the network.
The message can be a remote frame or a data frame.
Inputs :
- <*can> = Pointer to CAN structure
- <channel> = Transmitter channel [0-31]
- <id> = Configure the identifier and the remote request
- <*data> = Pointer to an array where data packet sent is stored
- <control> = Configure the number of byte to transmit and the control bits
Functions called : None
Returns : None
******************************************************************************/
void CSP_CANTransmit(CSP_CAN_T *const can,
U8_T channel,
U32_T id,
U8_T *data,
U16_T control)
{
/* Local Variables */
U8_T i = 0;
U8_T length = (control & 0xF);
U8_T dra_drb[8] = {0, 0, 0, 0, 0, 0, 0, 0}; /* Clear DRA and DRB */
/* Set Id Register */
if((control & IDE) == IDE)
{
/* Set Id Register (29 bits length) */
CSP_CAN_CHANNEL_SET_IR(can, channel, (((id & 0x1FFC0000ul) >> 18) |
((id & 0x3FFFFul) << 11)) |
(id & 0xE0000000ul));
}
else
{
/* Set Id Register (11 bits length) */
CSP_CAN_CHANNEL_SET_IR(can, channel, (id & 0xE00007FFul));
}
/* No copy if remote transmission request */
if((CSP_CAN_CHANNEL_GET_IR(can, channel) & RTR) == 0)
{
/* Copy N bytes in DRA and DRB to Send */
for(i = 0; i < length; i++)
{
dra_drb[i] = data[i];
}
/* The writing in DRA and DRB must be in 32 bits */
CSP_CAN_CHANNEL_SET_DRA(can, channel, (*(U32_T*)&dra_drb[0]));
CSP_CAN_CHANNEL_SET_DRB(can, channel, (*(U32_T*)&dra_drb[4]));
}
/* Set the length and the transmit command */
CSP_CAN_CHANNEL_SET_CR(can, channel, (CHANEN | PCB | control));
}
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