📄 91x_can.c
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CAN->sMsgObj[0].A1R = 0;
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
}
else
{
/* extended ID */
CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | CAN_A2R_XTD | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
}
CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc;
CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
/* request the transmission*/
CAN->sMsgObj[0].CRR = CAN_CRR_BUSY;
return SUCCESS;
}
/*******************************************************************************
* Function Name : CAN_BasicReceiveMessage
* Description : Gets the message in BASIC mode, if received. This mode does
* not use the message RAM.
* Input : pCanMsg: pointer to the message structure where message is copied.
* Output : None
* Return : An ErrorStatus enumuration value:
* - SUCCESS: Reception OK
* - ERROR: No message pending
*******************************************************************************/
ErrorStatus CAN_BasicReceiveMessage(canmsg* pCanMsg)
{
u32 tmpId;
if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0)
{
return ERROR;
}
CAN->SR &= ~CAN_SR_RXOK;
CAN->sMsgObj[1].CMR = CAN_CMR_ARB
| CAN_CMR_CONTROL
| CAN_CMR_DATAA
| CAN_CMR_DATAB;
if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
{
/* standard ID*/
pCanMsg->IdType = CAN_STD_ID;
pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
}
else
{
/* extended ID*/
pCanMsg->IdType = CAN_EXT_ID;
tmpId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16);
pCanMsg->Id = CAN->sMsgObj[1].A1R | tmpId;
}
pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
return SUCCESS;
}
/*******************************************************************************
* Function Name : CAN_EnterInitMode
* Description : Switchs the CAN into initialization mode. This function must
* be used in conjunction with CAN_LeaveInitMode().
* Input : InitMask: specifies the CAN configuration in normal mode.
* Output : None
* Return : None
*******************************************************************************/
void CAN_EnterInitMode(u8 InitMask)
{
CAN->CR = InitMask | CAN_CR_INIT;
CAN->SR = 0; /* reset the status*/
}
/*******************************************************************************
* Function Name : CAN_LeaveInitMode
* Description : Leaves the initialization mode (switch into normal mode).
* This function must be used in conjunction with CAN_EnterInitMode().
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void CAN_LeaveInitMode(void)
{
CAN->CR &= ~(CAN_CR_INIT | CAN_CR_CCE);
}
/*******************************************************************************
* Function Name : CAN_EnterTestMode
* Description : Switchs the CAN into test mode. This function must be used in
* conjunction with CAN_LeaveTestMode().
* Input : TestMask: specifies the configuration in test modes.
* Output : None
* Return : None
*******************************************************************************/
void CAN_EnterTestMode(u8 TestMask)
{
CAN->CR |= CAN_CR_TEST;
CAN->TESTR |= TestMask;
}
/*******************************************************************************
* Function Name : CAN_LeaveTestMode
* Description : Leaves the current test mode (switch into normal mode).
* This function must be used in conjunction with CAN_EnterTestMode().
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void CAN_LeaveTestMode(void)
{
CAN->CR |= CAN_CR_TEST;
CAN->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC);
CAN->CR &= ~CAN_CR_TEST;
}
/*******************************************************************************
* Function Name : CAN_ReleaseTxMessage
* Description : Releases the transmit message object.
* Input : - msgobj: specifies the Message object number, from 0 to 31.
* Output : None
* Return : None
*******************************************************************************/
void CAN_ReleaseTxMessage(u32 msgobj)
{
CAN->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
CAN->sMsgObj[0].CRR = 1 + msgobj;
}
/*******************************************************************************
* Function Name : CAN_ReleaseRxMessage
* Description : Releases the receive message object.
* Input : - msgobj: specifies the Message object number, from 0 to 31.
* Output : None
* Return : None
*******************************************************************************/
void CAN_ReleaseRxMessage(u32 msgobj)
{
CAN->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
CAN->sMsgObj[1].CRR = 1 + msgobj;
}
/*******************************************************************************
* Function Name : CAN_GetMsgReceiveStatus
* Description : Test the waiting status of a received message
* Input 1 : message object number, from 0 to 31
* Output : None
* Return : SET value if the corresponding message object has
* received a message waiting to be copied, else RESET
*******************************************************************************/
FlagStatus CAN_GetMsgReceiveStatus(u32 msgobj)
{
if( msgobj < 16 )
{
if ( CAN->ND1R & (1 << msgobj) )
return SET;
else
return RESET;
}
else
{
if ( CAN->ND2R & (1 << (msgobj - 16) ) )
return SET;
else
return RESET;
}
}
/*******************************************************************************
* Function Name : CAN_GetMsgTransmitRequestStatus
* Description : Test the request status of a transmitted message
* Input 1 : message object number, from 0 to 31
* Output : None
* Return : SET if the corresponding message is requested
* to transmit, else RESET
*******************************************************************************/
FlagStatus CAN_GetMsgTransmitRequestStatus(u32 msgobj)
{
if( msgobj < 16 )
{
if ( CAN->TXR1R & (1 << msgobj) )
return SET;
else
return RESET;
}
else
{
if ( CAN->TXR2R & (1 << (msgobj - 16) ) )
return SET;
else
return RESET;
}
}
/*******************************************************************************
* Function Name : CAN_GetMsgInterruptStatus
* Description : Test the interrupt status of a message object
* Input 1 : message object number, from 0 to 31
* Output : None
* Return : SET if the corresponding message has an
* interrupt pending, else RESET
*******************************************************************************/
FlagStatus CAN_GetMsgInterruptStatus(u32 msgobj)
{
if( msgobj < 16 )
{
if ( CAN->IP1R & (1 << msgobj) )
return SET;
else
return RESET;
}
else
{
if ( CAN->IP2R & (1 << (msgobj - 16) ) )
return SET;
else
return RESET;
}
}
/*******************************************************************************
* Function Name : CAN_GetMsgValidStatus
* Description : Test the validity of a message object (ready to use)
* Input 1 : message object number, from 0 to 31
* Output : None
* Return : SET if the corresponding message object is valid
* else RESET
*******************************************************************************/
FlagStatus CAN_GetMsgValidStatus(u32 msgobj)
{
if( msgobj < 16 )
{
if ( CAN->MV1R & (1 << msgobj) )
return SET;
else
return RESET;
}
else
{
if ( CAN->MV2R & (1 << (msgobj - 16) ) )
return SET;
else
return RESET;
}
}
/*******************************************************************************
* Function Name : CAN_GetFlagStatus
* Description : Returns the flasg status of the flag passed in parameter
* Input : One of the following parameters:
* - CAN_SR_TXOK
* - CAN_SR_RXOK
* - CAN_SR_EPASS
* - CAN_SR_EWARN
* - CAN_SR_BOFF
* Output : None
* Return : 1 if the flag is set else 0
*******************************************************************************/
FlagStatus CAN_GetFlagStatus ( u32 CAN_Flag )
{
if( CAN->SR & CAN_Flag)
{
return SET;
}
else
return RESET;
}
/*******************************************************************************
* Function Name : CAN_GetTransmitErrorCounter
* Description : Reads the CAN cell transmit error counter
* Input : None
* Output : None
* Return : Transmit Error Counter value between 0..255
*******************************************************************************/
u32 CAN_GetTransmitErrorCounter ( void )
{
return( CAN->ERR & 0x00FF );
}
/*******************************************************************************
* Function Name : CAN_GetReceiveErrorCounter
* Description : Reads the CAN cell receive error counter
* Input : None
* Output : None
* Return : Receive Error Counter value between 0..127
*******************************************************************************/
u32 CAN_GetReceiveErrorCounter ( void )
{
return ( ( CAN->ERR & 0x7F00 ) >> 8);
}
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/
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