📄 73x_can.c
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/* Output : None */
/* Return : 1 if transmission was OK, else 0 */
/* Note : CAN must be in BASIC mode */
/*********************************************************************************/
u32 CAN_BasicSendMessage(CAN_TypeDef *CANx, canmsg* pCanMsg)
{
/* clear NewDat bit in IF2 to detect next reception*/
CANx->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT;
CANx->SR &= ~CAN_SR_TXOK;
CANx->sMsgObj[0].CMR = CAN_CMR_WRRD
| CAN_CMR_ARB
| CAN_CMR_CONTROL
| CAN_CMR_DATAA
| CAN_CMR_DATAB;
if (pCanMsg->IdType == CAN_STD_ID)
{
/* standard ID*/
CANx->sMsgObj[0].A1R = 0;
CANx->sMsgObj[0].A2R = (CANx->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
}
else
{
/* extended ID*/
CANx->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
CANx->sMsgObj[0].A2R = ((CANx->sMsgObj[0].A2R) & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
}
CANx->sMsgObj[0].MCR = (CANx->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc;
CANx->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
CANx->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
CANx->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
CANx->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
/* request transmission*/
CANx->sMsgObj[0].CRR = CAN_CRR_BUSY | (1 + 0);
return 1;
}
/***********************************************************************************/
/* Function Name : CAN_BasicReceiveMessage */
/* Description : Get the message in BASIC mode, if received */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral */
/* -Pointer to the message structure where received data is stored*/
/* Output : None */
/* Return : 1 if reception was OK, else 0 (no message pending) */
/* Note : CAN must be in BASIC mode */
/***********************************************************************************/
u32 CAN_BasicReceiveMessage(CAN_TypeDef *CANx, canmsg* pCanMsg)
{
u32 tmpId0 = 0;
u32 tmpId1 = 0;
if ((CANx->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0)
return 0;
CANx->SR &= ~CAN_SR_RXOK;
CANx->sMsgObj[1].CMR = CAN_CMR_ARB
| CAN_CMR_CONTROL
| CAN_CMR_DATAA
| CAN_CMR_DATAB;
if ((CANx->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
{
/* standard ID*/
pCanMsg->IdType = CAN_STD_ID;
pCanMsg->Id = (CANx->sMsgObj[1].A2R >> 2) & 0x07FF;
}
else
{
/* extended ID*/
pCanMsg->IdType = CAN_EXT_ID;
tmpId0 = ((u32)CANx->sMsgObj[1].A1R << 11);
tmpId1 = (((u32)CANx->sMsgObj[1].A2R & 0x0003) << 27);
pCanMsg->Id = ((CANx->sMsgObj[1].A2R >> 2) & 0x07FF) |tmpId0 | tmpId1;
}
pCanMsg->Dlc = CANx->sMsgObj[1].MCR & 0x0F;
pCanMsg->Data[0] = (u8) CANx->sMsgObj[1].DA1R;
pCanMsg->Data[1] = (u8)(CANx->sMsgObj[1].DA1R >> 8);
pCanMsg->Data[2] = (u8) CANx->sMsgObj[1].DA2R;
pCanMsg->Data[3] = (u8)(CANx->sMsgObj[1].DA2R >> 8);
pCanMsg->Data[4] = (u8) CANx->sMsgObj[1].DB1R;
pCanMsg->Data[5] = (u8)(CANx->sMsgObj[1].DB1R >> 8);
pCanMsg->Data[6] = (u8) CANx->sMsgObj[1].DB2R;
pCanMsg->Data[7] = (u8)(CANx->sMsgObj[1].DB2R >> 8);
return 1;
}
/********************************************************************************/
/* Function Name : CAN_EnterInitMode */
/* Description : Switch the CAN into initialization mode */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* -Any binary value formed from the CAN_CR_xxx defines */
/* Output : None */
/* Return : None */
/* Note : CAN_LeaveInitMode must be called when all is done */
/********************************************************************************/
void CAN_EnterInitMode(CAN_TypeDef *CANx, u8 mask)
{
CANx->CR = mask | CAN_CR_INIT;
CANx->SR = 0; /* reset the status*/
}
/********************************************************************************/
/* Function Name : CAN_LeaveInitMode */
/* Description : Leave the initialization mode (switch into normal mode) */
/* Input : CANx: where x can be 0, 1 or 2 to select the CAN peripheral */
/* Output : None */
/* Return : None */
/********************************************************************************/
void CAN_LeaveInitMode(CAN_TypeDef *CANx)
{
CANx->CR &= ~(CAN_CR_INIT | CAN_CR_CCE);
}
/********************************************************************************/
/* Function Name : CAN_EnterTestMode */
/* Description : Switch the CAN into test mode */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* -Any binary value formed from the CAN_TST_xxx defines */
/* Output : None */
/* Return : None */
/* Note : CAN_LeaveTestMode must be called when all is done */
/********************************************************************************/
void CAN_EnterTestMode(CAN_TypeDef *CANx, u8 mask)
{
CANx->CR |= CAN_CR_TEST;
CANx->TESTR |= mask;
}
/*******************************************************************************/
/* Function Name : CAN_LeaveTestMode */
/* Description : Leave the current test mode (switch into normal mode) */
/* Input : CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* Output : None */
/* Return : None */
/*******************************************************************************/
void CAN_LeaveTestMode(CAN_TypeDef *CANx)
{
CANx->CR |= CAN_CR_TEST;
CANx->TESTR &= ~(CAN_TESTR_LBACK | CAN_TESTR_SILENT | CAN_TESTR_BASIC);
CANx->CR &= ~CAN_CR_TEST;
}
/********************************************************************************/
/* Function Name : CAN_ReleaseTxMessage */
/* Description : Release the transmit message object */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* -Message object number, from 0 to 31 */
/* Output : None */
/* Return : None */
/* Note : assume that message interface 0 is free */
/********************************************************************************/
void CAN_ReleaseTxMessage(CAN_TypeDef *CANx, u32 msgobj)
{
CANx->sMsgObj[0].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
CANx->sMsgObj[0].CRR = 1 + msgobj;
}
/********************************************************************************/
/* Function Name : CAN_ReleaseRxMessage */
/* Description : Release the receive message object */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* -Message object number, from 0 to 31 */
/* Output : None */
/* Return : None */
/* Note : assume that message interface 1 is free */
/********************************************************************************/
void CAN_ReleaseRxMessage(CAN_TypeDef *CANx, u32 msgobj)
{
CANx->sMsgObj[1].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQSTNEWDAT;
CANx->sMsgObj[1].CRR = 1 + msgobj;
}
/********************************************************************************/
/* Function Name : CAN_IsMessageWaiting */
/* Description : Test the waiting status of a received message */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* -Message object number, from 0 to 31 */
/* Output : None */
/* Return : A non-zero value if the corresponding message object has */
/* received a message waiting to be copied, else 0 */
/********************************************************************************/
u32 CAN_IsMessageWaiting(CAN_TypeDef *CANx, u32 msgobj)
{
return (msgobj < 16 ? CANx->ND1R & (1 << msgobj) : CANx->ND2R & (1 << (msgobj-16)));
}
/********************************************************************************/
/* Function Name : CAN_IsTransmitRequested */
/* Description : Test the request status of a transmitted message */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral*/
/* -Message object number, from 0 to 31 */
/* Output : None */
/* Return : A non-zero value if the corresponding message is requested */
/* to transmit, else 0 */
/********************************************************************************/
u32 CAN_IsTransmitRequested(CAN_TypeDef *CANx, u32 msgobj)
{
return (msgobj < 16 ? CANx->TXR1R & (1 << msgobj) : CANx->TXR2R & (1 << (msgobj-16)));
}
/**********************************************************************************/
/* Function Name : CAN_IsInterruptPending */
/* Description : Test the interrupt status of a message object */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral */
/* -Message object number, from 0 to 31 */
/* Output : None */
/* Return : A non-zero value if the corresponding message has an interrupt*/
/* pending, else 0 */
/**********************************************************************************/
u32 CAN_IsInterruptPending(CAN_TypeDef *CANx, u32 msgobj)
{
return (msgobj < 16 ? CANx->IP1R & (1 << msgobj) : CANx->IP2R & (1 << (msgobj-16)));
}
/**********************************************************************************/
/* Function Name : CAN_IsObjectValid */
/* Description : Test the validity of a message object (ready to use) */
/* Input : -CANx: where x can be 0, 1 or 2 to select the CAN peripheral */
/* -Message object number, from 0 to 31 */
/* Output : None */
/* Return : A non-zero value if the corresponding message object is valid,*/
/* else 0 */
/**********************************************************************************/
u32 CAN_IsObjectValid(CAN_TypeDef *CANx, u32 msgobj)
{
return (msgobj < 16 ? CANx->MV1R & (1 << msgobj) : CANx->MV2R & (1 << (msgobj-16)));
}
/******************* (C) COPYRIGHT 2005 STMicroelectronics *****END OF FILE****/
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