📄 75x_can.c
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* Return : An ErrorStatus enumuration value:
* - SUCCESS: Transmission ended
* - ERROR: Transmission did not occur yet
*******************************************************************************/
ErrorStatus CAN_WaitEndOfTx(void)
{
if ((CAN->SR & CAN_SR_TXOK) == 0)
{
return ERROR;
}
CAN->SR &= ~CAN_SR_TXOK;
return SUCCESS;
}
/*******************************************************************************
* Function Name : CAN_BasicSendMessage
* Description : Starts transmission of a message in BASIC mode. This mode
* does not use the message RAM.
* Input : pCanMsg: Pointer to the message structure containing data to
* transmit.
* Output : None
* Return : An ErrorStatus enumuration value:
* - SUCCESS: Transmission OK
* - ERROR: No transmission
*******************************************************************************/
ErrorStatus CAN_BasicSendMessage(canmsg* pCanMsg)
{
/* clear NewDat bit in IF2 to detect next reception*/
CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT;
CAN->SR &= ~CAN_SR_TXOK;
CAN->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*/
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) | 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 transmission*/
if (CAN->sMsgObj[0].CRR == CAN_CRR_BUSY )
{
return ERROR;
}
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)
{
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;
pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF);
pCanMsg->Id |= ((u32)CAN->sMsgObj[1].A1R << 11);
pCanMsg->Id |= (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
}
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_IsMessageWaiting
* Description : Tests the waiting status of a received message.
* Input : - msgobj: specifies the 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(u32 msgobj)
{
return (msgobj < 16 ? CAN->ND1R & (1 << msgobj) : CAN->ND2R & (1 << (msgobj-16)));
}
/*******************************************************************************
* Function Name : CAN_IsTransmitRequested
* Description : Tests the request status of a transmitted message.
* Input : - msgobj: specifies the 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(u32 msgobj)
{
return (msgobj < 16 ? CAN->TXR1R & (1 << msgobj) : CAN->TXR2R & (1 << (msgobj-16)));
}
/*******************************************************************************
* Function Name : CAN_IsInterruptPending
* Description : Tests the interrupt status of a message object.
* Input : - msgobj: specifies the 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(u32 msgobj)
{
return (msgobj < 16 ? CAN->IP1R & (1 << msgobj) : CAN->IP2R & (1 << (msgobj-16)));
}
/*******************************************************************************
* Function Name : CAN_IsObjectValid
* Description : Tests the validity of a message object (ready to use).
* Input : - msgobj: specifies the 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(u32 msgobj)
{
return (msgobj < 16 ? CAN->MV1R & (1 << msgobj) : CAN->MV2R & (1 << (msgobj-16)));
}
/******************* (C) COPYRIGHT 2006 STMicroelectronics *****END OF FILE****/
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