71x_can.c

STR7系列32位ARM控制器的固件库

  {
    /* standard ID */
    pCanMsg->IdType = CAN_STD_ID;
    pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
  }
  else
  {
    /* extended ID*/
    pCanMsg->IdType = CAN_EXT_ID;
    tempId = ((u32)(CAN->sMsgObj[1].A2R & 0x1FFF) << 16);
    pCanMsg->Id  = CAN->sMsgObj[1].A1R | tempId;

  }

  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 1;
}

/*******************************************************************************
* Function Name  : CAN_WaitEndOfTx
* Description    : Wait until current transmission is finished
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void CAN_WaitEndOfTx( void )
{
  while ((CAN->SR & CAN_SR_TXOK) == 0)
  {
    /*Wait*/
  }
  CAN->SR &= ~CAN_SR_TXOK;
}

/*******************************************************************************
* Function Name  : CAN_BasicSendMessage
* Description    : Start transmission of a message in BASIC mode
* Input 1        : pointer to the message structure containing data to transmit
* Output         : None
* Return         : 1 if transmission was OK, else 0
* Note           : CAN must be in BASIC mode
*******************************************************************************/
u32 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) | 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 transmission */
  CAN->sMsgObj[0].CRR = CAN_CRR_BUSY | (1 + 0);

  return 1;
}

/*******************************************************************************
* Function Name  : CAN_BasicReceiveMessage
* Description    : Get the message in BASIC mode, if received
* Input 1        : 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(canmsg* pCanMsg)
{
  u32  tmpId = 0;

  if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0)
  {
    return 0;
  }

  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 1;
}

/*******************************************************************************
* 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->TR1R & (1 << msgobj) ) 
        return SET;
    else
        return RESET;
  } 
  else
  {
     if ( CAN->TR2R & (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****/