lib_at91sam7x256.h

CANopen 协议栈源码 ,实现基本的CANopen 协议

}

/* *****************************************************************************
                SOFTWARE API FOR PMC
   ***************************************************************************** */
//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_CfgSysClkEnableReg
//* \brief Configure the System Clock Enable Register of the PMC controller
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_CfgSysClkEnableReg (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int mode)
{
	//* Write to the SCER register
	pPMC->PMC_SCER = mode;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_CfgSysClkDisableReg
//* \brief Configure the System Clock Disable Register of the PMC controller
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_CfgSysClkDisableReg (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int mode)
{
	//* Write to the SCDR register
	pPMC->PMC_SCDR = mode;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_GetSysClkStatusReg
//* \brief Return the System Clock Status Register of the PMC controller
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_GetSysClkStatusReg (
	AT91PS_PMC pPMC // pointer to a CAN controller
	)
{
	return pPMC->PMC_SCSR;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_EnablePeriphClock
//* \brief Enable peripheral clock
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_EnablePeriphClock (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int periphIds)  // \arg IDs of peripherals to enable
{
	pPMC->PMC_PCER = periphIds;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_DisablePeriphClock
//* \brief Disable peripheral clock
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_DisablePeriphClock (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int periphIds)  // \arg IDs of peripherals to enable
{
	pPMC->PMC_PCDR = periphIds;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_GetPeriphClock
//* \brief Get peripheral clock status
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_GetPeriphClock (
	AT91PS_PMC pPMC) // \arg pointer to PMC controller
{
	return pPMC->PMC_PCSR;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_CfgMainOscillatorReg
//* \brief Cfg the main oscillator
//*----------------------------------------------------------------------------
__inline void AT91F_CKGR_CfgMainOscillatorReg (
	AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller
	unsigned int mode)
{
	pCKGR->CKGR_MOR = mode;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_GetMainOscillatorReg
//* \brief Cfg the main oscillator
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_CKGR_GetMainOscillatorReg (
	AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller
{
	return pCKGR->CKGR_MOR;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_EnableMainOscillator
//* \brief Enable the main oscillator
//*----------------------------------------------------------------------------
__inline void AT91F_CKGR_EnableMainOscillator(
	AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller
{
	pCKGR->CKGR_MOR |= AT91C_CKGR_MOSCEN;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_DisableMainOscillator
//* \brief Disable the main oscillator
//*----------------------------------------------------------------------------
__inline void AT91F_CKGR_DisableMainOscillator (
	AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller
{
	pCKGR->CKGR_MOR &= ~AT91C_CKGR_MOSCEN;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_CfgMainOscStartUpTime
//* \brief Cfg MOR Register according to the main osc startup time
//*----------------------------------------------------------------------------
__inline void AT91F_CKGR_CfgMainOscStartUpTime (
	AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller
	unsigned int startup_time,  // \arg main osc startup time in microsecond (us)
	unsigned int slowClock)  // \arg slowClock in Hz
{
	pCKGR->CKGR_MOR &= ~AT91C_CKGR_OSCOUNT;
	pCKGR->CKGR_MOR |= ((slowClock * startup_time)/(8*1000000)) << 8;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_GetMainClockFreqReg
//* \brief Cfg the main oscillator
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_CKGR_GetMainClockFreqReg (
	AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller
{
	return pCKGR->CKGR_MCFR;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_CKGR_GetMainClock
//* \brief Return Main clock in Hz
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_CKGR_GetMainClock (
	AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller
	unsigned int slowClock)  // \arg slowClock in Hz
{
	return ((pCKGR->CKGR_MCFR  & AT91C_CKGR_MAINF) * slowClock) >> 4;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_CfgMCKReg
//* \brief Cfg Master Clock Register
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_CfgMCKReg (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int mode)
{
	pPMC->PMC_MCKR = mode;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_GetMCKReg
//* \brief Return Master Clock Register
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_GetMCKReg(
	AT91PS_PMC pPMC) // \arg pointer to PMC controller
{
	return pPMC->PMC_MCKR;
}

//*------------------------------------------------------------------------------
//* \fn    AT91F_PMC_GetMasterClock
//* \brief Return master clock in Hz which correponds to processor clock for ARM7
//*------------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_GetMasterClock (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller
	unsigned int slowClock)  // \arg slowClock in Hz
{
	unsigned int reg = pPMC->PMC_MCKR;
	unsigned int prescaler = (1 << ((reg & AT91C_PMC_PRES) >> 2));
	unsigned int pllDivider, pllMultiplier;

	switch (reg & AT91C_PMC_CSS) {
		case AT91C_PMC_CSS_SLOW_CLK: // Slow clock selected
			return slowClock / prescaler;
		case AT91C_PMC_CSS_MAIN_CLK: // Main clock is selected
			return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / prescaler;
		case AT91C_PMC_CSS_PLL_CLK: // PLLB clock is selected
			reg = pCKGR->CKGR_PLLR;
			pllDivider    = (reg  & AT91C_CKGR_DIV);
			pllMultiplier = ((reg  & AT91C_CKGR_MUL) >> 16) + 1;
			return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / pllDivider * pllMultiplier / prescaler;
	}
	return 0;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_EnablePCK
//* \brief Enable peripheral clock
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_EnablePCK (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int pck,  // \arg Peripheral clock identifier 0 .. 7
	unsigned int mode)
{
	pPMC->PMC_PCKR[pck] = mode;
	pPMC->PMC_SCER = (1 << pck) << 8;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_DisablePCK
//* \brief Enable peripheral clock
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_DisablePCK (
	AT91PS_PMC pPMC, // \arg pointer to PMC controller
	unsigned int pck)  // \arg Peripheral clock identifier 0 .. 7
{
	pPMC->PMC_SCDR = (1 << pck) << 8;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_EnableIt
//* \brief Enable PMC interrupt
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_EnableIt (
	AT91PS_PMC pPMC,     // pointer to a PMC controller
	unsigned int flag)   // IT to be enabled
{
	//* Write to the IER register
	pPMC->PMC_IER = flag;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_DisableIt
//* \brief Disable PMC interrupt
//*----------------------------------------------------------------------------
__inline void AT91F_PMC_DisableIt (
	AT91PS_PMC pPMC, // pointer to a PMC controller
	unsigned int flag) // IT to be disabled
{
	//* Write to the IDR register
	pPMC->PMC_IDR = flag;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_GetStatus
//* \brief Return PMC Interrupt Status
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_GetStatus( // \return PMC Interrupt Status
	AT91PS_PMC pPMC) // pointer to a PMC controller
{
	return pPMC->PMC_SR;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_GetInterruptMaskStatus
//* \brief Return PMC Interrupt Mask Status
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_GetInterruptMaskStatus( // \return PMC Interrupt Mask Status
	AT91PS_PMC pPMC) // pointer to a PMC controller
{
	return pPMC->PMC_IMR;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_IsInterruptMasked
//* \brief Test if PMC Interrupt is Masked
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_IsInterruptMasked(
        AT91PS_PMC pPMC,   // \arg  pointer to a PMC controller
        unsigned int flag) // \arg  flag to be tested
{
	return (AT91F_PMC_GetInterruptMaskStatus(pPMC) & flag);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PMC_IsStatusSet
//* \brief Test if PMC Status is Set
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PMC_IsStatusSet(
        AT91PS_PMC pPMC,   // \arg  pointer to a PMC controller
        unsigned int flag) // \arg  flag to be tested
{
	return (AT91F_PMC_GetStatus(pPMC) & flag);
}

// ----------------------------------------------------------------------------
//  \fn    AT91F_CKGR_CfgPLLReg
//  \brief Cfg the PLL Register
// ----------------------------------------------------------------------------
__inline void AT91F_CKGR_CfgPLLReg (
	AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller
	unsigned int mode)
{
	pCKGR->CKGR_PLLR = mode;
}

// ----------------------------------------------------------------------------
//  \fn    AT91F_CKGR_GetPLLReg
//  \brief Get the PLL Register
// ----------------------------------------------------------------------------
__inline unsigned int AT91F_CKGR_GetPLLReg (
	AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller
{
	return pCKGR->CKGR_PLLR;
}


/* *****************************************************************************
                SOFTWARE API FOR RSTC
   ***************************************************************************** */
//*----------------------------------------------------------------------------
//* \fn    AT91F_RSTSoftReset
//* \brief Start Software Reset
//*----------------------------------------------------------------------------
__inline void AT91F_RSTSoftReset(
        AT91PS_RSTC pRSTC,
        unsigned int reset)
{
	pRSTC->RSTC_RCR = (0xA5000000 | reset);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_RSTSetMode
//* \brief Set Reset Mode
//*----------------------------------------------------------------------------
__inline void AT91F_RSTSetMode(
        AT91PS_RSTC pRSTC,
        unsigned int mode)
{
	pRSTC->RSTC_RMR = (0xA5000000 | mode);
}