lib_at91sam7x256.h

CANopen 协议栈源码 ,实现基本的CANopen 协议

//*----------------------------------------------------------------------------
//* \fn    AT91F_RSTGetMode
//* \brief Get Reset Mode
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_RSTGetMode(
        AT91PS_RSTC pRSTC)
{
	return (pRSTC->RSTC_RMR);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_RSTGetStatus
//* \brief Get Reset Status
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_RSTGetStatus(
        AT91PS_RSTC pRSTC)
{
	return (pRSTC->RSTC_RSR);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_RSTIsSoftRstActive
//* \brief Return !=0 if software reset is still not completed
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_RSTIsSoftRstActive(
        AT91PS_RSTC pRSTC)
{
	return ((pRSTC->RSTC_RSR) & AT91C_RSTC_SRCMP);
}
/* *****************************************************************************
                SOFTWARE API FOR RTTC
   ***************************************************************************** */
//*--------------------------------------------------------------------------------------
//* \fn     AT91F_SetRTT_TimeBase()
//* \brief  Set the RTT prescaler according to the TimeBase in ms
//*--------------------------------------------------------------------------------------
__inline unsigned int AT91F_RTTSetTimeBase(
        AT91PS_RTTC pRTTC,
        unsigned int ms)
{
	if (ms > 2000)
		return 1;   // AT91C_TIME_OUT_OF_RANGE
	pRTTC->RTTC_RTMR &= ~0xFFFF;	
	pRTTC->RTTC_RTMR |= (((ms << 15) /1000) & 0xFFFF);	
	return 0;
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTTSetPrescaler()
//* \brief  Set the new prescaler value
//*--------------------------------------------------------------------------------------
__inline unsigned int AT91F_RTTSetPrescaler(
        AT91PS_RTTC pRTTC,
        unsigned int rtpres)
{
	pRTTC->RTTC_RTMR &= ~0xFFFF;	
	pRTTC->RTTC_RTMR |= (rtpres & 0xFFFF);	
	return (pRTTC->RTTC_RTMR);
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTTRestart()
//* \brief  Restart the RTT prescaler
//*--------------------------------------------------------------------------------------
__inline void AT91F_RTTRestart(
        AT91PS_RTTC pRTTC)
{
	pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTRST;	
}


//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_SetAlarmINT()
//* \brief  Enable RTT Alarm Interrupt
//*--------------------------------------------------------------------------------------
__inline void AT91F_RTTSetAlarmINT(
        AT91PS_RTTC pRTTC)
{
	pRTTC->RTTC_RTMR |= AT91C_RTTC_ALMIEN;
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_ClearAlarmINT()
//* \brief  Disable RTT Alarm Interrupt
//*--------------------------------------------------------------------------------------
__inline void AT91F_RTTClearAlarmINT(
        AT91PS_RTTC pRTTC)
{
	pRTTC->RTTC_RTMR &= ~AT91C_RTTC_ALMIEN;
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_SetRttIncINT()
//* \brief  Enable RTT INC Interrupt
//*--------------------------------------------------------------------------------------
__inline void AT91F_RTTSetRttIncINT(
        AT91PS_RTTC pRTTC)
{
	pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTINCIEN;
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_ClearRttIncINT()
//* \brief  Disable RTT INC Interrupt
//*--------------------------------------------------------------------------------------
__inline void AT91F_RTTClearRttIncINT(
        AT91PS_RTTC pRTTC)
{
	pRTTC->RTTC_RTMR &= ~AT91C_RTTC_RTTINCIEN;
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_SetAlarmValue()
//* \brief  Set RTT Alarm Value
//*--------------------------------------------------------------------------------------
__inline void AT91F_RTTSetAlarmValue(
        AT91PS_RTTC pRTTC, unsigned int alarm)
{
	pRTTC->RTTC_RTAR = alarm;
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_GetAlarmValue()
//* \brief  Get RTT Alarm Value
//*--------------------------------------------------------------------------------------
__inline unsigned int AT91F_RTTGetAlarmValue(
        AT91PS_RTTC pRTTC)
{
	return(pRTTC->RTTC_RTAR);
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTTGetStatus()
//* \brief  Read the RTT status
//*--------------------------------------------------------------------------------------
__inline unsigned int AT91F_RTTGetStatus(
        AT91PS_RTTC pRTTC)
{
	return(pRTTC->RTTC_RTSR);
}

//*--------------------------------------------------------------------------------------
//* \fn     AT91F_RTT_ReadValue()
//* \brief  Read the RTT value
//*--------------------------------------------------------------------------------------
__inline unsigned int AT91F_RTTReadValue(
        AT91PS_RTTC pRTTC)
{
        register volatile unsigned int val1,val2;
	do
	{
		val1 = pRTTC->RTTC_RTVR;
		val2 = pRTTC->RTTC_RTVR;
	}	
	while(val1 != val2);
	return(val1);
}
/* *****************************************************************************
                SOFTWARE API FOR PITC
   ***************************************************************************** */
//*----------------------------------------------------------------------------
//* \fn    AT91F_PITInit
//* \brief System timer init : period in 祍econd, system clock freq in MHz
//*----------------------------------------------------------------------------
__inline void AT91F_PITInit(
        AT91PS_PITC pPITC,
        unsigned int period,
        unsigned int pit_frequency)
{
	pPITC->PITC_PIMR = period? (period * pit_frequency + 8) >> 4 : 0; // +8 to avoid %10 and /10
	pPITC->PITC_PIMR |= AT91C_PITC_PITEN;	
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITSetPIV
//* \brief Set the PIT Periodic Interval Value
//*----------------------------------------------------------------------------
__inline void AT91F_PITSetPIV(
        AT91PS_PITC pPITC,
        unsigned int piv)
{
	pPITC->PITC_PIMR = piv | (pPITC->PITC_PIMR & (AT91C_PITC_PITEN | AT91C_PITC_PITIEN));
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITEnableInt
//* \brief Enable PIT periodic interrupt
//*----------------------------------------------------------------------------
__inline void AT91F_PITEnableInt(
        AT91PS_PITC pPITC)
{
	pPITC->PITC_PIMR |= AT91C_PITC_PITIEN;	
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITDisableInt
//* \brief Disable PIT periodic interrupt
//*----------------------------------------------------------------------------
__inline void AT91F_PITDisableInt(
        AT91PS_PITC pPITC)
{
	pPITC->PITC_PIMR &= ~AT91C_PITC_PITIEN;	
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITGetMode
//* \brief Read PIT mode register
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PITGetMode(
        AT91PS_PITC pPITC)
{
	return(pPITC->PITC_PIMR);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITGetStatus
//* \brief Read PIT status register
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PITGetStatus(
        AT91PS_PITC pPITC)
{
	return(pPITC->PITC_PISR);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITGetPIIR
//* \brief Read PIT CPIV and PICNT without ressetting the counters
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PITGetPIIR(
        AT91PS_PITC pPITC)
{
	return(pPITC->PITC_PIIR);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_PITGetPIVR
//* \brief Read System timer CPIV and PICNT without ressetting the counters
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_PITGetPIVR(
        AT91PS_PITC pPITC)
{
	return(pPITC->PITC_PIVR);
}
/* *****************************************************************************
                SOFTWARE API FOR WDTC
   ***************************************************************************** */
//*----------------------------------------------------------------------------
//* \fn    AT91F_WDTSetMode
//* \brief Set Watchdog Mode Register
//*----------------------------------------------------------------------------
__inline void AT91F_WDTSetMode(
        AT91PS_WDTC pWDTC,
        unsigned int Mode)
{
	pWDTC->WDTC_WDMR = Mode;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_WDTRestart
//* \brief Restart Watchdog
//*----------------------------------------------------------------------------
__inline void AT91F_WDTRestart(
        AT91PS_WDTC pWDTC)
{
	pWDTC->WDTC_WDCR = 0xA5000001;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_WDTSGettatus
//* \brief Get Watchdog Status
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_WDTSGettatus(
        AT91PS_WDTC pWDTC)
{
	return(pWDTC->WDTC_WDSR & 0x3);
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_WDTGetPeriod
//* \brief Translate ms into Watchdog Compatible value
//*----------------------------------------------------------------------------
__inline unsigned int AT91F_WDTGetPeriod(unsigned int ms)
{
	if ((ms < 4) || (ms > 16000))
		return 0;
	return((ms << 8) / 1000);
}
/* *****************************************************************************
                SOFTWARE API FOR VREG
   ***************************************************************************** */
//*----------------------------------------------------------------------------
//* \fn    AT91F_VREG_Enable_LowPowerMode
//* \brief Enable VREG Low Power Mode
//*----------------------------------------------------------------------------
__inline void AT91F_VREG_Enable_LowPowerMode(
        AT91PS_VREG pVREG)
{
	pVREG->VREG_MR |= AT91C_VREG_PSTDBY;	
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_VREG_Disable_LowPowerMode
//* \brief Disable VREG Low Power Mode
//*----------------------------------------------------------------------------
__inline void AT91F_VREG_Disable_LowPowerMode(
        AT91PS_VREG pVREG)
{
	pVREG->VREG_MR &= ~AT91C_VREG_PSTDBY;	
}/* *****************************************************************************
                SOFTWARE API FOR MC
   ***************************************************************************** */

#define AT91C_MC_CORRECT_KEY  ((unsigned int) 0x5A << 24) // (MC) Correct Protect Key

//*----------------------------------------------------------------------------
//* \fn    AT91F_MC_Remap
//* \brief Make Remap
//*----------------------------------------------------------------------------
__inline void AT91F_MC_Remap (void)     //
{
    AT91PS_MC pMC = (AT91PS_MC) AT91C_BASE_MC;

    pMC->MC_RCR = AT91C_MC_RCB;
}

//*----------------------------------------------------------------------------
//* \fn    AT91F_MC_EFC_CfgModeReg
//* \brief Configure the EFC Mode Register of the MC controller
//*----------------------------------------------------------------------------