diff options
Diffstat (limited to 'stm32lib/src/stm32f10x_can.c')
| -rw-r--r-- | stm32lib/src/stm32f10x_can.c | 907 |
1 files changed, 0 insertions, 907 deletions
diff --git a/stm32lib/src/stm32f10x_can.c b/stm32lib/src/stm32f10x_can.c deleted file mode 100644 index afb472d..0000000 --- a/stm32lib/src/stm32f10x_can.c +++ /dev/null @@ -1,907 +0,0 @@ -/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
-* File Name : stm32f10x_can.c
-* Author : MCD Application Team
-* Version : V2.0.2
-* Date : 07/11/2008
-* Description : This file provides all the CAN firmware functions.
-********************************************************************************
-* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
-* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
-* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
-* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
-* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-*******************************************************************************/
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f10x_can.h"
-#include "stm32f10x_rcc.h"
-
-/* Private typedef -----------------------------------------------------------*/
-
-/* Private define ------------------------------------------------------------*/
-/* CAN Master Control Register bits */
-#define CAN_MCR_INRQ ((u32)0x00000001) /* Initialization request */
-#define CAN_MCR_SLEEP ((u32)0x00000002) /* Sleep mode request */
-#define CAN_MCR_TXFP ((u32)0x00000004) /* Transmit FIFO priority */
-#define CAN_MCR_RFLM ((u32)0x00000008) /* Receive FIFO locked mode */
-#define CAN_MCR_NART ((u32)0x00000010) /* No automatic retransmission */
-#define CAN_MCR_AWUM ((u32)0x00000020) /* Automatic wake up mode */
-#define CAN_MCR_ABOM ((u32)0x00000040) /* Automatic bus-off management */
-#define CAN_MCR_TTCM ((u32)0x00000080) /* time triggered communication */
-
-/* CAN Master Status Register bits */
-#define CAN_MSR_INAK ((u32)0x00000001) /* Initialization acknowledge */
-#define CAN_MSR_WKUI ((u32)0x00000008) /* Wake-up interrupt */
-#define CAN_MSR_SLAKI ((u32)0x00000010) /* Sleep acknowledge interrupt */
-
-/* CAN Transmit Status Register bits */
-#define CAN_TSR_RQCP0 ((u32)0x00000001) /* Request completed mailbox0 */
-#define CAN_TSR_TXOK0 ((u32)0x00000002) /* Transmission OK of mailbox0 */
-#define CAN_TSR_ABRQ0 ((u32)0x00000080) /* Abort request for mailbox0 */
-#define CAN_TSR_RQCP1 ((u32)0x00000100) /* Request completed mailbox1 */
-#define CAN_TSR_TXOK1 ((u32)0x00000200) /* Transmission OK of mailbox1 */
-#define CAN_TSR_ABRQ1 ((u32)0x00008000) /* Abort request for mailbox1 */
-#define CAN_TSR_RQCP2 ((u32)0x00010000) /* Request completed mailbox2 */
-#define CAN_TSR_TXOK2 ((u32)0x00020000) /* Transmission OK of mailbox2 */
-#define CAN_TSR_ABRQ2 ((u32)0x00800000) /* Abort request for mailbox2 */
-#define CAN_TSR_TME0 ((u32)0x04000000) /* Transmit mailbox 0 empty */
-#define CAN_TSR_TME1 ((u32)0x08000000) /* Transmit mailbox 1 empty */
-#define CAN_TSR_TME2 ((u32)0x10000000) /* Transmit mailbox 2 empty */
-
-/* CAN Receive FIFO 0 Register bits */
-#define CAN_RF0R_FULL0 ((u32)0x00000008) /* FIFO 0 full */
-#define CAN_RF0R_FOVR0 ((u32)0x00000010) /* FIFO 0 overrun */
-#define CAN_RF0R_RFOM0 ((u32)0x00000020) /* Release FIFO 0 output mailbox */
-
-/* CAN Receive FIFO 1 Register bits */
-#define CAN_RF1R_FULL1 ((u32)0x00000008) /* FIFO 1 full */
-#define CAN_RF1R_FOVR1 ((u32)0x00000010) /* FIFO 1 overrun */
-#define CAN_RF1R_RFOM1 ((u32)0x00000020) /* Release FIFO 1 output mailbox */
-
-/* CAN Error Status Register bits */
-#define CAN_ESR_EWGF ((u32)0x00000001) /* Error warning flag */
-#define CAN_ESR_EPVF ((u32)0x00000002) /* Error passive flag */
-#define CAN_ESR_BOFF ((u32)0x00000004) /* Bus-off flag */
-
-/* CAN Mailbox Transmit Request */
-#define CAN_TMIDxR_TXRQ ((u32)0x00000001) /* Transmit mailbox request */
-
-/* CAN Filter Master Register bits */
-#define CAN_FMR_FINIT ((u32)0x00000001) /* Filter init mode */
-
-
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit);
-
-/* Private functions ---------------------------------------------------------*/
-/*******************************************************************************
-* Function Name : CAN_DeInit
-* Description : Deinitializes the CAN peripheral registers to their default
-* reset values.
-* Input : None.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_DeInit(void)
-{
- /* Enable CAN reset state */
- RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE);
- /* Release CAN from reset state */
- RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, DISABLE);
-}
-
-/*******************************************************************************
-* Function Name : CAN_Init
-* Description : Initializes the CAN peripheral according to the specified
-* parameters in the CAN_InitStruct.
-* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
- contains the configuration information for the CAN peripheral.
-* Output : None.
-* Return : Constant indicates initialization succeed which will be
-* CANINITFAILED or CANINITOK.
-*******************************************************************************/
-u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
-{
- u8 InitStatus = 0;
- u16 WaitAck = 0;
-
- /* Check the parameters */
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
- assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
- assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
- assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
- assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
- assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
-
- /* Request initialisation */
- CAN->MCR = CAN_MCR_INRQ;
-
- /* ...and check acknowledged */
- if ((CAN->MSR & CAN_MSR_INAK) == 0)
- {
- InitStatus = CANINITFAILED;
- }
- else
- {
- /* Set the time triggered communication mode */
- if (CAN_InitStruct->CAN_TTCM == ENABLE)
- {
- CAN->MCR |= CAN_MCR_TTCM;
- }
- else
- {
- CAN->MCR &= ~CAN_MCR_TTCM;
- }
-
- /* Set the automatic bus-off management */
- if (CAN_InitStruct->CAN_ABOM == ENABLE)
- {
- CAN->MCR |= CAN_MCR_ABOM;
- }
- else
- {
- CAN->MCR &= ~CAN_MCR_ABOM;
- }
-
- /* Set the automatic wake-up mode */
- if (CAN_InitStruct->CAN_AWUM == ENABLE)
- {
- CAN->MCR |= CAN_MCR_AWUM;
- }
- else
- {
- CAN->MCR &= ~CAN_MCR_AWUM;
- }
-
- /* Set the no automatic retransmission */
- if (CAN_InitStruct->CAN_NART == ENABLE)
- {
- CAN->MCR |= CAN_MCR_NART;
- }
- else
- {
- CAN->MCR &= ~CAN_MCR_NART;
- }
-
- /* Set the receive FIFO locked mode */
- if (CAN_InitStruct->CAN_RFLM == ENABLE)
- {
- CAN->MCR |= CAN_MCR_RFLM;
- }
- else
- {
- CAN->MCR &= ~CAN_MCR_RFLM;
- }
-
- /* Set the transmit FIFO priority */
- if (CAN_InitStruct->CAN_TXFP == ENABLE)
- {
- CAN->MCR |= CAN_MCR_TXFP;
- }
- else
- {
- CAN->MCR &= ~CAN_MCR_TXFP;
- }
-
- /* Set the bit timing register */
- CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
- ((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
- ((u32)CAN_InitStruct->CAN_Prescaler - 1);
-
- InitStatus = CANINITOK;
-
- /* Request leave initialisation */
- CAN->MCR &= ~CAN_MCR_INRQ;
-
- /* Wait the acknowledge */
- for(WaitAck = 0x400; WaitAck > 0x0; WaitAck--)
- {
- }
-
- /* ...and check acknowledged */
- if ((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
- {
- InitStatus = CANINITFAILED;
- }
- }
-
- /* At this step, return the status of initialization */
- return InitStatus;
-}
-
-/*******************************************************************************
-* Function Name : CAN_FilterInit
-* Description : Initializes the CAN peripheral according to the specified
-* parameters in the CAN_FilterInitStruct.
-* Input : CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
-* structure that contains the configuration information.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
-{
- u16 FilterNumber_BitPos = 0;
-
- /* Check the parameters */
- assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
- assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
- assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
- assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
- assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
-
- FilterNumber_BitPos =
- (u16)((u16)0x0001 << ((u16)CAN_FilterInitStruct->CAN_FilterNumber));
-
- /* Initialisation mode for the filter */
- CAN->FMR |= CAN_FMR_FINIT;
-
- /* Filter Deactivation */
- CAN->FA1R &= ~(u32)FilterNumber_BitPos;
-
- /* Filter Scale */
- if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
- {
- /* 16-bit scale for the filter */
- CAN->FS1R &= ~(u32)FilterNumber_BitPos;
-
- /* First 16-bit identifier and First 16-bit mask */
- /* Or First 16-bit identifier and Second 16-bit identifier */
- CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
- ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
- ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
-
- /* Second 16-bit identifier and Second 16-bit mask */
- /* Or Third 16-bit identifier and Fourth 16-bit identifier */
- CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
- ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
- ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
- }
- if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
- {
- /* 32-bit scale for the filter */
- CAN->FS1R |= FilterNumber_BitPos;
-
- /* 32-bit identifier or First 32-bit identifier */
- CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
- ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
- ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
-
- /* 32-bit mask or Second 32-bit identifier */
- CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
- ((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
- ((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
-
- }
-
- /* Filter Mode */
- if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
- {
- /*Id/Mask mode for the filter*/
- CAN->FM1R &= ~(u32)FilterNumber_BitPos;
- }
- else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
- {
- /*Identifier list mode for the filter*/
- CAN->FM1R |= (u32)FilterNumber_BitPos;
- }
-
- /* Filter FIFO assignment */
- if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
- {
- /* FIFO 0 assignation for the filter */
- CAN->FFA1R &= ~(u32)FilterNumber_BitPos;
- }
- if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
- {
- /* FIFO 1 assignation for the filter */
- CAN->FFA1R |= (u32)FilterNumber_BitPos;
- }
-
- /* Filter activation */
- if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
- {
- CAN->FA1R |= FilterNumber_BitPos;
- }
-
- /* Leave the initialisation mode for the filter */
- CAN->FMR &= ~CAN_FMR_FINIT;
-}
-
-/*******************************************************************************
-* Function Name : CAN_StructInit
-* Description : Fills each CAN_InitStruct member with its default value.
-* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
-* will be initialized.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
-{
- /* Reset CAN init structure parameters values */
-
- /* Initialize the time triggered communication mode */
- CAN_InitStruct->CAN_TTCM = DISABLE;
-
- /* Initialize the automatic bus-off management */
- CAN_InitStruct->CAN_ABOM = DISABLE;
-
- /* Initialize the automatic wake-up mode */
- CAN_InitStruct->CAN_AWUM = DISABLE;
-
- /* Initialize the no automatic retransmission */
- CAN_InitStruct->CAN_NART = DISABLE;
-
- /* Initialize the receive FIFO locked mode */
- CAN_InitStruct->CAN_RFLM = DISABLE;
-
- /* Initialize the transmit FIFO priority */
- CAN_InitStruct->CAN_TXFP = DISABLE;
-
- /* Initialize the CAN_Mode member */
- CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
-
- /* Initialize the CAN_SJW member */
- CAN_InitStruct->CAN_SJW = CAN_SJW_1tq;
-
- /* Initialize the CAN_BS1 member */
- CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
-
- /* Initialize the CAN_BS2 member */
- CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
-
- /* Initialize the CAN_Prescaler member */
- CAN_InitStruct->CAN_Prescaler = 1;
-}
-
-/*******************************************************************************
-* Function Name : CAN_ITConfig
-* Description : Enables or disables the specified CAN interrupts.
-* Input : - CAN_IT: specifies the CAN interrupt sources to be enabled or
-* disabled.
-* This parameter can be: CAN_IT_TME, CAN_IT_FMP0, CAN_IT_FF0,
-* CAN_IT_FOV0, CAN_IT_FMP1, CAN_IT_FF1,
-* CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
-* CAN_IT_LEC, CAN_IT_ERR, CAN_IT_WKU or
-* CAN_IT_SLK.
-* - NewState: new state of the CAN interrupts.
-* This parameter can be: ENABLE or DISABLE.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_ITConfig(u32 CAN_IT, FunctionalState NewState)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ITConfig(CAN_IT));
- assert_param(IS_FUNCTIONAL_STATE(NewState));
-
- if (NewState != DISABLE)
- {
- /* Enable the selected CAN interrupt */
- CAN->IER |= CAN_IT;
- }
- else
- {
- /* Disable the selected CAN interrupt */
- CAN->IER &= ~CAN_IT;
- }
-}
-
-/*******************************************************************************
-* Function Name : CAN_Transmit
-* Description : Initiates the transmission of a message.
-* Input : TxMessage: pointer to a structure which contains CAN Id, CAN
-* DLC and CAN datas.
-* Output : None.
-* Return : The number of the mailbox that is used for transmission
-* or CAN_NO_MB if there is no empty mailbox.
-*******************************************************************************/
-u8 CAN_Transmit(CanTxMsg* TxMessage)
-{
- u8 TransmitMailbox = 0;
-
- /* Check the parameters */
- assert_param(IS_CAN_STDID(TxMessage->StdId));
- assert_param(IS_CAN_EXTID(TxMessage->StdId));
- assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
- assert_param(IS_CAN_RTR(TxMessage->RTR));
- assert_param(IS_CAN_DLC(TxMessage->DLC));
-
- /* Select one empty transmit mailbox */
- if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
- {
- TransmitMailbox = 0;
- }
- else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
- {
- TransmitMailbox = 1;
- }
- else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
- {
- TransmitMailbox = 2;
- }
- else
- {
- TransmitMailbox = CAN_NO_MB;
- }
-
- if (TransmitMailbox != CAN_NO_MB)
- {
- /* Set up the Id */
- CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ;
- if (TxMessage->IDE == CAN_ID_STD)
- {
- TxMessage->StdId &= (u32)0x000007FF;
- TxMessage->StdId = TxMessage->StdId << 21;
-
- CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->IDE |
- TxMessage->RTR);
- }
- else
- {
- TxMessage->ExtId &= (u32)0x1FFFFFFF;
- TxMessage->ExtId <<= 3;
-
- CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->ExtId | TxMessage->IDE |
- TxMessage->RTR);
- }
-
- /* Set up the DLC */
- TxMessage->DLC &= (u8)0x0000000F;
- CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
- CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;
-
- /* Set up the data field */
- CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) |
- ((u32)TxMessage->Data[2] << 16) |
- ((u32)TxMessage->Data[1] << 8) |
- ((u32)TxMessage->Data[0]));
- CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) |
- ((u32)TxMessage->Data[6] << 16) |
- ((u32)TxMessage->Data[5] << 8) |
- ((u32)TxMessage->Data[4]));
-
- /* Request transmission */
- CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
- }
-
- return TransmitMailbox;
-}
-
-/*******************************************************************************
-* Function Name : CAN_TransmitStatus
-* Description : Checks the transmission of a message.
-* Input : TransmitMailbox: the number of the mailbox that is used for
-* transmission.
-* Output : None.
-* Return : CANTXOK if the CAN driver transmits the message, CANTXFAILED
-* in an other case.
-*******************************************************************************/
-u8 CAN_TransmitStatus(u8 TransmitMailbox)
-{
- /* RQCP, TXOK and TME bits */
- u8 State = 0;
-
- /* Check the parameters */
- assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
-
- switch (TransmitMailbox)
- {
- case (0): State |= (u8)((CAN->TSR & CAN_TSR_RQCP0) << 2);
- State |= (u8)((CAN->TSR & CAN_TSR_TXOK0) >> 0);
- State |= (u8)((CAN->TSR & CAN_TSR_TME0) >> 26);
- break;
- case (1): State |= (u8)((CAN->TSR & CAN_TSR_RQCP1) >> 6);
- State |= (u8)((CAN->TSR & CAN_TSR_TXOK1) >> 8);
- State |= (u8)((CAN->TSR & CAN_TSR_TME1) >> 27);
- break;
- case (2): State |= (u8)((CAN->TSR & CAN_TSR_RQCP2) >> 14);
- State |= (u8)((CAN->TSR & CAN_TSR_TXOK2) >> 16);
- State |= (u8)((CAN->TSR & CAN_TSR_TME2) >> 28);
- break;
- default:
- State = CANTXFAILED;
- break;
- }
-
- switch (State)
- {
- /* transmit pending */
- case (0x0): State = CANTXPENDING;
- break;
- /* transmit failed */
- case (0x5): State = CANTXFAILED;
- break;
- /* transmit succedeed */
- case (0x7): State = CANTXOK;
- break;
- default:
- State = CANTXFAILED;
- break;
- }
-
- return State;
-}
-
-/*******************************************************************************
-* Function Name : CAN_CancelTransmit
-* Description : Cancels a transmit request.
-* Input : Mailbox number.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_CancelTransmit(u8 Mailbox)
-{
- /* Check the parameters */
- assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox));
-
- /* abort transmission */
- switch (Mailbox)
- {
- case (0): CAN->TSR |= CAN_TSR_ABRQ0;
- break;
- case (1): CAN->TSR |= CAN_TSR_ABRQ1;
- break;
- case (2): CAN->TSR |= CAN_TSR_ABRQ2;
- break;
- default:
- break;
- }
-}
-
-/*******************************************************************************
-* Function Name : CAN_FIFORelease
-* Description : Releases a FIFO.
-* Input : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_FIFORelease(u8 FIFONumber)
-{
- /* Check the parameters */
- assert_param(IS_CAN_FIFO(FIFONumber));
-
- /* Release FIFO0 */
- if (FIFONumber == CAN_FIFO0)
- {
- CAN->RF0R = CAN_RF0R_RFOM0;
- }
- /* Release FIFO1 */
- else /* FIFONumber == CAN_FIFO1 */
- {
- CAN->RF1R = CAN_RF1R_RFOM1;
- }
-}
-
-/*******************************************************************************
-* Function Name : CAN_MessagePending
-* Description : Returns the number of pending messages.
-* Input : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
-* Output : None.
-* Return : NbMessage which is the number of pending message.
-*******************************************************************************/
-u8 CAN_MessagePending(u8 FIFONumber)
-{
- u8 MessagePending=0;
-
- /* Check the parameters */
- assert_param(IS_CAN_FIFO(FIFONumber));
-
- if (FIFONumber == CAN_FIFO0)
- {
- MessagePending = (u8)(CAN->RF0R&(u32)0x03);
- }
- else if (FIFONumber == CAN_FIFO1)
- {
- MessagePending = (u8)(CAN->RF1R&(u32)0x03);
- }
- else
- {
- MessagePending = 0;
- }
- return MessagePending;
-}
-
-/*******************************************************************************
-* Function Name : CAN_Receive
-* Description : Receives a message.
-* Input : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
-* Output : RxMessage: pointer to a structure which contains CAN Id,
-* CAN DLC, CAN datas and FMI number.
-* Return : None.
-*******************************************************************************/
-void CAN_Receive(u8 FIFONumber, CanRxMsg* RxMessage)
-{
- /* Check the parameters */
- assert_param(IS_CAN_FIFO(FIFONumber));
-
- /* Get the Id */
- RxMessage->IDE = (u8)0x04 & CAN->sFIFOMailBox[FIFONumber].RIR;
- if (RxMessage->IDE == CAN_ID_STD)
- {
- RxMessage->StdId = (u32)0x000007FF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 21);
- }
- else
- {
- RxMessage->ExtId = (u32)0x1FFFFFFF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 3);
- }
-
- RxMessage->RTR = (u8)0x02 & CAN->sFIFOMailBox[FIFONumber].RIR;
-
- /* Get the DLC */
- RxMessage->DLC = (u8)0x0F & CAN->sFIFOMailBox[FIFONumber].RDTR;
-
- /* Get the FMI */
- RxMessage->FMI = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDTR >> 8);
-
- /* Get the data field */
- RxMessage->Data[0] = (u8)0xFF & CAN->sFIFOMailBox[FIFONumber].RDLR;
- RxMessage->Data[1] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 8);
- RxMessage->Data[2] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 16);
- RxMessage->Data[3] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 24);
-
- RxMessage->Data[4] = (u8)0xFF & CAN->sFIFOMailBox[FIFONumber].RDHR;
- RxMessage->Data[5] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 8);
- RxMessage->Data[6] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 16);
- RxMessage->Data[7] = (u8)0xFF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 24);
-
- /* Release the FIFO */
- CAN_FIFORelease(FIFONumber);
-}
-
-/*******************************************************************************
-* Function Name : CAN_Sleep
-* Description : Enters the low power mode.
-* Input : None.
-* Output : None.
-* Return : CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
-*******************************************************************************/
-u8 CAN_Sleep(void)
-{
- u8 SleepStatus = 0;
-
- /* Sleep mode entering request */
- CAN->MCR |= CAN_MCR_SLEEP;
- SleepStatus = CANSLEEPOK;
-
- /* Sleep mode status */
- if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
- {
- /* Sleep mode not entered */
- SleepStatus = CANSLEEPFAILED;
- }
-
- /* At this step, sleep mode status */
- return SleepStatus;
-}
-
-/*******************************************************************************
-* Function Name : CAN_WakeUp
-* Description : Wakes the CAN up.
-* Input : None.
-* Output : None.
-* Return : CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other
-* case.
-*******************************************************************************/
-u8 CAN_WakeUp(void)
-{
- u8 WakeUpStatus = 0;
-
- /* Wake up request */
- CAN->MCR &= ~CAN_MCR_SLEEP;
- WakeUpStatus = CANWAKEUPFAILED;
-
- /* Sleep mode status */
- if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
- {
- /* Sleep mode exited */
- WakeUpStatus = CANWAKEUPOK;
- }
-
- /* At this step, sleep mode status */
- return WakeUpStatus;
-}
-
-/*******************************************************************************
-* Function Name : CAN_GetFlagStatus
-* Description : Checks whether the specified CAN flag is set or not.
-* Input : CAN_FLAG: specifies the flag to check.
-* This parameter can be: CAN_FLAG_EWG, CAN_FLAG_EPV or
-* CAN_FLAG_BOF.
-* Output : None.
-* Return : The new state of CAN_FLAG (SET or RESET).
-*******************************************************************************/
-FlagStatus CAN_GetFlagStatus(u32 CAN_FLAG)
-{
- FlagStatus bitstatus = RESET;
-
- /* Check the parameters */
- assert_param(IS_CAN_FLAG(CAN_FLAG));
-
- /* Check the status of the specified CAN flag */
- if ((CAN->ESR & CAN_FLAG) != (u32)RESET)
- {
- /* CAN_FLAG is set */
- bitstatus = SET;
- }
- else
- {
- /* CAN_FLAG is reset */
- bitstatus = RESET;
- }
- /* Return the CAN_FLAG status */
- return bitstatus;
-}
-
-/*******************************************************************************
-* Function Name : CAN_ClearFlag
-* Description : Clears the CAN's pending flags.
-* Input : CAN_FLAG: specifies the flag to clear.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_ClearFlag(u32 CAN_FLAG)
-{
- /* Check the parameters */
- assert_param(IS_CAN_FLAG(CAN_FLAG));
-
- /* Clear the selected CAN flags */
- CAN->ESR &= ~CAN_FLAG;
-}
-
-/*******************************************************************************
-* Function Name : CAN_GetITStatus
-* Description : Checks whether the specified CAN interrupt has occurred or
-* not.
-* Input : CAN_IT: specifies the CAN interrupt source to check.
-* This parameter can be: CAN_IT_RQCP0, CAN_IT_RQCP1, CAN_IT_RQCP2,
-* CAN_IT_FF0, CAN_IT_FOV0, CAN_IT_FF1,
-* CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
-* CAN_IT_BOF, CAN_IT_WKU or CAN_IT_SLK.
-* Output : None.
-* Return : The new state of CAN_IT (SET or RESET).
-*******************************************************************************/
-ITStatus CAN_GetITStatus(u32 CAN_IT)
-{
- ITStatus pendingbitstatus = RESET;
-
- /* Check the parameters */
- assert_param(IS_CAN_ITStatus(CAN_IT));
-
- switch (CAN_IT)
- {
- case CAN_IT_RQCP0:
- pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP0);
- break;
- case CAN_IT_RQCP1:
- pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP1);
- break;
- case CAN_IT_RQCP2:
- pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP2);
- break;
- case CAN_IT_FF0:
- pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FULL0);
- break;
- case CAN_IT_FOV0:
- pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FOVR0);
- break;
- case CAN_IT_FF1:
- pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FULL1);
- break;
- case CAN_IT_FOV1:
- pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FOVR1);
- break;
- case CAN_IT_EWG:
- pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EWGF);
- break;
- case CAN_IT_EPV:
- pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EPVF);
- break;
- case CAN_IT_BOF:
- pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_BOFF);
- break;
- case CAN_IT_SLK:
- pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_SLAKI);
- break;
- case CAN_IT_WKU:
- pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_WKUI);
- break;
-
- default :
- pendingbitstatus = RESET;
- break;
- }
-
- /* Return the CAN_IT status */
- return pendingbitstatus;
-}
-
-/*******************************************************************************
-* Function Name : CAN_ClearITPendingBit
-* Description : Clears the CAN’s interrupt pending bits.
-* Input : CAN_IT: specifies the interrupt pending bit to clear.
-* Output : None.
-* Return : None.
-*******************************************************************************/
-void CAN_ClearITPendingBit(u32 CAN_IT)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ITStatus(CAN_IT));
-
- switch (CAN_IT)
- {
- case CAN_IT_RQCP0:
- CAN->TSR = CAN_TSR_RQCP0; /* rc_w1*/
- break;
- case CAN_IT_RQCP1:
- CAN->TSR = CAN_TSR_RQCP1; /* rc_w1*/
- break;
- case CAN_IT_RQCP2:
- CAN->TSR = CAN_TSR_RQCP2; /* rc_w1*/
- break;
- case CAN_IT_FF0:
- CAN->RF0R = CAN_RF0R_FULL0; /* rc_w1*/
- break;
- case CAN_IT_FOV0:
- CAN->RF0R = CAN_RF0R_FOVR0; /* rc_w1*/
- break;
- case CAN_IT_FF1:
- CAN->RF1R = CAN_RF1R_FULL1; /* rc_w1*/
- break;
- case CAN_IT_FOV1:
- CAN->RF1R = CAN_RF1R_FOVR1; /* rc_w1*/
- break;
- case CAN_IT_EWG:
- CAN->ESR &= ~ CAN_ESR_EWGF; /* rw */
- break;
- case CAN_IT_EPV:
- CAN->ESR &= ~ CAN_ESR_EPVF; /* rw */
- break;
- case CAN_IT_BOF:
- CAN->ESR &= ~ CAN_ESR_BOFF; /* rw */
- break;
- case CAN_IT_WKU:
- CAN->MSR = CAN_MSR_WKUI; /* rc_w1*/
- break;
- case CAN_IT_SLK:
- CAN->MSR = CAN_MSR_SLAKI; /* rc_w1*/
- break;
- default :
- break;
- }
-}
-
-/*******************************************************************************
-* Function Name : CheckITStatus
-* Description : Checks whether the CAN interrupt has occurred or not.
-* Input : CAN_Reg: specifies the CAN interrupt register to check.
-* It_Bit: specifies the interrupt source bit to check.
-* Output : None.
-* Return : The new state of the CAN Interrupt (SET or RESET).
-*******************************************************************************/
-static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit)
-{
- ITStatus pendingbitstatus = RESET;
-
- if ((CAN_Reg & It_Bit) != (u32)RESET)
- {
- /* CAN_IT is set */
- pendingbitstatus = SET;
- }
- else
- {
- /* CAN_IT is reset */
- pendingbitstatus = RESET;
- }
-
- return pendingbitstatus;
-}
-
-/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/
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