diff options
Diffstat (limited to 'stm32lib/src/stm32f10x_can.c')
| -rw-r--r-- | stm32lib/src/stm32f10x_can.c | 907 |
1 files changed, 907 insertions, 0 deletions
diff --git a/stm32lib/src/stm32f10x_can.c b/stm32lib/src/stm32f10x_can.c new file mode 100644 index 0000000..afb472d --- /dev/null +++ b/stm32lib/src/stm32f10x_can.c @@ -0,0 +1,907 @@ +/******************** (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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