From 1d3861ef93f8423176c6010ab606abdab00a7cbd Mon Sep 17 00:00:00 2001 From: bnewbold Date: Wed, 31 Mar 2010 08:52:45 +0800 Subject: Major hierarchy reorganization; see README. copy-to-ide and Makefile updated to conform; .gitignore added; LICENSE added --- stm32lib/src/stm32f10x_can.c | 907 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 907 insertions(+) create mode 100644 stm32lib/src/stm32f10x_can.c (limited to 'stm32lib/src/stm32f10x_can.c') 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****/ -- cgit v1.2.3