MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NUVOTON/TARGET_M451/can_api.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2015-2016 Nuvoton
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16
sahilmgandhi 18:6a4db94011d3 17 #include "can_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "m451_gpio.h"
sahilmgandhi 18:6a4db94011d3 19 #include "m451_can.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #if DEVICE_CAN
sahilmgandhi 18:6a4db94011d3 22 #include <string.h>
sahilmgandhi 18:6a4db94011d3 23 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 24 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 25 #include "PeripheralPins.h"
sahilmgandhi 18:6a4db94011d3 26 #include "nu_modutil.h"
sahilmgandhi 18:6a4db94011d3 27 #include "nu_miscutil.h"
sahilmgandhi 18:6a4db94011d3 28 #include "nu_bitutil.h"
sahilmgandhi 18:6a4db94011d3 29 #include "mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 #define NU_CAN_DEBUG 0
sahilmgandhi 18:6a4db94011d3 32 #define CAN_NUM 1
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 static uint32_t can_irq_ids[CAN_NUM] = {0};
sahilmgandhi 18:6a4db94011d3 35 static can_irq_handler can0_irq_handler;
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38 static const struct nu_modinit_s can_modinit_tab[] = {
sahilmgandhi 18:6a4db94011d3 39 {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
sahilmgandhi 18:6a4db94011d3 40
sahilmgandhi 18:6a4db94011d3 41 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
sahilmgandhi 18:6a4db94011d3 42 };
sahilmgandhi 18:6a4db94011d3 43
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 void can_init(can_t *obj, PinName rd, PinName td)
sahilmgandhi 18:6a4db94011d3 46 {
sahilmgandhi 18:6a4db94011d3 47 uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 48 uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 49 obj->can = (CANName)pinmap_merge(can_td, can_rd);
sahilmgandhi 18:6a4db94011d3 50 MBED_ASSERT((int)obj->can != NC);
sahilmgandhi 18:6a4db94011d3 51
sahilmgandhi 18:6a4db94011d3 52 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
sahilmgandhi 18:6a4db94011d3 53 MBED_ASSERT(modinit != NULL);
sahilmgandhi 18:6a4db94011d3 54 MBED_ASSERT(modinit->modname == obj->can);
sahilmgandhi 18:6a4db94011d3 55
sahilmgandhi 18:6a4db94011d3 56 // Reset this module
sahilmgandhi 18:6a4db94011d3 57 SYS_ResetModule(modinit->rsetidx);
sahilmgandhi 18:6a4db94011d3 58
sahilmgandhi 18:6a4db94011d3 59 // Enable IP clock
sahilmgandhi 18:6a4db94011d3 60 CLK_EnableModuleClock(modinit->clkidx);
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 obj->index = 0;
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 pinmap_pinout(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 65 pinmap_pinout(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 66
sahilmgandhi 18:6a4db94011d3 67 /* For M453 mbed Board Transmitter Setting (RS Pin) */
sahilmgandhi 18:6a4db94011d3 68 GPIO_SetMode(PA, BIT0| BIT1, GPIO_MODE_OUTPUT);
sahilmgandhi 18:6a4db94011d3 69 PA0 = 0x00;
sahilmgandhi 18:6a4db94011d3 70 PA1 = 0x00;
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 CAN_Open((CAN_T *)NU_MODBASE(obj->can), 500000, CAN_NORMAL_MODE);
sahilmgandhi 18:6a4db94011d3 73
sahilmgandhi 18:6a4db94011d3 74 can_filter(obj, 0, 0, CANStandard, 0);
sahilmgandhi 18:6a4db94011d3 75 }
sahilmgandhi 18:6a4db94011d3 76
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 void can_free(can_t *obj)
sahilmgandhi 18:6a4db94011d3 79 {
sahilmgandhi 18:6a4db94011d3 80
sahilmgandhi 18:6a4db94011d3 81 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 MBED_ASSERT(modinit != NULL);
sahilmgandhi 18:6a4db94011d3 84 MBED_ASSERT(modinit->modname == obj->can);
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 // Reset this module
sahilmgandhi 18:6a4db94011d3 87 SYS_ResetModule(modinit->rsetidx);
sahilmgandhi 18:6a4db94011d3 88
sahilmgandhi 18:6a4db94011d3 89 CLK_DisableModuleClock(modinit->clkidx);
sahilmgandhi 18:6a4db94011d3 90 }
sahilmgandhi 18:6a4db94011d3 91
sahilmgandhi 18:6a4db94011d3 92 int can_frequency(can_t *obj, int hz)
sahilmgandhi 18:6a4db94011d3 93 {
sahilmgandhi 18:6a4db94011d3 94 CAN_SetBaudRate((CAN_T *)NU_MODBASE(obj->can), hz);
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 return CAN_GetCANBitRate((CAN_T *)NU_MODBASE(obj->can));
sahilmgandhi 18:6a4db94011d3 97 }
sahilmgandhi 18:6a4db94011d3 98
sahilmgandhi 18:6a4db94011d3 99 static void can_irq(CANName name, int id)
sahilmgandhi 18:6a4db94011d3 100 {
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 CAN_T *can = (CAN_T *)NU_MODBASE(name);
sahilmgandhi 18:6a4db94011d3 103 uint32_t u8IIDRstatus;
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 u8IIDRstatus = can->IIDR;
sahilmgandhi 18:6a4db94011d3 106
sahilmgandhi 18:6a4db94011d3 107 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
sahilmgandhi 18:6a4db94011d3 108 /**************************/
sahilmgandhi 18:6a4db94011d3 109 /* Status Change interrupt*/
sahilmgandhi 18:6a4db94011d3 110 /**************************/
sahilmgandhi 18:6a4db94011d3 111 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
sahilmgandhi 18:6a4db94011d3 112 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
sahilmgandhi 18:6a4db94011d3 113 can0_irq_handler(can_irq_ids[id], IRQ_RX);
sahilmgandhi 18:6a4db94011d3 114 }
sahilmgandhi 18:6a4db94011d3 115
sahilmgandhi 18:6a4db94011d3 116 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
sahilmgandhi 18:6a4db94011d3 117 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
sahilmgandhi 18:6a4db94011d3 118 can0_irq_handler(can_irq_ids[id], IRQ_TX);
sahilmgandhi 18:6a4db94011d3 119 }
sahilmgandhi 18:6a4db94011d3 120
sahilmgandhi 18:6a4db94011d3 121 /**************************/
sahilmgandhi 18:6a4db94011d3 122 /* Error Status interrupt */
sahilmgandhi 18:6a4db94011d3 123 /**************************/
sahilmgandhi 18:6a4db94011d3 124 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
sahilmgandhi 18:6a4db94011d3 125 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
sahilmgandhi 18:6a4db94011d3 126 }
sahilmgandhi 18:6a4db94011d3 127
sahilmgandhi 18:6a4db94011d3 128 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
sahilmgandhi 18:6a4db94011d3 129 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
sahilmgandhi 18:6a4db94011d3 130 }
sahilmgandhi 18:6a4db94011d3 131 } else if (u8IIDRstatus!=0) {
sahilmgandhi 18:6a4db94011d3 132
sahilmgandhi 18:6a4db94011d3 133 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
sahilmgandhi 18:6a4db94011d3 134
sahilmgandhi 18:6a4db94011d3 135 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
sahilmgandhi 18:6a4db94011d3 136
sahilmgandhi 18:6a4db94011d3 137 } else if(can->WU_STATUS == 1) {
sahilmgandhi 18:6a4db94011d3 138
sahilmgandhi 18:6a4db94011d3 139 can->WU_STATUS = 0; /* Write '0' to clear */
sahilmgandhi 18:6a4db94011d3 140 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
sahilmgandhi 18:6a4db94011d3 141 }
sahilmgandhi 18:6a4db94011d3 142 }
sahilmgandhi 18:6a4db94011d3 143
sahilmgandhi 18:6a4db94011d3 144 void CAN0_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 145 {
sahilmgandhi 18:6a4db94011d3 146 can_irq(CAN_0, 0);
sahilmgandhi 18:6a4db94011d3 147 }
sahilmgandhi 18:6a4db94011d3 148
sahilmgandhi 18:6a4db94011d3 149 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
sahilmgandhi 18:6a4db94011d3 150 {
sahilmgandhi 18:6a4db94011d3 151 can0_irq_handler = handler;
sahilmgandhi 18:6a4db94011d3 152 can_irq_ids[obj->index] = id;
sahilmgandhi 18:6a4db94011d3 153 }
sahilmgandhi 18:6a4db94011d3 154
sahilmgandhi 18:6a4db94011d3 155 void can_irq_free(can_t *obj)
sahilmgandhi 18:6a4db94011d3 156 {
sahilmgandhi 18:6a4db94011d3 157 CAN_DisableInt((CAN_T *)NU_MODBASE(obj->can), (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
sahilmgandhi 18:6a4db94011d3 158
sahilmgandhi 18:6a4db94011d3 159 can_irq_ids[obj->index] = 0;
sahilmgandhi 18:6a4db94011d3 160
sahilmgandhi 18:6a4db94011d3 161 NVIC_DisableIRQ(CAN0_IRQn);
sahilmgandhi 18:6a4db94011d3 162 }
sahilmgandhi 18:6a4db94011d3 163
sahilmgandhi 18:6a4db94011d3 164 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
sahilmgandhi 18:6a4db94011d3 165 {
sahilmgandhi 18:6a4db94011d3 166 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 167
sahilmgandhi 18:6a4db94011d3 168 CAN_EnterInitMode(can_base, ((enable != 0 )? CAN_CON_IE_Msk :0) );
sahilmgandhi 18:6a4db94011d3 169
sahilmgandhi 18:6a4db94011d3 170
sahilmgandhi 18:6a4db94011d3 171 switch (irq)
sahilmgandhi 18:6a4db94011d3 172 {
sahilmgandhi 18:6a4db94011d3 173 case IRQ_ERROR:
sahilmgandhi 18:6a4db94011d3 174 case IRQ_BUS:
sahilmgandhi 18:6a4db94011d3 175 case IRQ_PASSIVE:
sahilmgandhi 18:6a4db94011d3 176 can_base->CON = can_base->CON |CAN_CON_EIE_Msk;
sahilmgandhi 18:6a4db94011d3 177 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
sahilmgandhi 18:6a4db94011d3 178 break;
sahilmgandhi 18:6a4db94011d3 179
sahilmgandhi 18:6a4db94011d3 180 case IRQ_RX:
sahilmgandhi 18:6a4db94011d3 181 case IRQ_TX:
sahilmgandhi 18:6a4db94011d3 182 case IRQ_OVERRUN:
sahilmgandhi 18:6a4db94011d3 183 case IRQ_WAKEUP:
sahilmgandhi 18:6a4db94011d3 184 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
sahilmgandhi 18:6a4db94011d3 185 break;
sahilmgandhi 18:6a4db94011d3 186
sahilmgandhi 18:6a4db94011d3 187 default:
sahilmgandhi 18:6a4db94011d3 188 break;
sahilmgandhi 18:6a4db94011d3 189
sahilmgandhi 18:6a4db94011d3 190 }
sahilmgandhi 18:6a4db94011d3 191
sahilmgandhi 18:6a4db94011d3 192 CAN_LeaveInitMode(can_base);
sahilmgandhi 18:6a4db94011d3 193
sahilmgandhi 18:6a4db94011d3 194 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
sahilmgandhi 18:6a4db94011d3 195 NVIC_EnableIRQ(CAN0_IRQn);
sahilmgandhi 18:6a4db94011d3 196
sahilmgandhi 18:6a4db94011d3 197 }
sahilmgandhi 18:6a4db94011d3 198
sahilmgandhi 18:6a4db94011d3 199 int can_write(can_t *obj, CAN_Message msg, int cc)
sahilmgandhi 18:6a4db94011d3 200 {
sahilmgandhi 18:6a4db94011d3 201 STR_CANMSG_T CMsg;
sahilmgandhi 18:6a4db94011d3 202
sahilmgandhi 18:6a4db94011d3 203 CMsg.IdType = (uint32_t)msg.format;
sahilmgandhi 18:6a4db94011d3 204 CMsg.FrameType = (uint32_t)!msg.type;
sahilmgandhi 18:6a4db94011d3 205 CMsg.Id = msg.id;
sahilmgandhi 18:6a4db94011d3 206 CMsg.DLC = msg.len;
sahilmgandhi 18:6a4db94011d3 207 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
sahilmgandhi 18:6a4db94011d3 208
sahilmgandhi 18:6a4db94011d3 209 return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), cc, &CMsg);
sahilmgandhi 18:6a4db94011d3 210 }
sahilmgandhi 18:6a4db94011d3 211
sahilmgandhi 18:6a4db94011d3 212 int can_read(can_t *obj, CAN_Message *msg, int handle)
sahilmgandhi 18:6a4db94011d3 213 {
sahilmgandhi 18:6a4db94011d3 214 STR_CANMSG_T CMsg;
sahilmgandhi 18:6a4db94011d3 215
sahilmgandhi 18:6a4db94011d3 216 if(!CAN_Receive((CAN_T *)NU_MODBASE(obj->can), handle, &CMsg))
sahilmgandhi 18:6a4db94011d3 217 return 0;
sahilmgandhi 18:6a4db94011d3 218
sahilmgandhi 18:6a4db94011d3 219 msg->format = (CANFormat)CMsg.IdType;
sahilmgandhi 18:6a4db94011d3 220 msg->type = (CANType)!CMsg.FrameType;
sahilmgandhi 18:6a4db94011d3 221 msg->id = CMsg.Id;
sahilmgandhi 18:6a4db94011d3 222 msg->len = CMsg.DLC;
sahilmgandhi 18:6a4db94011d3 223 memcpy(&msg->data[0], &CMsg.Data[0], 8);
sahilmgandhi 18:6a4db94011d3 224
sahilmgandhi 18:6a4db94011d3 225 return 1;
sahilmgandhi 18:6a4db94011d3 226 }
sahilmgandhi 18:6a4db94011d3 227
sahilmgandhi 18:6a4db94011d3 228 int can_mode(can_t *obj, CanMode mode)
sahilmgandhi 18:6a4db94011d3 229 {
sahilmgandhi 18:6a4db94011d3 230 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 231
sahilmgandhi 18:6a4db94011d3 232 int success = 0;
sahilmgandhi 18:6a4db94011d3 233 switch (mode)
sahilmgandhi 18:6a4db94011d3 234 {
sahilmgandhi 18:6a4db94011d3 235 case MODE_RESET:
sahilmgandhi 18:6a4db94011d3 236 CAN_LeaveTestMode(can_base);
sahilmgandhi 18:6a4db94011d3 237 success = 1;
sahilmgandhi 18:6a4db94011d3 238 break;
sahilmgandhi 18:6a4db94011d3 239
sahilmgandhi 18:6a4db94011d3 240 case MODE_NORMAL:
sahilmgandhi 18:6a4db94011d3 241 CAN_EnterTestMode(can_base, CAN_TEST_BASIC_Msk);
sahilmgandhi 18:6a4db94011d3 242 success = 1;
sahilmgandhi 18:6a4db94011d3 243 break;
sahilmgandhi 18:6a4db94011d3 244
sahilmgandhi 18:6a4db94011d3 245 case MODE_SILENT:
sahilmgandhi 18:6a4db94011d3 246 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk);
sahilmgandhi 18:6a4db94011d3 247 success = 1;
sahilmgandhi 18:6a4db94011d3 248 break;
sahilmgandhi 18:6a4db94011d3 249
sahilmgandhi 18:6a4db94011d3 250 case MODE_TEST_LOCAL:
sahilmgandhi 18:6a4db94011d3 251 case MODE_TEST_GLOBAL:
sahilmgandhi 18:6a4db94011d3 252 CAN_EnterTestMode(can_base, CAN_TEST_LBACK_Msk);
sahilmgandhi 18:6a4db94011d3 253 success = 1;
sahilmgandhi 18:6a4db94011d3 254 break;
sahilmgandhi 18:6a4db94011d3 255
sahilmgandhi 18:6a4db94011d3 256 case MODE_TEST_SILENT:
sahilmgandhi 18:6a4db94011d3 257 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
sahilmgandhi 18:6a4db94011d3 258 success = 1;
sahilmgandhi 18:6a4db94011d3 259 break;
sahilmgandhi 18:6a4db94011d3 260
sahilmgandhi 18:6a4db94011d3 261 default:
sahilmgandhi 18:6a4db94011d3 262 success = 0;
sahilmgandhi 18:6a4db94011d3 263 break;
sahilmgandhi 18:6a4db94011d3 264
sahilmgandhi 18:6a4db94011d3 265 }
sahilmgandhi 18:6a4db94011d3 266
sahilmgandhi 18:6a4db94011d3 267
sahilmgandhi 18:6a4db94011d3 268 return success;
sahilmgandhi 18:6a4db94011d3 269 }
sahilmgandhi 18:6a4db94011d3 270
sahilmgandhi 18:6a4db94011d3 271 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
sahilmgandhi 18:6a4db94011d3 272 {
sahilmgandhi 18:6a4db94011d3 273 return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle , (uint32_t)format, id);
sahilmgandhi 18:6a4db94011d3 274 }
sahilmgandhi 18:6a4db94011d3 275
sahilmgandhi 18:6a4db94011d3 276
sahilmgandhi 18:6a4db94011d3 277 void can_reset(can_t *obj)
sahilmgandhi 18:6a4db94011d3 278 {
sahilmgandhi 18:6a4db94011d3 279 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
sahilmgandhi 18:6a4db94011d3 280
sahilmgandhi 18:6a4db94011d3 281 MBED_ASSERT(modinit != NULL);
sahilmgandhi 18:6a4db94011d3 282 MBED_ASSERT(modinit->modname == obj->can);
sahilmgandhi 18:6a4db94011d3 283
sahilmgandhi 18:6a4db94011d3 284 // Reset this module
sahilmgandhi 18:6a4db94011d3 285 SYS_ResetModule(modinit->rsetidx);
sahilmgandhi 18:6a4db94011d3 286
sahilmgandhi 18:6a4db94011d3 287 }
sahilmgandhi 18:6a4db94011d3 288
sahilmgandhi 18:6a4db94011d3 289 unsigned char can_rderror(can_t *obj)
sahilmgandhi 18:6a4db94011d3 290 {
sahilmgandhi 18:6a4db94011d3 291 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 292 return ((can->ERR>>8)&0xFF);
sahilmgandhi 18:6a4db94011d3 293 }
sahilmgandhi 18:6a4db94011d3 294
sahilmgandhi 18:6a4db94011d3 295 unsigned char can_tderror(can_t *obj)
sahilmgandhi 18:6a4db94011d3 296 {
sahilmgandhi 18:6a4db94011d3 297 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 298 return ((can->ERR)&0xFF);
sahilmgandhi 18:6a4db94011d3 299 }
sahilmgandhi 18:6a4db94011d3 300
sahilmgandhi 18:6a4db94011d3 301 void can_monitor(can_t *obj, int silent)
sahilmgandhi 18:6a4db94011d3 302 {
sahilmgandhi 18:6a4db94011d3 303 CAN_EnterTestMode((CAN_T *)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
sahilmgandhi 18:6a4db94011d3 304 }
sahilmgandhi 18:6a4db94011d3 305
sahilmgandhi 18:6a4db94011d3 306 #endif // DEVICE_CAN