MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NUVOTON/TARGET_NUC472/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 "nuc472_gpio.h"
sahilmgandhi 18:6a4db94011d3 19 #include "nuc472_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 2
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 static can_irq_handler can1_irq_handler;
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38
sahilmgandhi 18:6a4db94011d3 39 static const struct nu_modinit_s can_modinit_tab[] = {
sahilmgandhi 18:6a4db94011d3 40 {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
sahilmgandhi 18:6a4db94011d3 41 {CAN_1, CAN1_MODULE, 0, 0, CAN1_RST, CAN1_IRQn, NULL},
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
sahilmgandhi 18:6a4db94011d3 44 };
sahilmgandhi 18:6a4db94011d3 45
sahilmgandhi 18:6a4db94011d3 46
sahilmgandhi 18:6a4db94011d3 47 void can_init(can_t *obj, PinName rd, PinName td)
sahilmgandhi 18:6a4db94011d3 48 {
sahilmgandhi 18:6a4db94011d3 49 uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 50 uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 51 obj->can = (CANName)pinmap_merge(can_td, can_rd);
sahilmgandhi 18:6a4db94011d3 52 MBED_ASSERT((int)obj->can != NC);
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
sahilmgandhi 18:6a4db94011d3 55 MBED_ASSERT(modinit != NULL);
sahilmgandhi 18:6a4db94011d3 56 MBED_ASSERT(modinit->modname == obj->can);
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 // Reset this module
sahilmgandhi 18:6a4db94011d3 59 SYS_ResetModule(modinit->rsetidx);
sahilmgandhi 18:6a4db94011d3 60
sahilmgandhi 18:6a4db94011d3 61 // Enable IP clock
sahilmgandhi 18:6a4db94011d3 62 CLK_EnableModuleClock(modinit->clkidx);
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 if(obj->can == CAN_1) {
sahilmgandhi 18:6a4db94011d3 65 obj->index = 1;
sahilmgandhi 18:6a4db94011d3 66 }
sahilmgandhi 18:6a4db94011d3 67 else
sahilmgandhi 18:6a4db94011d3 68 obj->index = 0;
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 pinmap_pinout(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 71 pinmap_pinout(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 72
sahilmgandhi 18:6a4db94011d3 73 /* For NCU 472 mbed Board Transmitter Setting (RS Pin) */
sahilmgandhi 18:6a4db94011d3 74 GPIO_SetMode(PA, BIT2| BIT3, GPIO_MODE_OUTPUT);
sahilmgandhi 18:6a4db94011d3 75 PA2 = 0x00;
sahilmgandhi 18:6a4db94011d3 76 PA3 = 0x00;
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 CAN_Open((CAN_T *)NU_MODBASE(obj->can), 500000, CAN_NORMAL_MODE);
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 can_filter(obj, 0, 0, CANStandard, 0);
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83
sahilmgandhi 18:6a4db94011d3 84 void can_free(can_t *obj)
sahilmgandhi 18:6a4db94011d3 85 {
sahilmgandhi 18:6a4db94011d3 86
sahilmgandhi 18:6a4db94011d3 87 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
sahilmgandhi 18:6a4db94011d3 88
sahilmgandhi 18:6a4db94011d3 89 MBED_ASSERT(modinit != NULL);
sahilmgandhi 18:6a4db94011d3 90 MBED_ASSERT(modinit->modname == obj->can);
sahilmgandhi 18:6a4db94011d3 91
sahilmgandhi 18:6a4db94011d3 92 // Reset this module
sahilmgandhi 18:6a4db94011d3 93 SYS_ResetModule(modinit->rsetidx);
sahilmgandhi 18:6a4db94011d3 94
sahilmgandhi 18:6a4db94011d3 95 CLK_DisableModuleClock(modinit->clkidx);
sahilmgandhi 18:6a4db94011d3 96 }
sahilmgandhi 18:6a4db94011d3 97
sahilmgandhi 18:6a4db94011d3 98 int can_frequency(can_t *obj, int hz)
sahilmgandhi 18:6a4db94011d3 99 {
sahilmgandhi 18:6a4db94011d3 100 CAN_SetBaudRate((CAN_T *)NU_MODBASE(obj->can), hz);
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 return CAN_GetCANBitRate((CAN_T *)NU_MODBASE(obj->can));
sahilmgandhi 18:6a4db94011d3 103 }
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 static void can_irq(CANName name, int id)
sahilmgandhi 18:6a4db94011d3 106 {
sahilmgandhi 18:6a4db94011d3 107
sahilmgandhi 18:6a4db94011d3 108 CAN_T *can = (CAN_T *)NU_MODBASE(name);
sahilmgandhi 18:6a4db94011d3 109 uint32_t u8IIDRstatus;
sahilmgandhi 18:6a4db94011d3 110
sahilmgandhi 18:6a4db94011d3 111 u8IIDRstatus = can->IIDR;
sahilmgandhi 18:6a4db94011d3 112
sahilmgandhi 18:6a4db94011d3 113 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
sahilmgandhi 18:6a4db94011d3 114 /**************************/
sahilmgandhi 18:6a4db94011d3 115 /* Status Change interrupt*/
sahilmgandhi 18:6a4db94011d3 116 /**************************/
sahilmgandhi 18:6a4db94011d3 117 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
sahilmgandhi 18:6a4db94011d3 118 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
sahilmgandhi 18:6a4db94011d3 119 if(id)
sahilmgandhi 18:6a4db94011d3 120 can1_irq_handler(can_irq_ids[id] , IRQ_RX);
sahilmgandhi 18:6a4db94011d3 121 else
sahilmgandhi 18:6a4db94011d3 122 can0_irq_handler(can_irq_ids[id], IRQ_RX);
sahilmgandhi 18:6a4db94011d3 123 }
sahilmgandhi 18:6a4db94011d3 124
sahilmgandhi 18:6a4db94011d3 125 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
sahilmgandhi 18:6a4db94011d3 126 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
sahilmgandhi 18:6a4db94011d3 127 if(id)
sahilmgandhi 18:6a4db94011d3 128 can1_irq_handler(can_irq_ids[id] , IRQ_TX);
sahilmgandhi 18:6a4db94011d3 129 else
sahilmgandhi 18:6a4db94011d3 130 can0_irq_handler(can_irq_ids[id], IRQ_TX);
sahilmgandhi 18:6a4db94011d3 131
sahilmgandhi 18:6a4db94011d3 132 }
sahilmgandhi 18:6a4db94011d3 133
sahilmgandhi 18:6a4db94011d3 134 /**************************/
sahilmgandhi 18:6a4db94011d3 135 /* Error Status interrupt */
sahilmgandhi 18:6a4db94011d3 136 /**************************/
sahilmgandhi 18:6a4db94011d3 137 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
sahilmgandhi 18:6a4db94011d3 138 if(id)
sahilmgandhi 18:6a4db94011d3 139 can1_irq_handler(can_irq_ids[id] , IRQ_ERROR);
sahilmgandhi 18:6a4db94011d3 140 else
sahilmgandhi 18:6a4db94011d3 141 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
sahilmgandhi 18:6a4db94011d3 142 }
sahilmgandhi 18:6a4db94011d3 143
sahilmgandhi 18:6a4db94011d3 144 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
sahilmgandhi 18:6a4db94011d3 145 if(id)
sahilmgandhi 18:6a4db94011d3 146 can1_irq_handler(can_irq_ids[id] , IRQ_BUS);
sahilmgandhi 18:6a4db94011d3 147 else
sahilmgandhi 18:6a4db94011d3 148 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
sahilmgandhi 18:6a4db94011d3 149 }
sahilmgandhi 18:6a4db94011d3 150 } else if (u8IIDRstatus!=0) {
sahilmgandhi 18:6a4db94011d3 151
sahilmgandhi 18:6a4db94011d3 152 if(id)
sahilmgandhi 18:6a4db94011d3 153 can1_irq_handler(can_irq_ids[id] , IRQ_OVERRUN);
sahilmgandhi 18:6a4db94011d3 154 else
sahilmgandhi 18:6a4db94011d3 155 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
sahilmgandhi 18:6a4db94011d3 156
sahilmgandhi 18:6a4db94011d3 157 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
sahilmgandhi 18:6a4db94011d3 158
sahilmgandhi 18:6a4db94011d3 159 } else if(can->WU_STATUS == 1) {
sahilmgandhi 18:6a4db94011d3 160
sahilmgandhi 18:6a4db94011d3 161 can->WU_STATUS = 0; /* Write '0' to clear */
sahilmgandhi 18:6a4db94011d3 162 if(id)
sahilmgandhi 18:6a4db94011d3 163 can1_irq_handler(can_irq_ids[id] , IRQ_WAKEUP);
sahilmgandhi 18:6a4db94011d3 164 else
sahilmgandhi 18:6a4db94011d3 165 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
sahilmgandhi 18:6a4db94011d3 166 }
sahilmgandhi 18:6a4db94011d3 167 }
sahilmgandhi 18:6a4db94011d3 168
sahilmgandhi 18:6a4db94011d3 169 void CAN0_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 170 {
sahilmgandhi 18:6a4db94011d3 171 can_irq(CAN_0, 0);
sahilmgandhi 18:6a4db94011d3 172 }
sahilmgandhi 18:6a4db94011d3 173
sahilmgandhi 18:6a4db94011d3 174 void CAN1_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 175 {
sahilmgandhi 18:6a4db94011d3 176 can_irq(CAN_1, 1);
sahilmgandhi 18:6a4db94011d3 177 }
sahilmgandhi 18:6a4db94011d3 178
sahilmgandhi 18:6a4db94011d3 179 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
sahilmgandhi 18:6a4db94011d3 180 {
sahilmgandhi 18:6a4db94011d3 181 if(obj->index)
sahilmgandhi 18:6a4db94011d3 182 can1_irq_handler = handler;
sahilmgandhi 18:6a4db94011d3 183 else
sahilmgandhi 18:6a4db94011d3 184 can0_irq_handler = handler;
sahilmgandhi 18:6a4db94011d3 185 can_irq_ids[obj->index] = id;
sahilmgandhi 18:6a4db94011d3 186
sahilmgandhi 18:6a4db94011d3 187 }
sahilmgandhi 18:6a4db94011d3 188
sahilmgandhi 18:6a4db94011d3 189 void can_irq_free(can_t *obj)
sahilmgandhi 18:6a4db94011d3 190 {
sahilmgandhi 18:6a4db94011d3 191 CAN_DisableInt((CAN_T *)NU_MODBASE(obj->can), (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
sahilmgandhi 18:6a4db94011d3 192
sahilmgandhi 18:6a4db94011d3 193 can_irq_ids[obj->index] = 0;
sahilmgandhi 18:6a4db94011d3 194
sahilmgandhi 18:6a4db94011d3 195 if(!obj->index)
sahilmgandhi 18:6a4db94011d3 196 NVIC_DisableIRQ(CAN0_IRQn);
sahilmgandhi 18:6a4db94011d3 197 else
sahilmgandhi 18:6a4db94011d3 198 NVIC_DisableIRQ(CAN1_IRQn);
sahilmgandhi 18:6a4db94011d3 199
sahilmgandhi 18:6a4db94011d3 200
sahilmgandhi 18:6a4db94011d3 201 }
sahilmgandhi 18:6a4db94011d3 202
sahilmgandhi 18:6a4db94011d3 203 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
sahilmgandhi 18:6a4db94011d3 204 {
sahilmgandhi 18:6a4db94011d3 205 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 206
sahilmgandhi 18:6a4db94011d3 207 CAN_EnterInitMode((CAN_T*)can_base);
sahilmgandhi 18:6a4db94011d3 208
sahilmgandhi 18:6a4db94011d3 209 ((CAN_T *)can_base)->CON = (((CAN_T *)can_base)->CON ) | ((enable != 0 )? CAN_CON_IE_Msk :0);
sahilmgandhi 18:6a4db94011d3 210
sahilmgandhi 18:6a4db94011d3 211 switch (irq)
sahilmgandhi 18:6a4db94011d3 212 {
sahilmgandhi 18:6a4db94011d3 213 case IRQ_ERROR:
sahilmgandhi 18:6a4db94011d3 214 case IRQ_BUS:
sahilmgandhi 18:6a4db94011d3 215 case IRQ_PASSIVE:
sahilmgandhi 18:6a4db94011d3 216 can_base->CON = can_base->CON |CAN_CON_EIE_Msk;
sahilmgandhi 18:6a4db94011d3 217 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
sahilmgandhi 18:6a4db94011d3 218 break;
sahilmgandhi 18:6a4db94011d3 219
sahilmgandhi 18:6a4db94011d3 220 case IRQ_RX:
sahilmgandhi 18:6a4db94011d3 221 case IRQ_TX:
sahilmgandhi 18:6a4db94011d3 222 case IRQ_OVERRUN:
sahilmgandhi 18:6a4db94011d3 223 case IRQ_WAKEUP:
sahilmgandhi 18:6a4db94011d3 224 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
sahilmgandhi 18:6a4db94011d3 225 break;
sahilmgandhi 18:6a4db94011d3 226
sahilmgandhi 18:6a4db94011d3 227 default:
sahilmgandhi 18:6a4db94011d3 228 break;
sahilmgandhi 18:6a4db94011d3 229
sahilmgandhi 18:6a4db94011d3 230 }
sahilmgandhi 18:6a4db94011d3 231
sahilmgandhi 18:6a4db94011d3 232 CAN_LeaveInitMode(can_base);
sahilmgandhi 18:6a4db94011d3 233
sahilmgandhi 18:6a4db94011d3 234 if(!obj->index)
sahilmgandhi 18:6a4db94011d3 235 {
sahilmgandhi 18:6a4db94011d3 236 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
sahilmgandhi 18:6a4db94011d3 237 NVIC_EnableIRQ(CAN0_IRQn);
sahilmgandhi 18:6a4db94011d3 238 }
sahilmgandhi 18:6a4db94011d3 239 else
sahilmgandhi 18:6a4db94011d3 240 {
sahilmgandhi 18:6a4db94011d3 241 NVIC_SetVector(CAN1_IRQn, (uint32_t)&CAN1_IRQHandler);
sahilmgandhi 18:6a4db94011d3 242 NVIC_EnableIRQ(CAN1_IRQn);
sahilmgandhi 18:6a4db94011d3 243 }
sahilmgandhi 18:6a4db94011d3 244
sahilmgandhi 18:6a4db94011d3 245 }
sahilmgandhi 18:6a4db94011d3 246
sahilmgandhi 18:6a4db94011d3 247 int can_write(can_t *obj, CAN_Message msg, int cc)
sahilmgandhi 18:6a4db94011d3 248 {
sahilmgandhi 18:6a4db94011d3 249 STR_CANMSG_T CMsg;
sahilmgandhi 18:6a4db94011d3 250
sahilmgandhi 18:6a4db94011d3 251 CMsg.IdType = (uint32_t)msg.format;
sahilmgandhi 18:6a4db94011d3 252 CMsg.FrameType = (uint32_t)!msg.type;
sahilmgandhi 18:6a4db94011d3 253 CMsg.Id = msg.id;
sahilmgandhi 18:6a4db94011d3 254 CMsg.DLC = msg.len;
sahilmgandhi 18:6a4db94011d3 255 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
sahilmgandhi 18:6a4db94011d3 256
sahilmgandhi 18:6a4db94011d3 257 return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), cc, &CMsg);
sahilmgandhi 18:6a4db94011d3 258 }
sahilmgandhi 18:6a4db94011d3 259
sahilmgandhi 18:6a4db94011d3 260 int can_read(can_t *obj, CAN_Message *msg, int handle)
sahilmgandhi 18:6a4db94011d3 261 {
sahilmgandhi 18:6a4db94011d3 262 STR_CANMSG_T CMsg;
sahilmgandhi 18:6a4db94011d3 263
sahilmgandhi 18:6a4db94011d3 264 if(!CAN_Receive((CAN_T *)NU_MODBASE(obj->can), handle, &CMsg))
sahilmgandhi 18:6a4db94011d3 265 return 0;
sahilmgandhi 18:6a4db94011d3 266
sahilmgandhi 18:6a4db94011d3 267 msg->format = (CANFormat)CMsg.IdType;
sahilmgandhi 18:6a4db94011d3 268 msg->type = (CANType)!CMsg.FrameType;
sahilmgandhi 18:6a4db94011d3 269 msg->id = CMsg.Id;
sahilmgandhi 18:6a4db94011d3 270 msg->len = CMsg.DLC;
sahilmgandhi 18:6a4db94011d3 271 memcpy(&msg->data[0], &CMsg.Data[0], 8);
sahilmgandhi 18:6a4db94011d3 272
sahilmgandhi 18:6a4db94011d3 273 return 1;
sahilmgandhi 18:6a4db94011d3 274 }
sahilmgandhi 18:6a4db94011d3 275
sahilmgandhi 18:6a4db94011d3 276 int can_mode(can_t *obj, CanMode mode)
sahilmgandhi 18:6a4db94011d3 277 {
sahilmgandhi 18:6a4db94011d3 278 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 279
sahilmgandhi 18:6a4db94011d3 280 int success = 0;
sahilmgandhi 18:6a4db94011d3 281 switch (mode)
sahilmgandhi 18:6a4db94011d3 282 {
sahilmgandhi 18:6a4db94011d3 283 case MODE_RESET:
sahilmgandhi 18:6a4db94011d3 284 CAN_LeaveTestMode(can_base);
sahilmgandhi 18:6a4db94011d3 285 success = 1;
sahilmgandhi 18:6a4db94011d3 286 break;
sahilmgandhi 18:6a4db94011d3 287
sahilmgandhi 18:6a4db94011d3 288 case MODE_NORMAL:
sahilmgandhi 18:6a4db94011d3 289 CAN_EnterTestMode(can_base, CAN_TEST_BASIC_Msk);
sahilmgandhi 18:6a4db94011d3 290 success = 1;
sahilmgandhi 18:6a4db94011d3 291 break;
sahilmgandhi 18:6a4db94011d3 292
sahilmgandhi 18:6a4db94011d3 293 case MODE_SILENT:
sahilmgandhi 18:6a4db94011d3 294 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk);
sahilmgandhi 18:6a4db94011d3 295 success = 1;
sahilmgandhi 18:6a4db94011d3 296 break;
sahilmgandhi 18:6a4db94011d3 297
sahilmgandhi 18:6a4db94011d3 298 case MODE_TEST_LOCAL:
sahilmgandhi 18:6a4db94011d3 299 case MODE_TEST_GLOBAL:
sahilmgandhi 18:6a4db94011d3 300 CAN_EnterTestMode(can_base, CAN_TEST_LBACK_Msk);
sahilmgandhi 18:6a4db94011d3 301 success = 1;
sahilmgandhi 18:6a4db94011d3 302 break;
sahilmgandhi 18:6a4db94011d3 303
sahilmgandhi 18:6a4db94011d3 304 case MODE_TEST_SILENT:
sahilmgandhi 18:6a4db94011d3 305 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
sahilmgandhi 18:6a4db94011d3 306 success = 1;
sahilmgandhi 18:6a4db94011d3 307 break;
sahilmgandhi 18:6a4db94011d3 308
sahilmgandhi 18:6a4db94011d3 309 default:
sahilmgandhi 18:6a4db94011d3 310 success = 0;
sahilmgandhi 18:6a4db94011d3 311 break;
sahilmgandhi 18:6a4db94011d3 312
sahilmgandhi 18:6a4db94011d3 313 }
sahilmgandhi 18:6a4db94011d3 314
sahilmgandhi 18:6a4db94011d3 315
sahilmgandhi 18:6a4db94011d3 316 return success;
sahilmgandhi 18:6a4db94011d3 317 }
sahilmgandhi 18:6a4db94011d3 318
sahilmgandhi 18:6a4db94011d3 319 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
sahilmgandhi 18:6a4db94011d3 320 {
sahilmgandhi 18:6a4db94011d3 321 return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle , (uint32_t)format, id);
sahilmgandhi 18:6a4db94011d3 322 }
sahilmgandhi 18:6a4db94011d3 323
sahilmgandhi 18:6a4db94011d3 324
sahilmgandhi 18:6a4db94011d3 325 void can_reset(can_t *obj)
sahilmgandhi 18:6a4db94011d3 326 {
sahilmgandhi 18:6a4db94011d3 327 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
sahilmgandhi 18:6a4db94011d3 328
sahilmgandhi 18:6a4db94011d3 329 MBED_ASSERT(modinit != NULL);
sahilmgandhi 18:6a4db94011d3 330 MBED_ASSERT(modinit->modname == obj->can);
sahilmgandhi 18:6a4db94011d3 331
sahilmgandhi 18:6a4db94011d3 332 // Reset this module
sahilmgandhi 18:6a4db94011d3 333 SYS_ResetModule(modinit->rsetidx);
sahilmgandhi 18:6a4db94011d3 334
sahilmgandhi 18:6a4db94011d3 335 }
sahilmgandhi 18:6a4db94011d3 336
sahilmgandhi 18:6a4db94011d3 337 unsigned char can_rderror(can_t *obj)
sahilmgandhi 18:6a4db94011d3 338 {
sahilmgandhi 18:6a4db94011d3 339 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 340 return ((can->ERR>>8)&0xFF);
sahilmgandhi 18:6a4db94011d3 341 }
sahilmgandhi 18:6a4db94011d3 342
sahilmgandhi 18:6a4db94011d3 343 unsigned char can_tderror(can_t *obj)
sahilmgandhi 18:6a4db94011d3 344 {
sahilmgandhi 18:6a4db94011d3 345 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
sahilmgandhi 18:6a4db94011d3 346 return ((can->ERR)&0xFF);
sahilmgandhi 18:6a4db94011d3 347 }
sahilmgandhi 18:6a4db94011d3 348
sahilmgandhi 18:6a4db94011d3 349 void can_monitor(can_t *obj, int silent)
sahilmgandhi 18:6a4db94011d3 350 {
sahilmgandhi 18:6a4db94011d3 351 CAN_EnterTestMode((CAN_T *)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
sahilmgandhi 18:6a4db94011d3 352 }
sahilmgandhi 18:6a4db94011d3 353
sahilmgandhi 18:6a4db94011d3 354 #endif // DEVICE_CAN