MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NUVOTON/TARGET_NUC472/device/StdDriver/nuc472_can.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 /**************************************************************************//**
sahilmgandhi 18:6a4db94011d3 2 * @file CAN.c
sahilmgandhi 18:6a4db94011d3 3 * @version V1.00
sahilmgandhi 18:6a4db94011d3 4 * $Revision: 14 $
sahilmgandhi 18:6a4db94011d3 5 * $Date: 14/10/06 5:38p $
sahilmgandhi 18:6a4db94011d3 6 * @brief NUC472/NUC442 CAN driver source file
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * @note
sahilmgandhi 18:6a4db94011d3 9 * Copyright (C) 2013 Nuvoton Technology Corp. All rights reserved.
sahilmgandhi 18:6a4db94011d3 10 *****************************************************************************/
sahilmgandhi 18:6a4db94011d3 11
sahilmgandhi 18:6a4db94011d3 12 #include "NUC472_442.h"
sahilmgandhi 18:6a4db94011d3 13 /** @addtogroup NUC472_442_Device_Driver NUC472/NUC442 Device Driver
sahilmgandhi 18:6a4db94011d3 14 @{
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16
sahilmgandhi 18:6a4db94011d3 17 /** @addtogroup NUC472_442_CAN_Driver CAN Driver
sahilmgandhi 18:6a4db94011d3 18 @{
sahilmgandhi 18:6a4db94011d3 19 */
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 /** @addtogroup NUC472_442_CAN_EXPORTED_FUNCTIONS CAN Exported Functions
sahilmgandhi 18:6a4db94011d3 23 @{
sahilmgandhi 18:6a4db94011d3 24 */
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 #include <stdio.h>
sahilmgandhi 18:6a4db94011d3 27
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 /// @cond HIDDEN_SYMBOLS
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31
sahilmgandhi 18:6a4db94011d3 32 static uint32_t GetFreeIF(CAN_T *tCAN);
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 //#define DEBUG_PRINTF printf
sahilmgandhi 18:6a4db94011d3 36 #define DEBUG_PRINTF(...)
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38 /**
sahilmgandhi 18:6a4db94011d3 39 * @brief Check if SmartCard slot is presented.
sahilmgandhi 18:6a4db94011d3 40 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 41 * @retval 0 IF0 is free
sahilmgandhi 18:6a4db94011d3 42 * @retval 1 IF1 is free
sahilmgandhi 18:6a4db94011d3 43 * @retval 2 No IF is free
sahilmgandhi 18:6a4db94011d3 44 * @details Search the first free message interface, starting from 0.
sahilmgandhi 18:6a4db94011d3 45 */
sahilmgandhi 18:6a4db94011d3 46 static uint32_t GetFreeIF(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 47 {
sahilmgandhi 18:6a4db94011d3 48 if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0)
sahilmgandhi 18:6a4db94011d3 49 return 0;
sahilmgandhi 18:6a4db94011d3 50 else if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0)
sahilmgandhi 18:6a4db94011d3 51 return 1;
sahilmgandhi 18:6a4db94011d3 52 else
sahilmgandhi 18:6a4db94011d3 53 return 2;
sahilmgandhi 18:6a4db94011d3 54 }
sahilmgandhi 18:6a4db94011d3 55
sahilmgandhi 18:6a4db94011d3 56 /**
sahilmgandhi 18:6a4db94011d3 57 * @brief Enter initialization mode
sahilmgandhi 18:6a4db94011d3 58 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 59 * @return None
sahilmgandhi 18:6a4db94011d3 60 * @details This function is used to set CAN to enter initialization mode and enable access bit timing
sahilmgandhi 18:6a4db94011d3 61 * register. After bit timing configuration ready, user must call CAN_LeaveInitMode()
sahilmgandhi 18:6a4db94011d3 62 * to leave initialization mode and lock bit timing register to let new configuration
sahilmgandhi 18:6a4db94011d3 63 * take effect.
sahilmgandhi 18:6a4db94011d3 64 */
sahilmgandhi 18:6a4db94011d3 65 void CAN_EnterInitMode(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 66 {
sahilmgandhi 18:6a4db94011d3 67 tCAN->CON |= CAN_CON_INIT_Msk;
sahilmgandhi 18:6a4db94011d3 68 tCAN->CON |= CAN_CON_CCE_Msk;
sahilmgandhi 18:6a4db94011d3 69 }
sahilmgandhi 18:6a4db94011d3 70
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 /**
sahilmgandhi 18:6a4db94011d3 73 * @brief Leave initialization mode
sahilmgandhi 18:6a4db94011d3 74 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 75 * @return None
sahilmgandhi 18:6a4db94011d3 76 * @details This function is used to set CAN to leave initialization mode to let
sahilmgandhi 18:6a4db94011d3 77 * bit timing configuration take effect after configuration ready.
sahilmgandhi 18:6a4db94011d3 78 */
sahilmgandhi 18:6a4db94011d3 79 void CAN_LeaveInitMode(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 80 {
sahilmgandhi 18:6a4db94011d3 81 tCAN->CON &= (~(CAN_CON_INIT_Msk | CAN_CON_CCE_Msk));
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 while(tCAN->CON & CAN_CON_INIT_Msk); /* Check INIT bit is released */
sahilmgandhi 18:6a4db94011d3 84 }
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 /**
sahilmgandhi 18:6a4db94011d3 87 * @brief Wait message into message buffer in basic mode.
sahilmgandhi 18:6a4db94011d3 88 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 89 * @return None
sahilmgandhi 18:6a4db94011d3 90 * @details This function is used to wait message into message buffer in basic mode. Please notice the
sahilmgandhi 18:6a4db94011d3 91 * function is polling NEWDAT bit of MCON register by while loop and it is used in basic mode.
sahilmgandhi 18:6a4db94011d3 92 */
sahilmgandhi 18:6a4db94011d3 93 void CAN_WaitMsg(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 94 {
sahilmgandhi 18:6a4db94011d3 95 tCAN->STATUS = 0x0; /* clr status */
sahilmgandhi 18:6a4db94011d3 96
sahilmgandhi 18:6a4db94011d3 97 while (1) {
sahilmgandhi 18:6a4db94011d3 98 if(tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) { /* check new data */
sahilmgandhi 18:6a4db94011d3 99 DEBUG_PRINTF("New Data IN\n");
sahilmgandhi 18:6a4db94011d3 100 break;
sahilmgandhi 18:6a4db94011d3 101 }
sahilmgandhi 18:6a4db94011d3 102 if(tCAN->STATUS & CAN_STATUS_RXOK_Msk) {
sahilmgandhi 18:6a4db94011d3 103 DEBUG_PRINTF("Rx OK\n");
sahilmgandhi 18:6a4db94011d3 104 }
sahilmgandhi 18:6a4db94011d3 105 if(tCAN->STATUS & CAN_STATUS_LEC_Msk) {
sahilmgandhi 18:6a4db94011d3 106 DEBUG_PRINTF("Error\n");
sahilmgandhi 18:6a4db94011d3 107 }
sahilmgandhi 18:6a4db94011d3 108 }
sahilmgandhi 18:6a4db94011d3 109 }
sahilmgandhi 18:6a4db94011d3 110
sahilmgandhi 18:6a4db94011d3 111 /**
sahilmgandhi 18:6a4db94011d3 112 * @brief Get current bit rate
sahilmgandhi 18:6a4db94011d3 113 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 114 * @return Current Bit-Rate (kilo bit per second)
sahilmgandhi 18:6a4db94011d3 115 * @details Return current CAN bit rate according to the user bit-timing parameter settings
sahilmgandhi 18:6a4db94011d3 116 */
sahilmgandhi 18:6a4db94011d3 117 uint32_t CAN_GetCANBitRate(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 118 {
sahilmgandhi 18:6a4db94011d3 119 uint8_t u8Tseg1,u8Tseg2;
sahilmgandhi 18:6a4db94011d3 120 uint32_t u32Bpr;
sahilmgandhi 18:6a4db94011d3 121
sahilmgandhi 18:6a4db94011d3 122 u8Tseg1 = (tCAN->BTIME & CAN_BTIME_TSEG1_Msk) >> CAN_BTIME_TSEG1_Pos;
sahilmgandhi 18:6a4db94011d3 123 u8Tseg2 = (tCAN->BTIME & CAN_BTIME_TSEG2_Msk) >> CAN_BTIME_TSEG2_Pos;
sahilmgandhi 18:6a4db94011d3 124 u32Bpr = (tCAN->BTIME & CAN_BTIME_BRP_Msk) | (tCAN->BRPE << 6);
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 return (SystemCoreClock/(u32Bpr+1)/(u8Tseg1 + u8Tseg2 + 3));
sahilmgandhi 18:6a4db94011d3 127 }
sahilmgandhi 18:6a4db94011d3 128
sahilmgandhi 18:6a4db94011d3 129 /**
sahilmgandhi 18:6a4db94011d3 130 * @brief Switch the CAN into test mode.
sahilmgandhi 18:6a4db94011d3 131 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 132 * @param[in] u8TestMask Specifies the configuration in test modes
sahilmgandhi 18:6a4db94011d3 133 * CAN_TEST_BASIC_Msk : Enable basic mode of test mode
sahilmgandhi 18:6a4db94011d3 134 * CAN_TESTR_SILENT_Msk : Enable silent mode of test mode
sahilmgandhi 18:6a4db94011d3 135 * CAN_TESTR_LBACK_Msk : Enable Loop Back Mode of test mode
sahilmgandhi 18:6a4db94011d3 136 * CAN_TESTR_TX0_Msk/CAN_TESTR_TX1_Msk: Control CAN_TX pin bit field
sahilmgandhi 18:6a4db94011d3 137 * @return None
sahilmgandhi 18:6a4db94011d3 138 * @details Switch the CAN into test mode. There are four test mode (BASIC/SILENT/LOOPBACK/
sahilmgandhi 18:6a4db94011d3 139 * LOOPBACK combined SILENT/CONTROL_TX_PIN)could be selected. After setting test mode,user
sahilmgandhi 18:6a4db94011d3 140 * must call CAN_LeaveInitMode() to let the setting take effect.
sahilmgandhi 18:6a4db94011d3 141 */
sahilmgandhi 18:6a4db94011d3 142 void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask)
sahilmgandhi 18:6a4db94011d3 143 {
sahilmgandhi 18:6a4db94011d3 144 tCAN->CON |= CAN_CON_TEST_Msk;
sahilmgandhi 18:6a4db94011d3 145 tCAN->TEST = u8TestMask;
sahilmgandhi 18:6a4db94011d3 146 }
sahilmgandhi 18:6a4db94011d3 147
sahilmgandhi 18:6a4db94011d3 148
sahilmgandhi 18:6a4db94011d3 149 /**
sahilmgandhi 18:6a4db94011d3 150 * @brief Leave the test mode
sahilmgandhi 18:6a4db94011d3 151 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 152 * @return None
sahilmgandhi 18:6a4db94011d3 153 * @details This function is used to Leave the test mode (switch into normal mode).
sahilmgandhi 18:6a4db94011d3 154 */
sahilmgandhi 18:6a4db94011d3 155 void CAN_LeaveTestMode(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 156 {
sahilmgandhi 18:6a4db94011d3 157 tCAN->CON |= CAN_CON_TEST_Msk;
sahilmgandhi 18:6a4db94011d3 158 tCAN->TEST &= ~(CAN_TEST_LBACK_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_BASIC_Msk);
sahilmgandhi 18:6a4db94011d3 159 tCAN->CON &= (~CAN_CON_TEST_Msk);
sahilmgandhi 18:6a4db94011d3 160 }
sahilmgandhi 18:6a4db94011d3 161
sahilmgandhi 18:6a4db94011d3 162 /**
sahilmgandhi 18:6a4db94011d3 163 * @brief Get the waiting status of a received message.
sahilmgandhi 18:6a4db94011d3 164 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 165 * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
sahilmgandhi 18:6a4db94011d3 166 * @retval non-zero The corresponding message object has a new data bit is set.
sahilmgandhi 18:6a4db94011d3 167 * @retval 0 No message object has new data.
sahilmgandhi 18:6a4db94011d3 168 * @details This function is used to get the waiting status of a received message.
sahilmgandhi 18:6a4db94011d3 169 */
sahilmgandhi 18:6a4db94011d3 170 uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj)
sahilmgandhi 18:6a4db94011d3 171 {
sahilmgandhi 18:6a4db94011d3 172 return (u8MsgObj < 16 ? tCAN->NDAT1 & (1 << u8MsgObj) : tCAN->NDAT2 & (1 << (u8MsgObj-16)));
sahilmgandhi 18:6a4db94011d3 173 }
sahilmgandhi 18:6a4db94011d3 174
sahilmgandhi 18:6a4db94011d3 175
sahilmgandhi 18:6a4db94011d3 176 /**
sahilmgandhi 18:6a4db94011d3 177 * @brief Send CAN message in BASIC mode of test mode
sahilmgandhi 18:6a4db94011d3 178 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 179 * @param[in] pCanMsg Pointer to the message structure containing data to transmit.
sahilmgandhi 18:6a4db94011d3 180 * @return TRUE: Transmission OK
sahilmgandhi 18:6a4db94011d3 181 * FALSE: Check busy flag of interface 0 is timeout
sahilmgandhi 18:6a4db94011d3 182 * @details The function is used to send CAN message in BASIC mode of test mode. Before call the API,
sahilmgandhi 18:6a4db94011d3 183 * the user should be call CAN_EnterTestMode(CAN_TESTR_BASIC) and let CAN controller enter
sahilmgandhi 18:6a4db94011d3 184 * basic mode of test mode. Please notice IF1 Registers used as Tx Buffer in basic mode.
sahilmgandhi 18:6a4db94011d3 185 */
sahilmgandhi 18:6a4db94011d3 186 int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg)
sahilmgandhi 18:6a4db94011d3 187 {
sahilmgandhi 18:6a4db94011d3 188 uint32_t i=0;
sahilmgandhi 18:6a4db94011d3 189 while(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk);
sahilmgandhi 18:6a4db94011d3 190
sahilmgandhi 18:6a4db94011d3 191 tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk);
sahilmgandhi 18:6a4db94011d3 192
sahilmgandhi 18:6a4db94011d3 193 tCAN->IF[0].CMASK = CAN_IF_CMASK_WRRD_Msk;
sahilmgandhi 18:6a4db94011d3 194
sahilmgandhi 18:6a4db94011d3 195 if (pCanMsg->IdType == CAN_STD_ID) {
sahilmgandhi 18:6a4db94011d3 196 /* standard ID*/
sahilmgandhi 18:6a4db94011d3 197 tCAN->IF[0].ARB1 = 0;
sahilmgandhi 18:6a4db94011d3 198 tCAN->IF[0].ARB2 = (((pCanMsg->Id)&0x7FF)<<2) ;
sahilmgandhi 18:6a4db94011d3 199 } else {
sahilmgandhi 18:6a4db94011d3 200 /* extended ID*/
sahilmgandhi 18:6a4db94011d3 201 tCAN->IF[0].ARB1 = (pCanMsg->Id)&0xFFFF;
sahilmgandhi 18:6a4db94011d3 202 tCAN->IF[0].ARB2 = ((pCanMsg->Id)&0x1FFF0000)>>16 | CAN_IF_ARB2_XTD_Msk;
sahilmgandhi 18:6a4db94011d3 203
sahilmgandhi 18:6a4db94011d3 204 }
sahilmgandhi 18:6a4db94011d3 205
sahilmgandhi 18:6a4db94011d3 206 if(pCanMsg->FrameType)
sahilmgandhi 18:6a4db94011d3 207 tCAN->IF[0].ARB2 |= CAN_IF_ARB2_DIR_Msk;
sahilmgandhi 18:6a4db94011d3 208 else
sahilmgandhi 18:6a4db94011d3 209 tCAN->IF[0].ARB2 &= (~CAN_IF_ARB2_DIR_Msk);
sahilmgandhi 18:6a4db94011d3 210
sahilmgandhi 18:6a4db94011d3 211 tCAN->IF[0].MCON = (tCAN->IF[0].MCON & (~CAN_IF_MCON_DLC_Msk)) | pCanMsg->DLC;
sahilmgandhi 18:6a4db94011d3 212 tCAN->IF[0].DAT_A1 = ((uint16_t)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
sahilmgandhi 18:6a4db94011d3 213 tCAN->IF[0].DAT_A2 = ((uint16_t)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
sahilmgandhi 18:6a4db94011d3 214 tCAN->IF[0].DAT_B1 = ((uint16_t)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
sahilmgandhi 18:6a4db94011d3 215 tCAN->IF[0].DAT_B2 = ((uint16_t)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
sahilmgandhi 18:6a4db94011d3 216
sahilmgandhi 18:6a4db94011d3 217 /* request transmission*/
sahilmgandhi 18:6a4db94011d3 218 tCAN->IF[0].CREQ &= (~CAN_IF_CREQ_BUSY_Msk);
sahilmgandhi 18:6a4db94011d3 219 if(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) {
sahilmgandhi 18:6a4db94011d3 220 DEBUG_PRINTF("Cannot clear busy for sending ...\n");
sahilmgandhi 18:6a4db94011d3 221 return FALSE;
sahilmgandhi 18:6a4db94011d3 222 }
sahilmgandhi 18:6a4db94011d3 223
sahilmgandhi 18:6a4db94011d3 224 tCAN->IF[0].CREQ |= CAN_IF_CREQ_BUSY_Msk; // sending
sahilmgandhi 18:6a4db94011d3 225
sahilmgandhi 18:6a4db94011d3 226 for ( i=0; i<0xFFFFF; i++) {
sahilmgandhi 18:6a4db94011d3 227 if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) break;
sahilmgandhi 18:6a4db94011d3 228 }
sahilmgandhi 18:6a4db94011d3 229
sahilmgandhi 18:6a4db94011d3 230 if ( i >= 0xFFFFF ) {
sahilmgandhi 18:6a4db94011d3 231 DEBUG_PRINTF("Cannot send out...\n");
sahilmgandhi 18:6a4db94011d3 232 return FALSE;
sahilmgandhi 18:6a4db94011d3 233 }
sahilmgandhi 18:6a4db94011d3 234
sahilmgandhi 18:6a4db94011d3 235 return TRUE;
sahilmgandhi 18:6a4db94011d3 236 }
sahilmgandhi 18:6a4db94011d3 237
sahilmgandhi 18:6a4db94011d3 238
sahilmgandhi 18:6a4db94011d3 239 /**
sahilmgandhi 18:6a4db94011d3 240 * @brief Get a message information in BASIC mode.
sahilmgandhi 18:6a4db94011d3 241 *
sahilmgandhi 18:6a4db94011d3 242 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 243 * @param[out] pCanMsg Pointer to the message structure where received data is copied.
sahilmgandhi 18:6a4db94011d3 244 *
sahilmgandhi 18:6a4db94011d3 245 * @return FALSE No any message received. \n
sahilmgandhi 18:6a4db94011d3 246 * TRUE Receive a message success.
sahilmgandhi 18:6a4db94011d3 247 *
sahilmgandhi 18:6a4db94011d3 248 */
sahilmgandhi 18:6a4db94011d3 249 int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg)
sahilmgandhi 18:6a4db94011d3 250 {
sahilmgandhi 18:6a4db94011d3 251 if((tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) == 0) { /* In basic mode, receive data always save in IF2 */
sahilmgandhi 18:6a4db94011d3 252 return FALSE;
sahilmgandhi 18:6a4db94011d3 253 }
sahilmgandhi 18:6a4db94011d3 254
sahilmgandhi 18:6a4db94011d3 255 tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk);
sahilmgandhi 18:6a4db94011d3 256
sahilmgandhi 18:6a4db94011d3 257 tCAN->IF[1].CMASK = CAN_IF_CMASK_ARB_Msk
sahilmgandhi 18:6a4db94011d3 258 | CAN_IF_CMASK_CONTROL_Msk
sahilmgandhi 18:6a4db94011d3 259 | CAN_IF_CMASK_DATAA_Msk
sahilmgandhi 18:6a4db94011d3 260 | CAN_IF_CMASK_DATAB_Msk;
sahilmgandhi 18:6a4db94011d3 261
sahilmgandhi 18:6a4db94011d3 262 if((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) {
sahilmgandhi 18:6a4db94011d3 263 /* standard ID*/
sahilmgandhi 18:6a4db94011d3 264 pCanMsg->IdType = CAN_STD_ID;
sahilmgandhi 18:6a4db94011d3 265 pCanMsg->Id = (tCAN->IF[1].ARB2 >> 2) & 0x07FF;
sahilmgandhi 18:6a4db94011d3 266
sahilmgandhi 18:6a4db94011d3 267 } else {
sahilmgandhi 18:6a4db94011d3 268 /* extended ID*/
sahilmgandhi 18:6a4db94011d3 269 pCanMsg->IdType = CAN_EXT_ID;
sahilmgandhi 18:6a4db94011d3 270 pCanMsg->Id = (tCAN->IF[1].ARB2 & 0x1FFF)<<16;
sahilmgandhi 18:6a4db94011d3 271 pCanMsg->Id |= (uint32_t)tCAN->IF[1].ARB1;
sahilmgandhi 18:6a4db94011d3 272 }
sahilmgandhi 18:6a4db94011d3 273
sahilmgandhi 18:6a4db94011d3 274 pCanMsg->FrameType = !((tCAN->IF[1].ARB2 & CAN_IF_ARB2_DIR_Msk) >> CAN_IF_ARB2_DIR_Pos);
sahilmgandhi 18:6a4db94011d3 275
sahilmgandhi 18:6a4db94011d3 276 pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk;
sahilmgandhi 18:6a4db94011d3 277 pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk;
sahilmgandhi 18:6a4db94011d3 278 pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos;
sahilmgandhi 18:6a4db94011d3 279 pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk;
sahilmgandhi 18:6a4db94011d3 280 pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos;
sahilmgandhi 18:6a4db94011d3 281 pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk;
sahilmgandhi 18:6a4db94011d3 282 pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos;
sahilmgandhi 18:6a4db94011d3 283 pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk;
sahilmgandhi 18:6a4db94011d3 284 pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos;
sahilmgandhi 18:6a4db94011d3 285
sahilmgandhi 18:6a4db94011d3 286 return TRUE;
sahilmgandhi 18:6a4db94011d3 287 }
sahilmgandhi 18:6a4db94011d3 288
sahilmgandhi 18:6a4db94011d3 289 /**
sahilmgandhi 18:6a4db94011d3 290 * @brief Set Rx message object
sahilmgandhi 18:6a4db94011d3 291 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 292 * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
sahilmgandhi 18:6a4db94011d3 293 * @param[in] u8idType Specifies the identifier type of the frames that will be transmitted
sahilmgandhi 18:6a4db94011d3 294 * This parameter can be one of the following values:
sahilmgandhi 18:6a4db94011d3 295 * CAN_STD_ID (standard ID, 11-bit)
sahilmgandhi 18:6a4db94011d3 296 * CAN_EXT_ID (extended ID, 29-bit)
sahilmgandhi 18:6a4db94011d3 297 * @param[in] u32id Specifies the identifier used for acceptance filtering.
sahilmgandhi 18:6a4db94011d3 298 * @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator.
sahilmgandhi 18:6a4db94011d3 299 * This parameter can be one of the following values:
sahilmgandhi 18:6a4db94011d3 300 * TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO.
sahilmgandhi 18:6a4db94011d3 301 * FALSE: for a FIFO receive object that is not the last one.
sahilmgandhi 18:6a4db94011d3 302 * @retval TRUE SUCCESS
sahilmgandhi 18:6a4db94011d3 303 * @retval FALSE No useful interface
sahilmgandhi 18:6a4db94011d3 304 * @details The function is used to configure a receive message object.
sahilmgandhi 18:6a4db94011d3 305 */
sahilmgandhi 18:6a4db94011d3 306 int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast)
sahilmgandhi 18:6a4db94011d3 307 {
sahilmgandhi 18:6a4db94011d3 308 uint8_t u8MsgIfNum=0;
sahilmgandhi 18:6a4db94011d3 309
sahilmgandhi 18:6a4db94011d3 310 if ((u8MsgIfNum = GetFreeIF(tCAN)) == 2) { /* Check Free Interface for configure */
sahilmgandhi 18:6a4db94011d3 311 return FALSE;
sahilmgandhi 18:6a4db94011d3 312 }
sahilmgandhi 18:6a4db94011d3 313 /* Command Setting */
sahilmgandhi 18:6a4db94011d3 314 tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk |
sahilmgandhi 18:6a4db94011d3 315 CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk;
sahilmgandhi 18:6a4db94011d3 316
sahilmgandhi 18:6a4db94011d3 317 if (u8idType == CAN_STD_ID) { /* According STD/EXT ID format,Configure Mask and Arbitration register */
sahilmgandhi 18:6a4db94011d3 318 tCAN->IF[u8MsgIfNum].ARB1 = 0;
sahilmgandhi 18:6a4db94011d3 319 tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FF)<< 2;
sahilmgandhi 18:6a4db94011d3 320 } else {
sahilmgandhi 18:6a4db94011d3 321 tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFF;
sahilmgandhi 18:6a4db94011d3 322 tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000)>>16;
sahilmgandhi 18:6a4db94011d3 323 }
sahilmgandhi 18:6a4db94011d3 324
sahilmgandhi 18:6a4db94011d3 325 tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk;
sahilmgandhi 18:6a4db94011d3 326 if(u8singleOrFifoLast)
sahilmgandhi 18:6a4db94011d3 327 tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk;
sahilmgandhi 18:6a4db94011d3 328 else
sahilmgandhi 18:6a4db94011d3 329 tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk);
sahilmgandhi 18:6a4db94011d3 330
sahilmgandhi 18:6a4db94011d3 331 tCAN->IF[u8MsgIfNum].DAT_A1 = 0;
sahilmgandhi 18:6a4db94011d3 332 tCAN->IF[u8MsgIfNum].DAT_A2 = 0;
sahilmgandhi 18:6a4db94011d3 333 tCAN->IF[u8MsgIfNum].DAT_B1 = 0;
sahilmgandhi 18:6a4db94011d3 334 tCAN->IF[u8MsgIfNum].DAT_B2 = 0;
sahilmgandhi 18:6a4db94011d3 335
sahilmgandhi 18:6a4db94011d3 336 tCAN->IF[u8MsgIfNum].CREQ = 1 + u8MsgObj;
sahilmgandhi 18:6a4db94011d3 337
sahilmgandhi 18:6a4db94011d3 338 return TRUE;
sahilmgandhi 18:6a4db94011d3 339 }
sahilmgandhi 18:6a4db94011d3 340
sahilmgandhi 18:6a4db94011d3 341
sahilmgandhi 18:6a4db94011d3 342 /**
sahilmgandhi 18:6a4db94011d3 343 * @brief Gets the message
sahilmgandhi 18:6a4db94011d3 344 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 345 * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
sahilmgandhi 18:6a4db94011d3 346 * @param[in] u8Release Specifies the message release indicator.
sahilmgandhi 18:6a4db94011d3 347 * This parameter can be one of the following values:
sahilmgandhi 18:6a4db94011d3 348 * TRUE: the message object is released when getting the data.
sahilmgandhi 18:6a4db94011d3 349 * FALSE:the message object is not released.
sahilmgandhi 18:6a4db94011d3 350 * @param[out] pCanMsg Pointer to the message structure where received data is copied.
sahilmgandhi 18:6a4db94011d3 351 * @retval TRUE Success
sahilmgandhi 18:6a4db94011d3 352 * @retval FALSE No any message received
sahilmgandhi 18:6a4db94011d3 353 * @details Gets the message, if received.
sahilmgandhi 18:6a4db94011d3 354 */
sahilmgandhi 18:6a4db94011d3 355 int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg)
sahilmgandhi 18:6a4db94011d3 356 {
sahilmgandhi 18:6a4db94011d3 357 if (!CAN_IsNewDataReceived(tCAN, u8MsgObj)) {
sahilmgandhi 18:6a4db94011d3 358 return FALSE;
sahilmgandhi 18:6a4db94011d3 359 }
sahilmgandhi 18:6a4db94011d3 360
sahilmgandhi 18:6a4db94011d3 361 tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk);
sahilmgandhi 18:6a4db94011d3 362
sahilmgandhi 18:6a4db94011d3 363 /* read the message contents*/
sahilmgandhi 18:6a4db94011d3 364 tCAN->IF[1].CMASK = CAN_IF_CMASK_MASK_Msk
sahilmgandhi 18:6a4db94011d3 365 | CAN_IF_CMASK_ARB_Msk
sahilmgandhi 18:6a4db94011d3 366 | CAN_IF_CMASK_CONTROL_Msk
sahilmgandhi 18:6a4db94011d3 367 | CAN_IF_CMASK_CLRINTPND_Msk
sahilmgandhi 18:6a4db94011d3 368 | (u8Release ? CAN_IF_CMASK_TXRQSTNEWDAT_Msk : 0)
sahilmgandhi 18:6a4db94011d3 369 | CAN_IF_CMASK_DATAA_Msk
sahilmgandhi 18:6a4db94011d3 370 | CAN_IF_CMASK_DATAB_Msk;
sahilmgandhi 18:6a4db94011d3 371
sahilmgandhi 18:6a4db94011d3 372 tCAN->IF[1].CREQ = 1 + u8MsgObj;
sahilmgandhi 18:6a4db94011d3 373
sahilmgandhi 18:6a4db94011d3 374 while (tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) {
sahilmgandhi 18:6a4db94011d3 375 /*Wait*/
sahilmgandhi 18:6a4db94011d3 376 }
sahilmgandhi 18:6a4db94011d3 377
sahilmgandhi 18:6a4db94011d3 378 if ((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) {
sahilmgandhi 18:6a4db94011d3 379 /* standard ID*/
sahilmgandhi 18:6a4db94011d3 380 pCanMsg->IdType = CAN_STD_ID;
sahilmgandhi 18:6a4db94011d3 381 pCanMsg->Id = (tCAN->IF[1].ARB2 & CAN_IF_ARB2_ID_Msk) >> 2;
sahilmgandhi 18:6a4db94011d3 382 } else {
sahilmgandhi 18:6a4db94011d3 383 /* extended ID*/
sahilmgandhi 18:6a4db94011d3 384 pCanMsg->IdType = CAN_EXT_ID;
sahilmgandhi 18:6a4db94011d3 385 pCanMsg->Id = (((tCAN->IF[1].ARB2) & 0x1FFF)<<16) | tCAN->IF[1].ARB1;
sahilmgandhi 18:6a4db94011d3 386 }
sahilmgandhi 18:6a4db94011d3 387
sahilmgandhi 18:6a4db94011d3 388 pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk;
sahilmgandhi 18:6a4db94011d3 389 pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk;
sahilmgandhi 18:6a4db94011d3 390 pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos;
sahilmgandhi 18:6a4db94011d3 391 pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk;
sahilmgandhi 18:6a4db94011d3 392 pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos;
sahilmgandhi 18:6a4db94011d3 393 pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk;
sahilmgandhi 18:6a4db94011d3 394 pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos;
sahilmgandhi 18:6a4db94011d3 395 pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk;
sahilmgandhi 18:6a4db94011d3 396 pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos;
sahilmgandhi 18:6a4db94011d3 397
sahilmgandhi 18:6a4db94011d3 398 return TRUE;
sahilmgandhi 18:6a4db94011d3 399 }
sahilmgandhi 18:6a4db94011d3 400
sahilmgandhi 18:6a4db94011d3 401 /// @endcond HIDDEN_SYMBOLS
sahilmgandhi 18:6a4db94011d3 402
sahilmgandhi 18:6a4db94011d3 403
sahilmgandhi 18:6a4db94011d3 404 /**
sahilmgandhi 18:6a4db94011d3 405 * @brief The function is used to set bus timing parameter according current clock and target baud-rate.
sahilmgandhi 18:6a4db94011d3 406 *
sahilmgandhi 18:6a4db94011d3 407 * @param[in] tCAN The base address of can module
sahilmgandhi 18:6a4db94011d3 408 * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz
sahilmgandhi 18:6a4db94011d3 409 *
sahilmgandhi 18:6a4db94011d3 410 * @return u32CurrentBitRate Real baud-rate value
sahilmgandhi 18:6a4db94011d3 411 */
sahilmgandhi 18:6a4db94011d3 412 uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate)
sahilmgandhi 18:6a4db94011d3 413 {
sahilmgandhi 18:6a4db94011d3 414 uint8_t u8Tseg1,u8Tseg2;
sahilmgandhi 18:6a4db94011d3 415 uint32_t u32Brp;
sahilmgandhi 18:6a4db94011d3 416 uint32_t u32Value;
sahilmgandhi 18:6a4db94011d3 417
sahilmgandhi 18:6a4db94011d3 418 CAN_EnterInitMode(tCAN);
sahilmgandhi 18:6a4db94011d3 419
sahilmgandhi 18:6a4db94011d3 420 SystemCoreClockUpdate();
sahilmgandhi 18:6a4db94011d3 421
sahilmgandhi 18:6a4db94011d3 422 #if 0 // original implementation got 5% inaccuracy.
sahilmgandhi 18:6a4db94011d3 423 u32Value = SystemCoreClock;
sahilmgandhi 18:6a4db94011d3 424
sahilmgandhi 18:6a4db94011d3 425 if(u32BaudRate * 8 < (u32Value/2)) {
sahilmgandhi 18:6a4db94011d3 426 u8Tseg1 = 2;
sahilmgandhi 18:6a4db94011d3 427 u8Tseg2 = 3;
sahilmgandhi 18:6a4db94011d3 428 } else {
sahilmgandhi 18:6a4db94011d3 429 u8Tseg1 = 2;
sahilmgandhi 18:6a4db94011d3 430 u8Tseg2 = 1;
sahilmgandhi 18:6a4db94011d3 431 }
sahilmgandhi 18:6a4db94011d3 432 #else
sahilmgandhi 18:6a4db94011d3 433 u32Value = SystemCoreClock / u32BaudRate;
sahilmgandhi 18:6a4db94011d3 434 /* Fix for most standard baud rates, include 125K */
sahilmgandhi 18:6a4db94011d3 435
sahilmgandhi 18:6a4db94011d3 436 u8Tseg1 = 3;
sahilmgandhi 18:6a4db94011d3 437 u8Tseg2 = 2;
sahilmgandhi 18:6a4db94011d3 438 while(1)
sahilmgandhi 18:6a4db94011d3 439 {
sahilmgandhi 18:6a4db94011d3 440 if(((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) | (u8Tseg1 >= 15))
sahilmgandhi 18:6a4db94011d3 441 break;
sahilmgandhi 18:6a4db94011d3 442
sahilmgandhi 18:6a4db94011d3 443 u8Tseg1++;
sahilmgandhi 18:6a4db94011d3 444
sahilmgandhi 18:6a4db94011d3 445 if((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0)
sahilmgandhi 18:6a4db94011d3 446 break;
sahilmgandhi 18:6a4db94011d3 447
sahilmgandhi 18:6a4db94011d3 448 if(u8Tseg2 < 7)
sahilmgandhi 18:6a4db94011d3 449 u8Tseg2++;
sahilmgandhi 18:6a4db94011d3 450 }
sahilmgandhi 18:6a4db94011d3 451 #endif
sahilmgandhi 18:6a4db94011d3 452 u32Brp = SystemCoreClock/(u32BaudRate) / (u8Tseg1 + u8Tseg2 + 3) -1;
sahilmgandhi 18:6a4db94011d3 453
sahilmgandhi 18:6a4db94011d3 454 u32Value = ((uint32_t)u8Tseg2 << CAN_BTIME_TSEG2_Pos) | ((uint32_t)u8Tseg1 << CAN_BTIME_TSEG1_Pos) |
sahilmgandhi 18:6a4db94011d3 455 (u32Brp & CAN_BTIME_BRP_Msk) | (tCAN->BTIME & CAN_BTIME_SJW_Msk);
sahilmgandhi 18:6a4db94011d3 456 tCAN->BTIME = u32Value;
sahilmgandhi 18:6a4db94011d3 457 tCAN->BRPE = (u32Brp >> 6) & 0x0F;
sahilmgandhi 18:6a4db94011d3 458
sahilmgandhi 18:6a4db94011d3 459 CAN_LeaveInitMode(tCAN);
sahilmgandhi 18:6a4db94011d3 460
sahilmgandhi 18:6a4db94011d3 461 return (CAN_GetCANBitRate(tCAN));
sahilmgandhi 18:6a4db94011d3 462
sahilmgandhi 18:6a4db94011d3 463 }
sahilmgandhi 18:6a4db94011d3 464
sahilmgandhi 18:6a4db94011d3 465 /**
sahilmgandhi 18:6a4db94011d3 466 * @brief The function is used to disable all CAN interrupt.
sahilmgandhi 18:6a4db94011d3 467 *
sahilmgandhi 18:6a4db94011d3 468 * @param[in] tCAN The base address of can module
sahilmgandhi 18:6a4db94011d3 469 *
sahilmgandhi 18:6a4db94011d3 470 * @return None
sahilmgandhi 18:6a4db94011d3 471 */
sahilmgandhi 18:6a4db94011d3 472 void CAN_Close(CAN_T *tCAN)
sahilmgandhi 18:6a4db94011d3 473 {
sahilmgandhi 18:6a4db94011d3 474 CAN_DisableInt(tCAN, (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
sahilmgandhi 18:6a4db94011d3 475 }
sahilmgandhi 18:6a4db94011d3 476
sahilmgandhi 18:6a4db94011d3 477 /**
sahilmgandhi 18:6a4db94011d3 478 * @brief The function is sets bus timing parameter according current clock and target baud-rate. And set CAN operation mode.
sahilmgandhi 18:6a4db94011d3 479 *
sahilmgandhi 18:6a4db94011d3 480 * @param[in] tCAN The base address of can module
sahilmgandhi 18:6a4db94011d3 481 * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz
sahilmgandhi 18:6a4db94011d3 482 * @param[in] u32Mode The CAN operation mode. ( \ref CAN_NORMAL_MODE / \ref CAN_BASIC_MODE)
sahilmgandhi 18:6a4db94011d3 483 *
sahilmgandhi 18:6a4db94011d3 484 * @return u32CurrentBitRate Real baud-rate value
sahilmgandhi 18:6a4db94011d3 485 */
sahilmgandhi 18:6a4db94011d3 486 uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode)
sahilmgandhi 18:6a4db94011d3 487 {
sahilmgandhi 18:6a4db94011d3 488 uint32_t u32CurrentBitRate;
sahilmgandhi 18:6a4db94011d3 489
sahilmgandhi 18:6a4db94011d3 490 u32CurrentBitRate = CAN_SetBaudRate(tCAN, u32BaudRate);
sahilmgandhi 18:6a4db94011d3 491
sahilmgandhi 18:6a4db94011d3 492 if(u32Mode == CAN_BASIC_MODE)
sahilmgandhi 18:6a4db94011d3 493 CAN_EnterTestMode(tCAN, CAN_TEST_BASIC_Msk);
sahilmgandhi 18:6a4db94011d3 494
sahilmgandhi 18:6a4db94011d3 495 return u32CurrentBitRate;
sahilmgandhi 18:6a4db94011d3 496 }
sahilmgandhi 18:6a4db94011d3 497
sahilmgandhi 18:6a4db94011d3 498 /**
sahilmgandhi 18:6a4db94011d3 499 * @brief The function is used to configure a transmit object.
sahilmgandhi 18:6a4db94011d3 500 *
sahilmgandhi 18:6a4db94011d3 501 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 502 * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
sahilmgandhi 18:6a4db94011d3 503 * @param[in] pCanMsg Pointer to the message structure where received data is copied.
sahilmgandhi 18:6a4db94011d3 504 *
sahilmgandhi 18:6a4db94011d3 505 * @return FALSE: No useful interface. \n
sahilmgandhi 18:6a4db94011d3 506 * TRUE : Config message object success.
sahilmgandhi 18:6a4db94011d3 507 *
sahilmgandhi 18:6a4db94011d3 508 */
sahilmgandhi 18:6a4db94011d3 509 int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
sahilmgandhi 18:6a4db94011d3 510 {
sahilmgandhi 18:6a4db94011d3 511 uint8_t u8MsgIfNum=0;
sahilmgandhi 18:6a4db94011d3 512 uint32_t i=0;
sahilmgandhi 18:6a4db94011d3 513
sahilmgandhi 18:6a4db94011d3 514 while((u8MsgIfNum = GetFreeIF(tCAN)) == 2) {
sahilmgandhi 18:6a4db94011d3 515 i++;
sahilmgandhi 18:6a4db94011d3 516 if(i > 0x10000000)
sahilmgandhi 18:6a4db94011d3 517 return FALSE;
sahilmgandhi 18:6a4db94011d3 518 }
sahilmgandhi 18:6a4db94011d3 519
sahilmgandhi 18:6a4db94011d3 520 /* update the contents needed for transmission*/
sahilmgandhi 18:6a4db94011d3 521 tCAN->IF[u8MsgIfNum].CMASK = 0xF3; /*CAN_CMASK_WRRD_Msk | CAN_CMASK_MASK_Msk | CAN_CMASK_ARB_Msk
sahilmgandhi 18:6a4db94011d3 522 | CAN_CMASK_CONTROL_Msk | CAN_CMASK_DATAA_Msk | CAN_CMASK_DATAB_Msk ; */
sahilmgandhi 18:6a4db94011d3 523
sahilmgandhi 18:6a4db94011d3 524 if (pCanMsg->IdType == CAN_STD_ID) {
sahilmgandhi 18:6a4db94011d3 525 /* standard ID*/
sahilmgandhi 18:6a4db94011d3 526 tCAN->IF[u8MsgIfNum].ARB1 = 0;
sahilmgandhi 18:6a4db94011d3 527 tCAN->IF[u8MsgIfNum].ARB2 = (((pCanMsg->Id)&0x7FF)<<2) | CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_MSGVAL_Msk;
sahilmgandhi 18:6a4db94011d3 528 } else {
sahilmgandhi 18:6a4db94011d3 529 /* extended ID*/
sahilmgandhi 18:6a4db94011d3 530 tCAN->IF[u8MsgIfNum].ARB1 = (pCanMsg->Id)&0xFFFF;
sahilmgandhi 18:6a4db94011d3 531 tCAN->IF[u8MsgIfNum].ARB2 = ((pCanMsg->Id)&0x1FFF0000)>>16 | CAN_IF_ARB2_DIR_Msk
sahilmgandhi 18:6a4db94011d3 532 | CAN_IF_ARB2_XTD_Msk | CAN_IF_ARB2_MSGVAL_Msk;
sahilmgandhi 18:6a4db94011d3 533 }
sahilmgandhi 18:6a4db94011d3 534
sahilmgandhi 18:6a4db94011d3 535 if(pCanMsg->FrameType)
sahilmgandhi 18:6a4db94011d3 536 tCAN->IF[u8MsgIfNum].ARB2 |= CAN_IF_ARB2_DIR_Msk;
sahilmgandhi 18:6a4db94011d3 537 else
sahilmgandhi 18:6a4db94011d3 538 tCAN->IF[u8MsgIfNum].ARB2 &= (~CAN_IF_ARB2_DIR_Msk);
sahilmgandhi 18:6a4db94011d3 539
sahilmgandhi 18:6a4db94011d3 540 tCAN->IF[u8MsgIfNum].DAT_A1 = ((uint16_t)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
sahilmgandhi 18:6a4db94011d3 541 tCAN->IF[u8MsgIfNum].DAT_A2 = ((uint16_t)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
sahilmgandhi 18:6a4db94011d3 542 tCAN->IF[u8MsgIfNum].DAT_B1 = ((uint16_t)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
sahilmgandhi 18:6a4db94011d3 543 tCAN->IF[u8MsgIfNum].DAT_B2 = ((uint16_t)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
sahilmgandhi 18:6a4db94011d3 544
sahilmgandhi 18:6a4db94011d3 545 tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_NEWDAT_Msk | pCanMsg->DLC |CAN_IF_MCON_TXIE_Msk | CAN_IF_MCON_EOB_Msk;
sahilmgandhi 18:6a4db94011d3 546 tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum;
sahilmgandhi 18:6a4db94011d3 547
sahilmgandhi 18:6a4db94011d3 548 return TRUE;
sahilmgandhi 18:6a4db94011d3 549 }
sahilmgandhi 18:6a4db94011d3 550
sahilmgandhi 18:6a4db94011d3 551 /**
sahilmgandhi 18:6a4db94011d3 552 * @brief Set transmit request bit
sahilmgandhi 18:6a4db94011d3 553 *
sahilmgandhi 18:6a4db94011d3 554 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 555 * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31.
sahilmgandhi 18:6a4db94011d3 556 *
sahilmgandhi 18:6a4db94011d3 557 * @return TRUE: Start transmit message.
sahilmgandhi 18:6a4db94011d3 558 */
sahilmgandhi 18:6a4db94011d3 559 int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum)
sahilmgandhi 18:6a4db94011d3 560 {
sahilmgandhi 18:6a4db94011d3 561 STR_CANMSG_T rMsg;
sahilmgandhi 18:6a4db94011d3 562 CAN_ReadMsgObj(tCAN, u32MsgNum,TRUE, &rMsg);
sahilmgandhi 18:6a4db94011d3 563 tCAN->IF[0].CMASK = CAN_IF_CMASK_WRRD_Msk |CAN_IF_CMASK_TXRQSTNEWDAT_Msk;
sahilmgandhi 18:6a4db94011d3 564 tCAN->IF[0].CREQ = 1 + u32MsgNum;
sahilmgandhi 18:6a4db94011d3 565
sahilmgandhi 18:6a4db94011d3 566 return TRUE;
sahilmgandhi 18:6a4db94011d3 567 }
sahilmgandhi 18:6a4db94011d3 568
sahilmgandhi 18:6a4db94011d3 569 /**
sahilmgandhi 18:6a4db94011d3 570 * @brief Enable CAN interrupt
sahilmgandhi 18:6a4db94011d3 571 *
sahilmgandhi 18:6a4db94011d3 572 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 573 * @param[in] u32Mask Interrupt Mask. ( \ref CAN_CON_IE_Msk / \ref CAN_CON_SIE_Msk / \ref CAN_CON_EIE_Msk)
sahilmgandhi 18:6a4db94011d3 574 *
sahilmgandhi 18:6a4db94011d3 575 * @return None
sahilmgandhi 18:6a4db94011d3 576 */
sahilmgandhi 18:6a4db94011d3 577 void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask)
sahilmgandhi 18:6a4db94011d3 578 {
sahilmgandhi 18:6a4db94011d3 579 CAN_EnterInitMode(tCAN);
sahilmgandhi 18:6a4db94011d3 580
sahilmgandhi 18:6a4db94011d3 581 tCAN->CON = (tCAN->CON & 0xF1) | ((u32Mask & CAN_CON_IE_Msk )? CAN_CON_IE_Msk :0)
sahilmgandhi 18:6a4db94011d3 582 | ((u32Mask & CAN_CON_SIE_Msk )? CAN_CON_SIE_Msk:0)
sahilmgandhi 18:6a4db94011d3 583 | ((u32Mask & CAN_CON_EIE_Msk )? CAN_CON_EIE_Msk:0);
sahilmgandhi 18:6a4db94011d3 584
sahilmgandhi 18:6a4db94011d3 585
sahilmgandhi 18:6a4db94011d3 586 CAN_LeaveInitMode(tCAN);
sahilmgandhi 18:6a4db94011d3 587 }
sahilmgandhi 18:6a4db94011d3 588
sahilmgandhi 18:6a4db94011d3 589 /**
sahilmgandhi 18:6a4db94011d3 590 * @brief Disable CAN interrupt
sahilmgandhi 18:6a4db94011d3 591 *
sahilmgandhi 18:6a4db94011d3 592 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 593 * @param[in] u32Mask Interrupt Mask. ( \ref CAN_CON_IE_Msk / \ref CAN_CON_SIE_Msk / \ref CAN_CON_EIE_Msk)
sahilmgandhi 18:6a4db94011d3 594 *
sahilmgandhi 18:6a4db94011d3 595 * @return None
sahilmgandhi 18:6a4db94011d3 596 */
sahilmgandhi 18:6a4db94011d3 597 void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask)
sahilmgandhi 18:6a4db94011d3 598 {
sahilmgandhi 18:6a4db94011d3 599 CAN_EnterInitMode(tCAN);
sahilmgandhi 18:6a4db94011d3 600
sahilmgandhi 18:6a4db94011d3 601 tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | ((u32Mask & CAN_CON_SIE_Msk)?CAN_CON_SIE_Msk:0)
sahilmgandhi 18:6a4db94011d3 602 | ((u32Mask & CAN_CON_EIE_Msk)?CAN_CON_EIE_Msk:0));
sahilmgandhi 18:6a4db94011d3 603
sahilmgandhi 18:6a4db94011d3 604 CAN_LeaveInitMode(tCAN);
sahilmgandhi 18:6a4db94011d3 605 }
sahilmgandhi 18:6a4db94011d3 606
sahilmgandhi 18:6a4db94011d3 607
sahilmgandhi 18:6a4db94011d3 608 /**
sahilmgandhi 18:6a4db94011d3 609 * @brief The function is used to configure a receive message object
sahilmgandhi 18:6a4db94011d3 610 *
sahilmgandhi 18:6a4db94011d3 611 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 612 * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
sahilmgandhi 18:6a4db94011d3 613 * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. ( \ref CAN_STD_ID / \ref CAN_EXT_ID)
sahilmgandhi 18:6a4db94011d3 614 * @param[in] u32ID Specifies the identifier used for acceptance filtering.
sahilmgandhi 18:6a4db94011d3 615 *
sahilmgandhi 18:6a4db94011d3 616 * @return FALSE: No useful interface \n
sahilmgandhi 18:6a4db94011d3 617 * TRUE : Configure a receive message object success.
sahilmgandhi 18:6a4db94011d3 618 *
sahilmgandhi 18:6a4db94011d3 619 */
sahilmgandhi 18:6a4db94011d3 620 int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID)
sahilmgandhi 18:6a4db94011d3 621 {
sahilmgandhi 18:6a4db94011d3 622 uint32_t u32TimeOutCount = 0;
sahilmgandhi 18:6a4db94011d3 623
sahilmgandhi 18:6a4db94011d3 624 while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, TRUE) == FALSE) {
sahilmgandhi 18:6a4db94011d3 625 u32TimeOutCount++;
sahilmgandhi 18:6a4db94011d3 626
sahilmgandhi 18:6a4db94011d3 627 if(u32TimeOutCount >= 0x10000000) return FALSE;
sahilmgandhi 18:6a4db94011d3 628 }
sahilmgandhi 18:6a4db94011d3 629
sahilmgandhi 18:6a4db94011d3 630 return TRUE;
sahilmgandhi 18:6a4db94011d3 631 }
sahilmgandhi 18:6a4db94011d3 632
sahilmgandhi 18:6a4db94011d3 633 /**
sahilmgandhi 18:6a4db94011d3 634 * @brief The function is used to configure several receive message objects
sahilmgandhi 18:6a4db94011d3 635 *
sahilmgandhi 18:6a4db94011d3 636 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 637 * @param[in] u32MsgNum The starting MSG RAM number. (0 ~ 31)
sahilmgandhi 18:6a4db94011d3 638 * @param[in] u32MsgCount the number of MSG RAM of the FIFO.
sahilmgandhi 18:6a4db94011d3 639 * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. ( \ref CAN_STD_ID / \ref CAN_EXT_ID)
sahilmgandhi 18:6a4db94011d3 640 * @param[in] u32ID Specifies the identifier used for acceptance filtering.
sahilmgandhi 18:6a4db94011d3 641 *
sahilmgandhi 18:6a4db94011d3 642 * @return FALSE: No useful interface \n
sahilmgandhi 18:6a4db94011d3 643 * TRUE : Configure receive message objects success.
sahilmgandhi 18:6a4db94011d3 644 *
sahilmgandhi 18:6a4db94011d3 645 */
sahilmgandhi 18:6a4db94011d3 646 int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID)
sahilmgandhi 18:6a4db94011d3 647 {
sahilmgandhi 18:6a4db94011d3 648 uint32_t i = 0;
sahilmgandhi 18:6a4db94011d3 649 uint32_t u32TimeOutCount;
sahilmgandhi 18:6a4db94011d3 650 uint32_t u32EOB_Flag = 0;
sahilmgandhi 18:6a4db94011d3 651
sahilmgandhi 18:6a4db94011d3 652 for(i= 1; i < u32MsgCount; i++) {
sahilmgandhi 18:6a4db94011d3 653 u32TimeOutCount = 0;
sahilmgandhi 18:6a4db94011d3 654
sahilmgandhi 18:6a4db94011d3 655 u32MsgNum += (i - 1);
sahilmgandhi 18:6a4db94011d3 656
sahilmgandhi 18:6a4db94011d3 657 if(i == u32MsgCount) u32EOB_Flag = 1;
sahilmgandhi 18:6a4db94011d3 658
sahilmgandhi 18:6a4db94011d3 659 while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, u32EOB_Flag) == FALSE) {
sahilmgandhi 18:6a4db94011d3 660 u32TimeOutCount++;
sahilmgandhi 18:6a4db94011d3 661
sahilmgandhi 18:6a4db94011d3 662 if(u32TimeOutCount >= 0x10000000) return FALSE;
sahilmgandhi 18:6a4db94011d3 663 }
sahilmgandhi 18:6a4db94011d3 664 }
sahilmgandhi 18:6a4db94011d3 665
sahilmgandhi 18:6a4db94011d3 666 return TRUE;
sahilmgandhi 18:6a4db94011d3 667 }
sahilmgandhi 18:6a4db94011d3 668
sahilmgandhi 18:6a4db94011d3 669
sahilmgandhi 18:6a4db94011d3 670 /**
sahilmgandhi 18:6a4db94011d3 671 * @brief Send CAN message.
sahilmgandhi 18:6a4db94011d3 672 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 673 * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
sahilmgandhi 18:6a4db94011d3 674 * @param[in] pCanMsg Pointer to the message structure where received data is copied.
sahilmgandhi 18:6a4db94011d3 675 *
sahilmgandhi 18:6a4db94011d3 676 * @return FALSE: When operation in basic mode: Transmit message time out, or when operation in normal mode: No useful interface. \n
sahilmgandhi 18:6a4db94011d3 677 * TRUE : Transmit Message success.
sahilmgandhi 18:6a4db94011d3 678 */
sahilmgandhi 18:6a4db94011d3 679 int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
sahilmgandhi 18:6a4db94011d3 680 {
sahilmgandhi 18:6a4db94011d3 681 if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) {
sahilmgandhi 18:6a4db94011d3 682 return (CAN_BasicSendMsg(tCAN, pCanMsg));
sahilmgandhi 18:6a4db94011d3 683 } else {
sahilmgandhi 18:6a4db94011d3 684 if(CAN_SetTxMsg(tCAN, u32MsgNum, pCanMsg) == FALSE)
sahilmgandhi 18:6a4db94011d3 685 return FALSE;
sahilmgandhi 18:6a4db94011d3 686 CAN_TriggerTxMsg(tCAN, u32MsgNum);
sahilmgandhi 18:6a4db94011d3 687 }
sahilmgandhi 18:6a4db94011d3 688
sahilmgandhi 18:6a4db94011d3 689 return TRUE;
sahilmgandhi 18:6a4db94011d3 690 }
sahilmgandhi 18:6a4db94011d3 691
sahilmgandhi 18:6a4db94011d3 692
sahilmgandhi 18:6a4db94011d3 693 /**
sahilmgandhi 18:6a4db94011d3 694 * @brief Gets the message, if received.
sahilmgandhi 18:6a4db94011d3 695 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 696 * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
sahilmgandhi 18:6a4db94011d3 697 * @param[out] pCanMsg Pointer to the message structure where received data is copied.
sahilmgandhi 18:6a4db94011d3 698 *
sahilmgandhi 18:6a4db94011d3 699 * @return FALSE: No any message received. \n
sahilmgandhi 18:6a4db94011d3 700 * TRUE : Receive Message success.
sahilmgandhi 18:6a4db94011d3 701 */
sahilmgandhi 18:6a4db94011d3 702 int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
sahilmgandhi 18:6a4db94011d3 703 {
sahilmgandhi 18:6a4db94011d3 704 if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) {
sahilmgandhi 18:6a4db94011d3 705 return (CAN_BasicReceiveMsg(tCAN, pCanMsg));
sahilmgandhi 18:6a4db94011d3 706 } else {
sahilmgandhi 18:6a4db94011d3 707 return CAN_ReadMsgObj(tCAN, u32MsgNum, TRUE, pCanMsg);
sahilmgandhi 18:6a4db94011d3 708 }
sahilmgandhi 18:6a4db94011d3 709 }
sahilmgandhi 18:6a4db94011d3 710
sahilmgandhi 18:6a4db94011d3 711 /**
sahilmgandhi 18:6a4db94011d3 712 * @brief Clear interrupt pending bit.
sahilmgandhi 18:6a4db94011d3 713 * @param[in] tCAN The base address of can module.
sahilmgandhi 18:6a4db94011d3 714 * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
sahilmgandhi 18:6a4db94011d3 715 *
sahilmgandhi 18:6a4db94011d3 716 * @return None
sahilmgandhi 18:6a4db94011d3 717 *
sahilmgandhi 18:6a4db94011d3 718 */
sahilmgandhi 18:6a4db94011d3 719 void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
sahilmgandhi 18:6a4db94011d3 720 {
sahilmgandhi 18:6a4db94011d3 721 uint32_t u32MsgIfNum = 0;
sahilmgandhi 18:6a4db94011d3 722 uint32_t u32IFBusyCount = 0;
sahilmgandhi 18:6a4db94011d3 723
sahilmgandhi 18:6a4db94011d3 724 while(u32IFBusyCount < 0x10000000) {
sahilmgandhi 18:6a4db94011d3 725 if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) {
sahilmgandhi 18:6a4db94011d3 726 u32MsgIfNum = 0;
sahilmgandhi 18:6a4db94011d3 727 break;
sahilmgandhi 18:6a4db94011d3 728 } else if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) {
sahilmgandhi 18:6a4db94011d3 729 u32MsgIfNum = 1;
sahilmgandhi 18:6a4db94011d3 730 break;
sahilmgandhi 18:6a4db94011d3 731 }
sahilmgandhi 18:6a4db94011d3 732
sahilmgandhi 18:6a4db94011d3 733 u32IFBusyCount++;
sahilmgandhi 18:6a4db94011d3 734 }
sahilmgandhi 18:6a4db94011d3 735
sahilmgandhi 18:6a4db94011d3 736 tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk;
sahilmgandhi 18:6a4db94011d3 737 tCAN->IF[u32MsgIfNum].CREQ = 1 + u32MsgNum;
sahilmgandhi 18:6a4db94011d3 738
sahilmgandhi 18:6a4db94011d3 739 }
sahilmgandhi 18:6a4db94011d3 740
sahilmgandhi 18:6a4db94011d3 741
sahilmgandhi 18:6a4db94011d3 742 /*@}*/ /* end of group NUC472_442_CAN_EXPORTED_FUNCTIONS */
sahilmgandhi 18:6a4db94011d3 743
sahilmgandhi 18:6a4db94011d3 744 /*@}*/ /* end of group NUC472_442_CAN_Driver */
sahilmgandhi 18:6a4db94011d3 745
sahilmgandhi 18:6a4db94011d3 746 /*@}*/ /* end of group NUC472_442_Device_Driver */
sahilmgandhi 18:6a4db94011d3 747
sahilmgandhi 18:6a4db94011d3 748 /*** (C) COPYRIGHT 2013 Nuvoton Technology Corp. ***/
sahilmgandhi 18:6a4db94011d3 749
sahilmgandhi 18:6a4db94011d3 750