Mouse code for the MacroRat
Diff: mbed-dev/targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.c
- Revision:
- 18:6a4db94011d3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dev/targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.c Sun May 14 23:18:57 2017 +0000 @@ -0,0 +1,1005 @@ +/**************************************************************************//** + * @file can.c + * @version V2.00 + * $Revision: 8 $ + * $Date: 15/08/11 10:26a $ + * @brief M451 series CAN driver source file + * + * @note + * Copyright (C) 2014~2015 Nuvoton Technology Corp. All rights reserved. +*****************************************************************************/ +#include "M451Series.h" + +/** @addtogroup Standard_Driver Standard Driver + @{ +*/ + +/** @addtogroup CAN_Driver CAN Driver + @{ +*/ + +/** @addtogroup CAN_EXPORTED_FUNCTIONS CAN Exported Functions + @{ +*/ + +/// @cond HIDDEN_SYMBOLS + +#if defined(CAN1) +static uint8_t gu8LockCanIf[2][2] = {0}; // The chip has two CANs. +#elif defined(CAN0) || defined(CAN) +static uint8_t gu8LockCanIf[1][2] = {0}; // The chip only has one CAN. +#endif + +#define RETRY_COUNTS (0x10000000) + +//#define DEBUG_PRINTF printf +#define DEBUG_PRINTF(...) + +/** + * @brief Check if any interface is available then lock it for usage. + * @param[in] tCAN The pointer to CAN module base address. + * @retval 0 IF0 is free + * @retval 1 IF1 is free + * @retval 2 No IF is free + * @details Search the first free message interface, starting from 0. If a interface is + * available, set a flag to lock the interface. + */ +static uint32_t LockIF(CAN_T *tCAN) +{ + uint32_t u32CanNo; + uint32_t u32FreeIfNo; + uint32_t u32IntMask; + +#if defined(CAN1) + u32CanNo = (tCAN == CAN1) ? 1 : 0; +#else // defined(CAN0) || defined(CAN) + u32CanNo = 0; +#endif + + u32FreeIfNo = 2; + + /* Disable CAN interrupt */ + u32IntMask = tCAN->CON & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); + tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); + + /* Check interface 1 is available or not */ + if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) + { + if(gu8LockCanIf[u32CanNo][0] == FALSE) + { + gu8LockCanIf[u32CanNo][0] = TRUE; + u32FreeIfNo = 0; + } + } + + /* Or check interface 2 is available or not */ + if(u32FreeIfNo == 2 && (tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) + { + if(gu8LockCanIf[u32CanNo][1] == FALSE) + { + gu8LockCanIf[u32CanNo][1] = TRUE; + u32FreeIfNo = 1; + } + } + + /* Enable CAN interrupt */ + tCAN->CON |= u32IntMask; + + return u32FreeIfNo; +} + +/** + * @brief Check if any interface is available in a time limitation then lock it for usage. + * @param[in] tCAN The pointer to CAN module base address. + * @retval 0 IF0 is free + * @retval 1 IF1 is free + * @retval 2 No IF is free + * @details Search the first free message interface, starting from 0. If no interface is + * it will try again until time out. If a interface is available, set a flag to + * lock the interface. + */ +static uint32_t LockIF_TL(CAN_T *tCAN) +{ + uint32_t u32Count; + uint32_t u32FreeIfNo; + + for(u32Count = 0; u32Count < RETRY_COUNTS; u32Count++) + { + if((u32FreeIfNo = LockIF(tCAN)) != 2) + return u32FreeIfNo; + } + + return u32FreeIfNo; +} + +/** + * @brief Release locked interface. + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32Info The interface number, 0 or 1. + * @return none + * @details Release the locked interface. + */ +static void ReleaseIF(CAN_T *tCAN, uint32_t u32IfNo) +{ + uint32_t u32IntMask; + uint32_t u32CanNo; + + if(u32IfNo >= 2) + return; + +#if defined(CAN1) + u32CanNo = (tCAN == CAN1) ? 1 : 0; +#else // defined(CAN0) || defined(CAN) + u32CanNo = 0; +#endif + + /* Disable CAN interrupt */ + u32IntMask = tCAN->CON & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); + tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); + + gu8LockCanIf[u32CanNo][u32IfNo] = FALSE; + + /* Enable CAN interrupt */ + tCAN->CON |= u32IntMask; +} + +/** + * @brief Enter initialization mode + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] Following values can be used. + * \ref CAN_CON_DAR_Msk Disable automatic retransmission. + * \ref CAN_CON_EIE_Msk Enable error interrupt. + * \ref CAN_CON_SIE_Msk Enable status interrupt. + * \ref CAN_CON_IE_Msk CAN interrupt. + * @return None + * @details This function is used to set CAN to enter initialization mode and enable access bit timing + * register. After bit timing configuration ready, user must call CAN_LeaveInitMode() + * to leave initialization mode and lock bit timing register to let new configuration + * take effect. + */ +void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask) +{ + tCAN->CON = u8Mask | (CAN_CON_INIT_Msk | CAN_CON_CCE_Msk); +} + + +/** + * @brief Leave initialization mode + * @param[in] tCAN The pointer to CAN module base address. + * @return None + * @details This function is used to set CAN to leave initialization mode to let + * bit timing configuration take effect after configuration ready. + */ +void CAN_LeaveInitMode(CAN_T *tCAN) +{ + tCAN->CON &= (~(CAN_CON_INIT_Msk | CAN_CON_CCE_Msk)); + while(tCAN->CON & CAN_CON_INIT_Msk); /* Check INIT bit is released */ +} + +/** + * @brief Wait message into message buffer in basic mode. + * @param[in] tCAN The pointer to CAN module base address. + * @return None + * @details This function is used to wait message into message buffer in basic mode. Please notice the + * function is polling NEWDAT bit of MCON register by while loop and it is used in basic mode. + */ +void CAN_WaitMsg(CAN_T *tCAN) +{ + tCAN->STATUS = 0x0; /* clr status */ + + while(1) + { + if(tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) /* check new data */ + { + DEBUG_PRINTF("New Data IN\n"); + break; + } + + if(tCAN->STATUS & CAN_STATUS_RXOK_Msk) + { + DEBUG_PRINTF("Rx OK\n"); + } + if(tCAN->STATUS & CAN_STATUS_LEC_Msk) + { + DEBUG_PRINTF("Error\n"); + } + } +} + +/** + * @brief Get current bit rate + * @param[in] tCAN The pointer to CAN module base address. + * @return Current Bit-Rate (kilo bit per second) + * @details Return current CAN bit rate according to the user bit-timing parameter settings + */ +uint32_t CAN_GetCANBitRate(CAN_T *tCAN) +{ + uint8_t u8Tseg1, u8Tseg2; + uint32_t u32Bpr; + + u8Tseg1 = (tCAN->BTIME & CAN_BTIME_TSEG1_Msk) >> CAN_BTIME_TSEG1_Pos; + u8Tseg2 = (tCAN->BTIME & CAN_BTIME_TSEG2_Msk) >> CAN_BTIME_TSEG2_Pos; + u32Bpr = (tCAN->BTIME & CAN_BTIME_BRP_Msk) | (tCAN->BRPE << 6); + + return (SystemCoreClock / (u32Bpr + 1) / (u8Tseg1 + u8Tseg2 + 3)); +} + +/** + * @brief Switch the CAN into test mode. + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u8TestMask Specifies the configuration in test modes + * \ref CAN_TEST_BASIC_Msk Enable basic mode of test mode + * \ref CAN_TEST_SILENT_Msk Enable silent mode of test mode + * \ref CAN_TEST_LBACK_Msk Enable Loop Back Mode of test mode + * \ref CAN_TEST_TX0_Msk / \ref CAN_TEST_TX1_Msk Control CAN_TX pin bit field + * @return None + * @details Switch the CAN into test mode. There are four test mode (BASIC/SILENT/LOOPBACK/ + * LOOPBACK combined SILENT/CONTROL_TX_PIN)could be selected. After setting test mode,user + * must call CAN_LeaveInitMode() to let the setting take effect. + */ +void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask) +{ + tCAN->CON |= CAN_CON_TEST_Msk; + tCAN->TEST = u8TestMask; +} + + +/** + * @brief Leave the test mode + * @param[in] tCAN The pointer to CAN module base address. + * @return None + * @details This function is used to Leave the test mode (switch into normal mode). + */ +void CAN_LeaveTestMode(CAN_T *tCAN) +{ + tCAN->CON |= CAN_CON_TEST_Msk; + tCAN->TEST &= ~(CAN_TEST_LBACK_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_BASIC_Msk); + tCAN->CON &= (~CAN_CON_TEST_Msk); +} + +/** + * @brief Get the waiting status of a received message. + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. + * @retval non-zero The corresponding message object has a new data bit is set. + * @retval 0 No message object has new data. + * @details This function is used to get the waiting status of a received message. + */ +uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj) +{ + return (u8MsgObj < 16 ? tCAN->NDAT1 & (1 << u8MsgObj) : tCAN->NDAT2 & (1 << (u8MsgObj - 16))); +} + + +/** + * @brief Send CAN message in BASIC mode of test mode + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] pCanMsg Pointer to the message structure containing data to transmit. + * @return TRUE: Transmission OK + * FALSE: Check busy flag of interface 0 is timeout + * @details The function is used to send CAN message in BASIC mode of test mode. Before call the API, + * the user should be call CAN_EnterTestMode(CAN_TEST_BASIC) and let CAN controller enter + * basic mode of test mode. Please notice IF1 Registers used as Tx Buffer in basic mode. + */ +int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg) +{ + uint32_t i = 0; + while(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk); + + tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk); + + if(pCanMsg->IdType == CAN_STD_ID) + { + /* standard ID*/ + tCAN->IF[0].ARB1 = 0; + tCAN->IF[0].ARB2 = (((pCanMsg->Id) & 0x7FF) << 2) ; + } + else + { + /* extended ID*/ + tCAN->IF[0].ARB1 = (pCanMsg->Id) & 0xFFFF; + tCAN->IF[0].ARB2 = ((pCanMsg->Id) & 0x1FFF0000) >> 16 | CAN_IF_ARB2_XTD_Msk; + + } + + if(pCanMsg->FrameType) + tCAN->IF[0].ARB2 |= CAN_IF_ARB2_DIR_Msk; + else + tCAN->IF[0].ARB2 &= (~CAN_IF_ARB2_DIR_Msk); + + tCAN->IF[0].MCON = (tCAN->IF[0].MCON & (~CAN_IF_MCON_DLC_Msk)) | pCanMsg->DLC; + tCAN->IF[0].DAT_A1 = ((uint16_t)pCanMsg->Data[1] << 8) | pCanMsg->Data[0]; + tCAN->IF[0].DAT_A2 = ((uint16_t)pCanMsg->Data[3] << 8) | pCanMsg->Data[2]; + tCAN->IF[0].DAT_B1 = ((uint16_t)pCanMsg->Data[5] << 8) | pCanMsg->Data[4]; + tCAN->IF[0].DAT_B2 = ((uint16_t)pCanMsg->Data[7] << 8) | pCanMsg->Data[6]; + + /* request transmission*/ + tCAN->IF[0].CREQ &= (~CAN_IF_CREQ_BUSY_Msk); + if(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) + { + DEBUG_PRINTF("Cannot clear busy for sending ...\n"); + return FALSE; + } + + tCAN->IF[0].CREQ |= CAN_IF_CREQ_BUSY_Msk; // sending + + for(i = 0; i < 0xFFFFF; i++) + { + if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) + break; + } + + if(i >= 0xFFFFF) + { + DEBUG_PRINTF("Cannot send out...\n"); + return FALSE; + } + + return TRUE; +} + +/** + * @brief Get a message information in BASIC mode. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] pCanMsg Pointer to the message structure where received data is copied. + * + * @return FALSE No any message received. + * TRUE Receive a message success. + * + */ +int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg) +{ + + if((tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) == 0) /* In basic mode, receive data always save in IF2 */ + { + return FALSE; + } + + tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk); + + tCAN->IF[1].CMASK = CAN_IF_CMASK_ARB_Msk + | CAN_IF_CMASK_CONTROL_Msk + | CAN_IF_CMASK_DATAA_Msk + | CAN_IF_CMASK_DATAB_Msk; + + if((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) + { + /* standard ID*/ + pCanMsg->IdType = CAN_STD_ID; + pCanMsg->Id = (tCAN->IF[1].ARB2 >> 2) & 0x07FF; + + } + else + { + /* extended ID*/ + pCanMsg->IdType = CAN_EXT_ID; + pCanMsg->Id = (tCAN->IF[1].ARB2 & 0x1FFF) << 16; + pCanMsg->Id |= (uint32_t)tCAN->IF[1].ARB1; + } + + pCanMsg->FrameType = !((tCAN->IF[1].ARB2 & CAN_IF_ARB2_DIR_Msk) >> CAN_IF_ARB2_DIR_Pos); + + pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk; + pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk; + pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos; + pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk; + pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos; + pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk; + pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos; + pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk; + pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos; + + return TRUE; +} + +/** + * @brief Set Rx message object, include ID mask. + * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. + * @param[in] u8idType Specifies the identifier type of the frames that will be transmitted + * This parameter can be one of the following values: + * \ref CAN_STD_ID (standard ID, 11-bit) + * \ref CAN_EXT_ID (extended ID, 29-bit) + * @param[in] u32id Specifies the identifier used for acceptance filtering. + * @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator. + * This parameter can be one of the following values: + * TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO. + * FALSE: for a FIFO receive object that is not the last one. + * @retval TRUE SUCCESS + * @retval FALSE No useful interface + * @details The function is used to configure a receive message object. + */ +int32_t CAN_SetRxMsgObjAndMsk(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint32_t u32idmask, uint8_t u8singleOrFifoLast) +{ + uint8_t u8MsgIfNum; + + /* Get and lock a free interface */ + if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) + return FALSE; + + /* Command Setting */ + tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | + CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; + + if(u8idType == CAN_STD_ID) /* According STD/EXT ID format,Configure Mask and Arbitration register */ + { + tCAN->IF[u8MsgIfNum].ARB1 = 0; + tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FF) << 2; + } + else + { + tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFF; + tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000) >> 16; + } + + tCAN->IF[u8MsgIfNum].MASK1 = (u32idmask & 0xFFFF); + tCAN->IF[u8MsgIfNum].MASK2 = (u32idmask >> 16) & 0xFFFF; + + //tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; + tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; + if(u8singleOrFifoLast) + tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk; + else + tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk); + + tCAN->IF[u8MsgIfNum].DAT_A1 = 0; + tCAN->IF[u8MsgIfNum].DAT_A2 = 0; + tCAN->IF[u8MsgIfNum].DAT_B1 = 0; + tCAN->IF[u8MsgIfNum].DAT_B2 = 0; + + tCAN->IF[u8MsgIfNum].CREQ = 1 + u8MsgObj; + ReleaseIF(tCAN, u8MsgIfNum); + + return TRUE; +} + +/** + * @brief Set Rx message object + * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. + * @param[in] u8idType Specifies the identifier type of the frames that will be transmitted + * This parameter can be one of the following values: + * \ref CAN_STD_ID (standard ID, 11-bit) + * \ref CAN_EXT_ID (extended ID, 29-bit) + * @param[in] u32id Specifies the identifier used for acceptance filtering. + * @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator. + * This parameter can be one of the following values: + * TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO. + * FALSE: for a FIFO receive object that is not the last one. + * @retval TRUE SUCCESS + * @retval FALSE No useful interface + * @details The function is used to configure a receive message object. + */ +int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast) +{ + uint8_t u8MsgIfNum; + + /* Get and lock a free interface */ + if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) + return FALSE; + + /* Command Setting */ + tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | + CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; + + if(u8idType == CAN_STD_ID) /* According STD/EXT ID format,Configure Mask and Arbitration register */ + { + tCAN->IF[u8MsgIfNum].ARB1 = 0; + tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FF) << 2; + } + else + { + tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFF; + tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000) >> 16; + } + + //tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; + tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; + if(u8singleOrFifoLast) + tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk; + else + tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk); + + tCAN->IF[u8MsgIfNum].DAT_A1 = 0; + tCAN->IF[u8MsgIfNum].DAT_A2 = 0; + tCAN->IF[u8MsgIfNum].DAT_B1 = 0; + tCAN->IF[u8MsgIfNum].DAT_B2 = 0; + + tCAN->IF[u8MsgIfNum].CREQ = 1 + u8MsgObj; + ReleaseIF(tCAN, u8MsgIfNum); + + return TRUE; +} + +/** + * @brief Gets the message + * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. + * @param[in] u8Release Specifies the message release indicator. + * This parameter can be one of the following values: + * TRUE: the message object is released when getting the data. + * FALSE:the message object is not released. + * @param[in] pCanMsg Pointer to the message structure where received data is copied. + * @retval TRUE Success + * @retval FALSE No any message received + * @details Gets the message, if received. + */ +int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg) +{ + uint8_t u8MsgIfNum; + + if(!CAN_IsNewDataReceived(tCAN, u8MsgObj)) + return FALSE; + + /* Get and lock a free interface */ + if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) + return FALSE; + + tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk); + + /* read the message contents*/ + tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_MASK_Msk + | CAN_IF_CMASK_ARB_Msk + | CAN_IF_CMASK_CONTROL_Msk + | CAN_IF_CMASK_CLRINTPND_Msk + | (u8Release ? CAN_IF_CMASK_TXRQSTNEWDAT_Msk : 0) + | CAN_IF_CMASK_DATAA_Msk + | CAN_IF_CMASK_DATAB_Msk; + + tCAN->IF[u8MsgIfNum].CREQ = 1 + u8MsgObj; + + while(tCAN->IF[u8MsgIfNum].CREQ & CAN_IF_CREQ_BUSY_Msk) + { + /*Wait*/ + } + + if((tCAN->IF[u8MsgIfNum].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) + { + /* standard ID*/ + pCanMsg->IdType = CAN_STD_ID; + pCanMsg->Id = (tCAN->IF[u8MsgIfNum].ARB2 & CAN_IF_ARB2_ID_Msk) >> 2; + } + else + { + /* extended ID*/ + pCanMsg->IdType = CAN_EXT_ID; + pCanMsg->Id = (((tCAN->IF[u8MsgIfNum].ARB2) & 0x1FFF) << 16) | tCAN->IF[u8MsgIfNum].ARB1; + } + + pCanMsg->DLC = tCAN->IF[u8MsgIfNum].MCON & CAN_IF_MCON_DLC_Msk; + pCanMsg->Data[0] = tCAN->IF[u8MsgIfNum].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk; + pCanMsg->Data[1] = (tCAN->IF[u8MsgIfNum].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos; + pCanMsg->Data[2] = tCAN->IF[u8MsgIfNum].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk; + pCanMsg->Data[3] = (tCAN->IF[u8MsgIfNum].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos; + pCanMsg->Data[4] = tCAN->IF[u8MsgIfNum].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk; + pCanMsg->Data[5] = (tCAN->IF[u8MsgIfNum].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos; + pCanMsg->Data[6] = tCAN->IF[u8MsgIfNum].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk; + pCanMsg->Data[7] = (tCAN->IF[u8MsgIfNum].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos; + + ReleaseIF(tCAN, u8MsgIfNum); + return TRUE; +} + +/// @endcond HIDDEN_SYMBOLS + + +/** + * @brief Set bus baud-rate. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz. + * + * @return u32CurrentBitRate Real baud-rate value. + * + * @details The function is used to set bus timing parameter according current clock and target baud-rate. + */ +uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate) +{ + uint8_t u8Tseg1, u8Tseg2; + uint32_t u32Brp; + uint32_t u32Value; + + CAN_EnterInitMode(tCAN, 0); + SystemCoreClockUpdate(); + u32Value = SystemCoreClock / u32BaudRate; + +#if 0 + u8Tseg1 = 2; + u8Tseg2 = 1; + while(1) + { + if(((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0)) + break; + if(u8Tseg1 < 7) + u8Tseg2++; + + if((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) + break; + if(u8Tseg1 < 15) + u8Tseg1++; + else + { + u8Tseg1 = 2; + u8Tseg2 = 1; + break; + } + } +#else + + /* Fix for most standard baud rates, include 125K */ + + u8Tseg1 = 3; + u8Tseg2 = 2; + while(1) + { + if(((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) | (u8Tseg1 >= 15)) + break; + + u8Tseg1++; + + if((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) + break; + + if(u8Tseg2 < 7) + u8Tseg2++; + } +#endif + u32Brp = SystemCoreClock / (u32BaudRate) / (u8Tseg1 + u8Tseg2 + 3) - 1; + + u32Value = ((uint32_t)u8Tseg2 << CAN_BTIME_TSEG2_Pos) | ((uint32_t)u8Tseg1 << CAN_BTIME_TSEG1_Pos) | + (u32Brp & CAN_BTIME_BRP_Msk) | (tCAN->BTIME & CAN_BTIME_SJW_Msk); + tCAN->BTIME = u32Value; + tCAN->BRPE = (u32Brp >> 6) & 0x0F; + + CAN_LeaveInitMode(tCAN); + + return (CAN_GetCANBitRate(tCAN)); +} + +/** + * @brief The function is used to disable all CAN interrupt. + * + * @param[in] tCAN The pointer to CAN module base address. + * + * @return None + * + * @details No Status Change Interrupt and Error Status Interrupt will be generated. + */ +void CAN_Close(CAN_T *tCAN) +{ + CAN_DisableInt(tCAN, (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)); +} + +/** + * @brief Set CAN operation mode and target baud-rate. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz. + * @param[in] u32Mode The CAN operation mode. Valid values are: + * - \ref CAN_NORMAL_MODE Normal operation. + * - \ref CAN_BASIC_MODE Basic mode. + * @return u32CurrentBitRate Real baud-rate value. + * + * @details Set bus timing parameter according current clock and target baud-rate. + * In Basic mode, IF1 Registers used as Tx Buffer, IF2 Registers used as Rx Buffer. + */ +uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode) +{ + uint32_t u32CurrentBitRate; + + u32CurrentBitRate = CAN_SetBaudRate(tCAN, u32BaudRate); + + if(u32Mode == CAN_BASIC_MODE) + CAN_EnterTestMode(tCAN, CAN_TEST_BASIC_Msk); + + return u32CurrentBitRate; +} + +/** + * @brief The function is used to configure a transmit object. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * @param[in] pCanMsg Pointer to the message structure where received data is copied. + * + * @retval FALSE No useful interface. + * @retval TRUE Config message object success. + * + * @details The two sets of interface registers (IF1 and IF2) control the software access to the Message RAM. + * They buffer the data to be transferred to and from the RAM, avoiding conflicts between software accesses and message reception/transmission. + */ +int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg) +{ + uint8_t u8MsgIfNum; + + if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) + return FALSE; + + /* update the contents needed for transmission*/ + tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | + CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; + + if(pCanMsg->IdType == CAN_STD_ID) + { + /* standard ID*/ + tCAN->IF[u8MsgIfNum].ARB1 = 0; + tCAN->IF[u8MsgIfNum].ARB2 = (((pCanMsg->Id) & 0x7FF) << 2) | CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_MSGVAL_Msk; + } + else + { + /* extended ID*/ + tCAN->IF[u8MsgIfNum].ARB1 = (pCanMsg->Id) & 0xFFFF; + tCAN->IF[u8MsgIfNum].ARB2 = ((pCanMsg->Id) & 0x1FFF0000) >> 16 | + CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_XTD_Msk | CAN_IF_ARB2_MSGVAL_Msk; + } + + if(pCanMsg->FrameType) + tCAN->IF[u8MsgIfNum].ARB2 |= CAN_IF_ARB2_DIR_Msk; + else + tCAN->IF[u8MsgIfNum].ARB2 &= (~CAN_IF_ARB2_DIR_Msk); + + tCAN->IF[u8MsgIfNum].DAT_A1 = ((uint16_t)pCanMsg->Data[1] << 8) | pCanMsg->Data[0]; + tCAN->IF[u8MsgIfNum].DAT_A2 = ((uint16_t)pCanMsg->Data[3] << 8) | pCanMsg->Data[2]; + tCAN->IF[u8MsgIfNum].DAT_B1 = ((uint16_t)pCanMsg->Data[5] << 8) | pCanMsg->Data[4]; + tCAN->IF[u8MsgIfNum].DAT_B2 = ((uint16_t)pCanMsg->Data[7] << 8) | pCanMsg->Data[6]; + + tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_NEWDAT_Msk | pCanMsg->DLC | CAN_IF_MCON_TXIE_Msk | CAN_IF_MCON_EOB_Msk; + tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum; + + ReleaseIF(tCAN, u8MsgIfNum); + return TRUE; +} + +/** + * @brief Set transmit request bit. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * + * @return TRUE: Start transmit message. + * + * @details If a transmission is requested by programming bit TxRqst/NewDat (IFn_CMASK[2]), the TxRqst (IFn_MCON[8]) will be ignored. + */ +int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum) +{ + uint8_t u8MsgIfNum; + + if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) + return FALSE; + + tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk); + + /* read the message contents*/ + tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk + | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; + + tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum; + + while(tCAN->IF[u8MsgIfNum].CREQ & CAN_IF_CREQ_BUSY_Msk) + { + /*Wait*/ + } + tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; + tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum; + + ReleaseIF(tCAN, u8MsgIfNum); + return TRUE; +} + +/** + * @brief Enable CAN interrupt. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32Mask Interrupt Mask. Valid values are: + * - \ref CAN_CON_IE_Msk Module interrupt enable. + * - \ref CAN_CON_SIE_Msk Status change interrupt enable. + * - \ref CAN_CON_EIE_Msk Error interrupt enable. + * + * @return None + * + * @details The application software has two possibilities to follow the source of a message interrupt. + * First, it can follow the IntId in the Interrupt Register and second it can poll the Interrupt Pending Register. + */ +void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask) +{ + tCAN->CON = (tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)) | + (u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)); +} + +/** + * @brief Disable CAN interrupt. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32Mask Interrupt Mask. (CAN_CON_IE_Msk / CAN_CON_SIE_Msk / CAN_CON_EIE_Msk). + * + * @return None + * + * @details The interrupt remains active until the Interrupt Register is back to value zero (the cause of the interrupt is reset) or until IE is reset. + */ +void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask) +{ + tCAN->CON = tCAN->CON & ~((u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk))); +} + + +/** + * @brief The function is used to configure a receive message object. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. Valid values are: + * - \ref CAN_STD_ID The 11-bit identifier. + * - \ref CAN_EXT_ID The 29-bit identifier. + * @param[in] u32ID Specifies the identifier used for acceptance filtering. + * + * @retval FALSE No useful interface. + * @retval TRUE Configure a receive message object success. + * + * @details If the RxIE bit (CAN_IFn_MCON[10]) is set, the IntPnd bit (CAN_IFn_MCON[13]) + * will be set when a received Data Frame is accepted and stored in the Message Object. + */ +int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID) +{ + uint32_t u32TimeOutCount = 0; + + while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, TRUE) == FALSE) + { + if(++u32TimeOutCount >= RETRY_COUNTS) return FALSE; + } + + return TRUE; +} + +/** + * @brief The function is used to configure a receive message object. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. Valid values are: + * - \ref CAN_STD_ID The 11-bit identifier. + * - \ref CAN_EXT_ID The 29-bit identifier. + * @param[in] u32ID Specifies the identifier used for acceptance filtering. + * @param[in] u32IDMask Specifies the identifier mask used for acceptance filtering. + * + * @retval FALSE No useful interface. + * @retval TRUE Configure a receive message object success. + * + * @details If the RxIE bit (CAN_IFn_MCON[10]) is set, the IntPnd bit (CAN_IFn_MCON[13]) + * will be set when a received Data Frame is accepted and stored in the Message Object. + */ +int32_t CAN_SetRxMsgAndMsk(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID, uint32_t u32IDMask) +{ + uint32_t u32TimeOutCount = 0; + + while(CAN_SetRxMsgObjAndMsk(tCAN, u32MsgNum, u32IDType, u32ID, u32IDMask, TRUE) == FALSE) + { + if(++u32TimeOutCount >= RETRY_COUNTS) return FALSE; + } + + return TRUE; +} + +/** + * @brief The function is used to configure several receive message objects. + * + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum The starting MSG RAM number(0 ~ 31). + * @param[in] u32MsgCount the number of MSG RAM of the FIFO. + * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. Valid values are: + * - \ref CAN_STD_ID The 11-bit identifier. + * - \ref CAN_EXT_ID The 29-bit identifier. + * @param[in] u32ID Specifies the identifier used for acceptance filtering. + * + * @retval FALSE No useful interface. + * @retval TRUE Configure receive message objects success. + * + * @details The Interface Registers avoid conflict between the CPU accesses to the Message RAM and CAN message reception + * and transmission by buffering the data to be transferred. + */ +int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID) +{ + uint32_t i = 0; + uint32_t u32TimeOutCount; + uint32_t u32EOB_Flag = 0; + + for(i = 1; i < u32MsgCount; i++) + { + u32TimeOutCount = 0; + + u32MsgNum += (i - 1); + + if(i == u32MsgCount) u32EOB_Flag = 1; + + while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, u32EOB_Flag) == FALSE) + { + if(++u32TimeOutCount >= RETRY_COUNTS) return FALSE; + } + } + + return TRUE; +} + + +/** + * @brief Send CAN message. + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * @param[in] pCanMsg Pointer to the message structure where received data is copied. + * + * @retval FALSE 1. When operation in basic mode: Transmit message time out. \n + * 2. When operation in normal mode: No useful interface. \n + * @retval TRUE Transmit Message success. + * + * @details The receive/transmit priority for the Message Objects is attached to the message number. + * Message Object 1 has the highest priority, while Message Object 32 has the lowest priority. + */ +int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg) +{ + if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) + { + return (CAN_BasicSendMsg(tCAN, pCanMsg)); + } + else + { + if(CAN_SetTxMsg(tCAN, u32MsgNum, pCanMsg) == FALSE) + return FALSE; + CAN_TriggerTxMsg(tCAN, u32MsgNum); + } + + return TRUE; +} + + +/** + * @brief Gets the message, if received. + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * @param[in] pCanMsg Pointer to the message structure where received data is copied. + * + * @retval FALSE No any message received. + * @retval TRUE Receive Message success. + * + * @details The Interface Registers avoid conflict between the CPU accesses to the Message RAM and CAN message reception + * and transmission by buffering the data to be transferred. + */ +int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg) +{ + if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) + { + return (CAN_BasicReceiveMsg(tCAN, pCanMsg)); + } + else + { + return CAN_ReadMsgObj(tCAN, u32MsgNum, TRUE, pCanMsg); + } +} + +/** + * @brief Clear interrupt pending bit. + * @param[in] tCAN The pointer to CAN module base address. + * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. + * + * @return None + * + * @details An interrupt remains pending until the application software has cleared it. + */ +void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum) +{ + uint32_t u32MsgIfNum; + + if((u32MsgIfNum = LockIF_TL(tCAN)) == 2) + u32MsgIfNum = 0; + + tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; + tCAN->IF[u32MsgIfNum].CREQ = 1 + u32MsgNum; + + ReleaseIF(tCAN, u32MsgIfNum); +} + + +/*@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */ + +/*@}*/ /* end of group CAN_Driver */ + +/*@}*/ /* end of group Standard_Driver */ + +/*** (C) COPYRIGHT 2014~2015 Nuvoton Technology Corp. ***/ +