MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NXP/TARGET_LPC23XX/can_api.c@18:6a4db94011d3, 2017-05-14 (annotated)

Committer:
sahilmgandhi
Date:
Sun May 14 23:18:57 2017 +0000
Revision:
18:6a4db94011d3
Publishing again

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
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 #include "mbed_assert.h"
sahilmgandhi 18:6a4db94011d3 17 #include "can_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 19 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #include <math.h>
sahilmgandhi 18:6a4db94011d3 22 #include <string.h>
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 /* Acceptance filter mode in AFMR register */
sahilmgandhi 18:6a4db94011d3 25 #define ACCF_OFF 0x01
sahilmgandhi 18:6a4db94011d3 26 #define ACCF_BYPASS 0x02
sahilmgandhi 18:6a4db94011d3 27 #define ACCF_ON 0x00
sahilmgandhi 18:6a4db94011d3 28 #define ACCF_FULLCAN 0x04
sahilmgandhi 18:6a4db94011d3 29
sahilmgandhi 18:6a4db94011d3 30 /* There are several bit timing calculators on the internet.
sahilmgandhi 18:6a4db94011d3 31 http://www.port.de/engl/canprod/sv_req_form.html
sahilmgandhi 18:6a4db94011d3 32 http://www.kvaser.com/can/index.htm
sahilmgandhi 18:6a4db94011d3 33 */
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 static const PinMap PinMap_CAN_RD[] = {
sahilmgandhi 18:6a4db94011d3 36 {P0_0 , CAN_1, 1},
sahilmgandhi 18:6a4db94011d3 37 {P0_4 , CAN_2, 2},
sahilmgandhi 18:6a4db94011d3 38 {P0_21, CAN_1, 3},
sahilmgandhi 18:6a4db94011d3 39 {P2_7 , CAN_2, 1},
sahilmgandhi 18:6a4db94011d3 40 {NC , NC , 0}
sahilmgandhi 18:6a4db94011d3 41 };
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 static const PinMap PinMap_CAN_TD[] = {
sahilmgandhi 18:6a4db94011d3 44 {P0_1 , CAN_1, 1},
sahilmgandhi 18:6a4db94011d3 45 {P0_5 , CAN_2, 2},
sahilmgandhi 18:6a4db94011d3 46 {P0_22, CAN_1, 3},
sahilmgandhi 18:6a4db94011d3 47 {P2_8 , CAN_2, 1},
sahilmgandhi 18:6a4db94011d3 48 {NC , NC , 0}
sahilmgandhi 18:6a4db94011d3 49 };
sahilmgandhi 18:6a4db94011d3 50
sahilmgandhi 18:6a4db94011d3 51 // Type definition to hold a CAN message
sahilmgandhi 18:6a4db94011d3 52 struct CANMsg {
sahilmgandhi 18:6a4db94011d3 53 unsigned int reserved1 : 16;
sahilmgandhi 18:6a4db94011d3 54 unsigned int dlc : 4; // Bits 16..19: DLC - Data Length Counter
sahilmgandhi 18:6a4db94011d3 55 unsigned int reserved0 : 10;
sahilmgandhi 18:6a4db94011d3 56 unsigned int rtr : 1; // Bit 30: Set if this is a RTR message
sahilmgandhi 18:6a4db94011d3 57 unsigned int type : 1; // Bit 31: Set if this is a 29-bit ID message
sahilmgandhi 18:6a4db94011d3 58 unsigned int id; // CAN Message ID (11-bit or 29-bit)
sahilmgandhi 18:6a4db94011d3 59 unsigned char data[8]; // CAN Message Data Bytes 0-7
sahilmgandhi 18:6a4db94011d3 60 };
sahilmgandhi 18:6a4db94011d3 61 typedef struct CANMsg CANMsg;
sahilmgandhi 18:6a4db94011d3 62
sahilmgandhi 18:6a4db94011d3 63 static uint32_t can_disable(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 64 uint32_t sm = obj->dev->MOD;
sahilmgandhi 18:6a4db94011d3 65 obj->dev->MOD |= 1;
sahilmgandhi 18:6a4db94011d3 66 return sm;
sahilmgandhi 18:6a4db94011d3 67 }
sahilmgandhi 18:6a4db94011d3 68
sahilmgandhi 18:6a4db94011d3 69 static inline void can_enable(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 70 if (obj->dev->MOD & 1) {
sahilmgandhi 18:6a4db94011d3 71 obj->dev->MOD &= ~(1);
sahilmgandhi 18:6a4db94011d3 72 }
sahilmgandhi 18:6a4db94011d3 73 }
sahilmgandhi 18:6a4db94011d3 74
sahilmgandhi 18:6a4db94011d3 75 int can_mode(can_t *obj, CanMode mode) {
sahilmgandhi 18:6a4db94011d3 76 return 0; // not implemented
sahilmgandhi 18:6a4db94011d3 77 }
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
sahilmgandhi 18:6a4db94011d3 80 return 0; // not implemented
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 static int can_pclk(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 84 int value = 0;
sahilmgandhi 18:6a4db94011d3 85 switch ((int)obj->dev) {
sahilmgandhi 18:6a4db94011d3 86 case CAN_1: value = (LPC_SC->PCLKSEL0 & (0x3 << 26)) >> 26; break;
sahilmgandhi 18:6a4db94011d3 87 case CAN_2: value = (LPC_SC->PCLKSEL0 & (0x3 << 28)) >> 28; break;
sahilmgandhi 18:6a4db94011d3 88 }
sahilmgandhi 18:6a4db94011d3 89
sahilmgandhi 18:6a4db94011d3 90 switch (value) {
sahilmgandhi 18:6a4db94011d3 91 case 1: return 1;
sahilmgandhi 18:6a4db94011d3 92 case 2: return 2;
sahilmgandhi 18:6a4db94011d3 93 case 3: return 6;
sahilmgandhi 18:6a4db94011d3 94 default: return 4;
sahilmgandhi 18:6a4db94011d3 95 }
sahilmgandhi 18:6a4db94011d3 96 }
sahilmgandhi 18:6a4db94011d3 97
sahilmgandhi 18:6a4db94011d3 98 // This table has the sampling points as close to 75% as possible. The first
sahilmgandhi 18:6a4db94011d3 99 // value is TSEG1, the second TSEG2.
sahilmgandhi 18:6a4db94011d3 100 static const int timing_pts[23][2] = {
sahilmgandhi 18:6a4db94011d3 101 {0x0, 0x0}, // 2, 50%
sahilmgandhi 18:6a4db94011d3 102 {0x1, 0x0}, // 3, 67%
sahilmgandhi 18:6a4db94011d3 103 {0x2, 0x0}, // 4, 75%
sahilmgandhi 18:6a4db94011d3 104 {0x3, 0x0}, // 5, 80%
sahilmgandhi 18:6a4db94011d3 105 {0x3, 0x1}, // 6, 67%
sahilmgandhi 18:6a4db94011d3 106 {0x4, 0x1}, // 7, 71%
sahilmgandhi 18:6a4db94011d3 107 {0x5, 0x1}, // 8, 75%
sahilmgandhi 18:6a4db94011d3 108 {0x6, 0x1}, // 9, 78%
sahilmgandhi 18:6a4db94011d3 109 {0x6, 0x2}, // 10, 70%
sahilmgandhi 18:6a4db94011d3 110 {0x7, 0x2}, // 11, 73%
sahilmgandhi 18:6a4db94011d3 111 {0x8, 0x2}, // 12, 75%
sahilmgandhi 18:6a4db94011d3 112 {0x9, 0x2}, // 13, 77%
sahilmgandhi 18:6a4db94011d3 113 {0x9, 0x3}, // 14, 71%
sahilmgandhi 18:6a4db94011d3 114 {0xA, 0x3}, // 15, 73%
sahilmgandhi 18:6a4db94011d3 115 {0xB, 0x3}, // 16, 75%
sahilmgandhi 18:6a4db94011d3 116 {0xC, 0x3}, // 17, 76%
sahilmgandhi 18:6a4db94011d3 117 {0xD, 0x3}, // 18, 78%
sahilmgandhi 18:6a4db94011d3 118 {0xD, 0x4}, // 19, 74%
sahilmgandhi 18:6a4db94011d3 119 {0xE, 0x4}, // 20, 75%
sahilmgandhi 18:6a4db94011d3 120 {0xF, 0x4}, // 21, 76%
sahilmgandhi 18:6a4db94011d3 121 {0xF, 0x5}, // 22, 73%
sahilmgandhi 18:6a4db94011d3 122 {0xF, 0x6}, // 23, 70%
sahilmgandhi 18:6a4db94011d3 123 {0xF, 0x7}, // 24, 67%
sahilmgandhi 18:6a4db94011d3 124 };
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 static unsigned int can_speed(unsigned int sclk, unsigned int pclk, unsigned int cclk, unsigned char psjw) {
sahilmgandhi 18:6a4db94011d3 127 uint32_t btr;
sahilmgandhi 18:6a4db94011d3 128 uint16_t brp = 0;
sahilmgandhi 18:6a4db94011d3 129 uint32_t calcbit;
sahilmgandhi 18:6a4db94011d3 130 uint32_t bitwidth;
sahilmgandhi 18:6a4db94011d3 131 int hit = 0;
sahilmgandhi 18:6a4db94011d3 132 int bits;
sahilmgandhi 18:6a4db94011d3 133
sahilmgandhi 18:6a4db94011d3 134 bitwidth = sclk / (pclk * cclk);
sahilmgandhi 18:6a4db94011d3 135
sahilmgandhi 18:6a4db94011d3 136 brp = bitwidth / 0x18;
sahilmgandhi 18:6a4db94011d3 137 while ((!hit) && (brp < bitwidth / 4)) {
sahilmgandhi 18:6a4db94011d3 138 brp++;
sahilmgandhi 18:6a4db94011d3 139 for (bits = 22; bits > 0; bits--) {
sahilmgandhi 18:6a4db94011d3 140 calcbit = (bits + 3) * (brp + 1);
sahilmgandhi 18:6a4db94011d3 141 if (calcbit == bitwidth) {
sahilmgandhi 18:6a4db94011d3 142 hit = 1;
sahilmgandhi 18:6a4db94011d3 143 break;
sahilmgandhi 18:6a4db94011d3 144 }
sahilmgandhi 18:6a4db94011d3 145 }
sahilmgandhi 18:6a4db94011d3 146 }
sahilmgandhi 18:6a4db94011d3 147
sahilmgandhi 18:6a4db94011d3 148 if (hit) {
sahilmgandhi 18:6a4db94011d3 149 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
sahilmgandhi 18:6a4db94011d3 150 | ((timing_pts[bits][0] << 16) & 0x000F0000)
sahilmgandhi 18:6a4db94011d3 151 | ((psjw << 14) & 0x0000C000)
sahilmgandhi 18:6a4db94011d3 152 | ((brp << 0) & 0x000003FF);
sahilmgandhi 18:6a4db94011d3 153 } else {
sahilmgandhi 18:6a4db94011d3 154 btr = 0xFFFFFFFF;
sahilmgandhi 18:6a4db94011d3 155 }
sahilmgandhi 18:6a4db94011d3 156
sahilmgandhi 18:6a4db94011d3 157 return btr;
sahilmgandhi 18:6a4db94011d3 158 }
sahilmgandhi 18:6a4db94011d3 159
sahilmgandhi 18:6a4db94011d3 160 void can_init(can_t *obj, PinName rd, PinName td) {
sahilmgandhi 18:6a4db94011d3 161 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 162 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 163 obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
sahilmgandhi 18:6a4db94011d3 164 MBED_ASSERT((int)obj->dev != NC);
sahilmgandhi 18:6a4db94011d3 165
sahilmgandhi 18:6a4db94011d3 166 switch ((int)obj->dev) {
sahilmgandhi 18:6a4db94011d3 167 case CAN_1: LPC_SC->PCONP |= 1 << 13; break;
sahilmgandhi 18:6a4db94011d3 168 case CAN_2: LPC_SC->PCONP |= 1 << 14; break;
sahilmgandhi 18:6a4db94011d3 169 }
sahilmgandhi 18:6a4db94011d3 170
sahilmgandhi 18:6a4db94011d3 171 pinmap_pinout(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 172 pinmap_pinout(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 173
sahilmgandhi 18:6a4db94011d3 174 can_reset(obj);
sahilmgandhi 18:6a4db94011d3 175 obj->dev->IER = 0; // Disable Interrupts
sahilmgandhi 18:6a4db94011d3 176 can_frequency(obj, 100000);
sahilmgandhi 18:6a4db94011d3 177
sahilmgandhi 18:6a4db94011d3 178 LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
sahilmgandhi 18:6a4db94011d3 179 }
sahilmgandhi 18:6a4db94011d3 180
sahilmgandhi 18:6a4db94011d3 181 void can_free(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 182 switch ((int)obj->dev) {
sahilmgandhi 18:6a4db94011d3 183 case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;
sahilmgandhi 18:6a4db94011d3 184 case CAN_2: LPC_SC->PCONP &= ~(1 << 14); break;
sahilmgandhi 18:6a4db94011d3 185 }
sahilmgandhi 18:6a4db94011d3 186 }
sahilmgandhi 18:6a4db94011d3 187
sahilmgandhi 18:6a4db94011d3 188 int can_frequency(can_t *obj, int f) {
sahilmgandhi 18:6a4db94011d3 189 int pclk = can_pclk(obj);
sahilmgandhi 18:6a4db94011d3 190 int btr = can_speed(SystemCoreClock, pclk, (unsigned int)f, 1);
sahilmgandhi 18:6a4db94011d3 191
sahilmgandhi 18:6a4db94011d3 192 if (btr > 0) {
sahilmgandhi 18:6a4db94011d3 193 uint32_t modmask = can_disable(obj);
sahilmgandhi 18:6a4db94011d3 194 obj->dev->BTR = btr;
sahilmgandhi 18:6a4db94011d3 195 obj->dev->MOD = modmask;
sahilmgandhi 18:6a4db94011d3 196 return 1;
sahilmgandhi 18:6a4db94011d3 197 } else {
sahilmgandhi 18:6a4db94011d3 198 return 0;
sahilmgandhi 18:6a4db94011d3 199 }
sahilmgandhi 18:6a4db94011d3 200 }
sahilmgandhi 18:6a4db94011d3 201
sahilmgandhi 18:6a4db94011d3 202 int can_write(can_t *obj, CAN_Message msg, int cc) {
sahilmgandhi 18:6a4db94011d3 203 unsigned int CANStatus;
sahilmgandhi 18:6a4db94011d3 204 CANMsg m;
sahilmgandhi 18:6a4db94011d3 205
sahilmgandhi 18:6a4db94011d3 206 can_enable(obj);
sahilmgandhi 18:6a4db94011d3 207
sahilmgandhi 18:6a4db94011d3 208 m.id = msg.id ;
sahilmgandhi 18:6a4db94011d3 209 m.dlc = msg.len & 0xF;
sahilmgandhi 18:6a4db94011d3 210 m.rtr = msg.type;
sahilmgandhi 18:6a4db94011d3 211 m.type = msg.format;
sahilmgandhi 18:6a4db94011d3 212 memcpy(m.data, msg.data, msg.len);
sahilmgandhi 18:6a4db94011d3 213 const unsigned int *buf = (const unsigned int *)&m;
sahilmgandhi 18:6a4db94011d3 214
sahilmgandhi 18:6a4db94011d3 215 CANStatus = obj->dev->SR;
sahilmgandhi 18:6a4db94011d3 216 if (CANStatus & 0x00000004) {
sahilmgandhi 18:6a4db94011d3 217 obj->dev->TFI1 = buf[0] & 0xC00F0000;
sahilmgandhi 18:6a4db94011d3 218 obj->dev->TID1 = buf[1];
sahilmgandhi 18:6a4db94011d3 219 obj->dev->TDA1 = buf[2];
sahilmgandhi 18:6a4db94011d3 220 obj->dev->TDB1 = buf[3];
sahilmgandhi 18:6a4db94011d3 221 if (cc) {
sahilmgandhi 18:6a4db94011d3 222 obj->dev->CMR = 0x30;
sahilmgandhi 18:6a4db94011d3 223 } else {
sahilmgandhi 18:6a4db94011d3 224 obj->dev->CMR = 0x21;
sahilmgandhi 18:6a4db94011d3 225 }
sahilmgandhi 18:6a4db94011d3 226 return 1;
sahilmgandhi 18:6a4db94011d3 227
sahilmgandhi 18:6a4db94011d3 228 } else if (CANStatus & 0x00000400) {
sahilmgandhi 18:6a4db94011d3 229 obj->dev->TFI2 = buf[0] & 0xC00F0000;
sahilmgandhi 18:6a4db94011d3 230 obj->dev->TID2 = buf[1];
sahilmgandhi 18:6a4db94011d3 231 obj->dev->TDA2 = buf[2];
sahilmgandhi 18:6a4db94011d3 232 obj->dev->TDB2 = buf[3];
sahilmgandhi 18:6a4db94011d3 233 if (cc) {
sahilmgandhi 18:6a4db94011d3 234 obj->dev->CMR = 0x50;
sahilmgandhi 18:6a4db94011d3 235 } else {
sahilmgandhi 18:6a4db94011d3 236 obj->dev->CMR = 0x41;
sahilmgandhi 18:6a4db94011d3 237 }
sahilmgandhi 18:6a4db94011d3 238 return 1;
sahilmgandhi 18:6a4db94011d3 239
sahilmgandhi 18:6a4db94011d3 240 } else if (CANStatus & 0x00040000) {
sahilmgandhi 18:6a4db94011d3 241 obj->dev->TFI3 = buf[0] & 0xC00F0000;
sahilmgandhi 18:6a4db94011d3 242 obj->dev->TID3 = buf[1];
sahilmgandhi 18:6a4db94011d3 243 obj->dev->TDA3 = buf[2];
sahilmgandhi 18:6a4db94011d3 244 obj->dev->TDB3 = buf[3];
sahilmgandhi 18:6a4db94011d3 245 if (cc) {
sahilmgandhi 18:6a4db94011d3 246 obj->dev->CMR = 0x90;
sahilmgandhi 18:6a4db94011d3 247 } else {
sahilmgandhi 18:6a4db94011d3 248 obj->dev->CMR = 0x81;
sahilmgandhi 18:6a4db94011d3 249 }
sahilmgandhi 18:6a4db94011d3 250 return 1;
sahilmgandhi 18:6a4db94011d3 251 }
sahilmgandhi 18:6a4db94011d3 252
sahilmgandhi 18:6a4db94011d3 253 return 0;
sahilmgandhi 18:6a4db94011d3 254 }
sahilmgandhi 18:6a4db94011d3 255
sahilmgandhi 18:6a4db94011d3 256 int can_read(can_t *obj, CAN_Message *msg, int handle) {
sahilmgandhi 18:6a4db94011d3 257 CANMsg x;
sahilmgandhi 18:6a4db94011d3 258 unsigned int *i = (unsigned int *)&x;
sahilmgandhi 18:6a4db94011d3 259
sahilmgandhi 18:6a4db94011d3 260 can_enable(obj);
sahilmgandhi 18:6a4db94011d3 261
sahilmgandhi 18:6a4db94011d3 262 if (obj->dev->GSR & 0x1) {
sahilmgandhi 18:6a4db94011d3 263 *i++ = obj->dev->RFS; // Frame
sahilmgandhi 18:6a4db94011d3 264 *i++ = obj->dev->RID; // ID
sahilmgandhi 18:6a4db94011d3 265 *i++ = obj->dev->RDA; // Data A
sahilmgandhi 18:6a4db94011d3 266 *i++ = obj->dev->RDB; // Data B
sahilmgandhi 18:6a4db94011d3 267 obj->dev->CMR = 0x04; // release receive buffer
sahilmgandhi 18:6a4db94011d3 268
sahilmgandhi 18:6a4db94011d3 269 msg->id = x.id;
sahilmgandhi 18:6a4db94011d3 270 msg->len = x.dlc;
sahilmgandhi 18:6a4db94011d3 271 msg->format = (x.type)? CANExtended : CANStandard;
sahilmgandhi 18:6a4db94011d3 272 msg->type = (x.rtr)? CANRemote: CANData;
sahilmgandhi 18:6a4db94011d3 273 memcpy(msg->data,x.data,x.dlc);
sahilmgandhi 18:6a4db94011d3 274 return 1;
sahilmgandhi 18:6a4db94011d3 275 }
sahilmgandhi 18:6a4db94011d3 276
sahilmgandhi 18:6a4db94011d3 277 return 0;
sahilmgandhi 18:6a4db94011d3 278 }
sahilmgandhi 18:6a4db94011d3 279
sahilmgandhi 18:6a4db94011d3 280 void can_reset(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 281 can_disable(obj);
sahilmgandhi 18:6a4db94011d3 282 obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset
sahilmgandhi 18:6a4db94011d3 283 }
sahilmgandhi 18:6a4db94011d3 284
sahilmgandhi 18:6a4db94011d3 285 unsigned char can_rderror(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 286 return (obj->dev->GSR >> 16) & 0xFF;
sahilmgandhi 18:6a4db94011d3 287 }
sahilmgandhi 18:6a4db94011d3 288
sahilmgandhi 18:6a4db94011d3 289 unsigned char can_tderror(can_t *obj) {
sahilmgandhi 18:6a4db94011d3 290 return (obj->dev->GSR >> 24) & 0xFF;
sahilmgandhi 18:6a4db94011d3 291 }
sahilmgandhi 18:6a4db94011d3 292
sahilmgandhi 18:6a4db94011d3 293 void can_monitor(can_t *obj, int silent) {
sahilmgandhi 18:6a4db94011d3 294 uint32_t mod_mask = can_disable(obj);
sahilmgandhi 18:6a4db94011d3 295 if (silent) {
sahilmgandhi 18:6a4db94011d3 296 obj->dev->MOD |= (1 << 1);
sahilmgandhi 18:6a4db94011d3 297 } else {
sahilmgandhi 18:6a4db94011d3 298 obj->dev->MOD &= ~(1 << 1);
sahilmgandhi 18:6a4db94011d3 299 }
sahilmgandhi 18:6a4db94011d3 300 if (!(mod_mask & 1)) {
sahilmgandhi 18:6a4db94011d3 301 can_enable(obj);
sahilmgandhi 18:6a4db94011d3 302 }
sahilmgandhi 18:6a4db94011d3 303 }