anyThing Connected Team / mbed-dev

mbed library sources. Supersedes mbed-src.

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targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c@161:2cc1468da177, 2017-03-30 (annotated)

Committer:
<>
Date:
Thu Mar 30 13:45:57 2017 +0100
Revision:
161:2cc1468da177
Parent:
160:d5399cc887bb
Child:
167:e84263d55307
This updates the lib to the mbed lib v139

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 150:02e0a0aed4ec 1 /* mbed Microcontroller Library
<> 150:02e0a0aed4ec 2 * Copyright (c) 2015-2016 Nuvoton
<> 150:02e0a0aed4ec 3 *
<> 150:02e0a0aed4ec 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 150:02e0a0aed4ec 5 * you may not use this file except in compliance with the License.
<> 150:02e0a0aed4ec 6 * You may obtain a copy of the License at
<> 150:02e0a0aed4ec 7 *
<> 150:02e0a0aed4ec 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 150:02e0a0aed4ec 9 *
<> 150:02e0a0aed4ec 10 * Unless required by applicable law or agreed to in writing, software
<> 150:02e0a0aed4ec 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 150:02e0a0aed4ec 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 150:02e0a0aed4ec 13 * See the License for the specific language governing permissions and
<> 150:02e0a0aed4ec 14 * limitations under the License.
<> 150:02e0a0aed4ec 15 */
<> 150:02e0a0aed4ec 16
<> 150:02e0a0aed4ec 17 #include "can_api.h"
<> 150:02e0a0aed4ec 18 #include "nuc472_gpio.h"
<> 150:02e0a0aed4ec 19 #include "nuc472_can.h"
<> 150:02e0a0aed4ec 20
<> 150:02e0a0aed4ec 21 #if DEVICE_CAN
<> 150:02e0a0aed4ec 22 #include <string.h>
<> 150:02e0a0aed4ec 23 #include "cmsis.h"
<> 150:02e0a0aed4ec 24 #include "pinmap.h"
<> 150:02e0a0aed4ec 25 #include "PeripheralPins.h"
<> 150:02e0a0aed4ec 26 #include "nu_modutil.h"
<> 150:02e0a0aed4ec 27 #include "nu_miscutil.h"
<> 150:02e0a0aed4ec 28 #include "nu_bitutil.h"
<> 160:d5399cc887bb 29 #include "mbed_critical.h"
<> 150:02e0a0aed4ec 30
<> 150:02e0a0aed4ec 31 #define NU_CAN_DEBUG 0
<> 150:02e0a0aed4ec 32 #define CAN_NUM 2
<> 150:02e0a0aed4ec 33
<> 150:02e0a0aed4ec 34 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 150:02e0a0aed4ec 35 static can_irq_handler can0_irq_handler;
<> 150:02e0a0aed4ec 36 static can_irq_handler can1_irq_handler;
<> 150:02e0a0aed4ec 37
<> 150:02e0a0aed4ec 38
<> 150:02e0a0aed4ec 39 static const struct nu_modinit_s can_modinit_tab[] = {
<> 150:02e0a0aed4ec 40 {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
<> 150:02e0a0aed4ec 41 {CAN_1, CAN1_MODULE, 0, 0, CAN1_RST, CAN1_IRQn, NULL},
<> 150:02e0a0aed4ec 42
<> 150:02e0a0aed4ec 43 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
<> 150:02e0a0aed4ec 44 };
<> 150:02e0a0aed4ec 45
<> 150:02e0a0aed4ec 46
<> 150:02e0a0aed4ec 47 void can_init(can_t *obj, PinName rd, PinName td)
<> 150:02e0a0aed4ec 48 {
<> 150:02e0a0aed4ec 49 uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
<> 150:02e0a0aed4ec 50 uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 150:02e0a0aed4ec 51 obj->can = (CANName)pinmap_merge(can_td, can_rd);
<> 150:02e0a0aed4ec 52 MBED_ASSERT((int)obj->can != NC);
<> 150:02e0a0aed4ec 53
<> 150:02e0a0aed4ec 54 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 55 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 56 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 57
<> 150:02e0a0aed4ec 58 // Reset this module
<> 150:02e0a0aed4ec 59 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 60
<> 150:02e0a0aed4ec 61 // Enable IP clock
<> 150:02e0a0aed4ec 62 CLK_EnableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 63
<> 150:02e0a0aed4ec 64 if(obj->can == CAN_1) {
<> 150:02e0a0aed4ec 65 obj->index = 1;
<> 150:02e0a0aed4ec 66 }
<> 150:02e0a0aed4ec 67 else
<> 150:02e0a0aed4ec 68 obj->index = 0;
<> 150:02e0a0aed4ec 69
<> 150:02e0a0aed4ec 70 pinmap_pinout(td, PinMap_CAN_TD);
<> 150:02e0a0aed4ec 71 pinmap_pinout(rd, PinMap_CAN_RD);
<> 150:02e0a0aed4ec 72
<> 150:02e0a0aed4ec 73 /* For NCU 472 mbed Board Transmitter Setting (RS Pin) */
<> 150:02e0a0aed4ec 74 GPIO_SetMode(PA, BIT2| BIT3, GPIO_MODE_OUTPUT);
<> 150:02e0a0aed4ec 75 PA2 = 0x00;
<> 150:02e0a0aed4ec 76 PA3 = 0x00;
<> 150:02e0a0aed4ec 77
<> 161:2cc1468da177 78 CAN_Open((CAN_T *)NU_MODBASE(obj->can), 500000, CAN_NORMAL_MODE);
<> 150:02e0a0aed4ec 79
<> 150:02e0a0aed4ec 80 can_filter(obj, 0, 0, CANStandard, 0);
<> 150:02e0a0aed4ec 81 }
<> 150:02e0a0aed4ec 82
<> 150:02e0a0aed4ec 83
<> 150:02e0a0aed4ec 84 void can_free(can_t *obj)
<> 150:02e0a0aed4ec 85 {
<> 150:02e0a0aed4ec 86
<> 150:02e0a0aed4ec 87 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 88
<> 150:02e0a0aed4ec 89 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 90 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 91
<> 150:02e0a0aed4ec 92 // Reset this module
<> 150:02e0a0aed4ec 93 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 94
<> 150:02e0a0aed4ec 95 CLK_DisableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 96 }
<> 150:02e0a0aed4ec 97
<> 150:02e0a0aed4ec 98 int can_frequency(can_t *obj, int hz)
<> 150:02e0a0aed4ec 99 {
<> 161:2cc1468da177 100 CAN_SetBaudRate((CAN_T *)NU_MODBASE(obj->can), hz);
<> 150:02e0a0aed4ec 101
<> 161:2cc1468da177 102 return CAN_GetCANBitRate((CAN_T *)NU_MODBASE(obj->can));
<> 150:02e0a0aed4ec 103 }
<> 150:02e0a0aed4ec 104
<> 150:02e0a0aed4ec 105 static void can_irq(CANName name, int id)
<> 150:02e0a0aed4ec 106 {
<> 150:02e0a0aed4ec 107
<> 150:02e0a0aed4ec 108 CAN_T *can = (CAN_T *)NU_MODBASE(name);
<> 150:02e0a0aed4ec 109 uint32_t u8IIDRstatus;
<> 150:02e0a0aed4ec 110
<> 150:02e0a0aed4ec 111 u8IIDRstatus = can->IIDR;
<> 150:02e0a0aed4ec 112
<> 150:02e0a0aed4ec 113 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
<> 150:02e0a0aed4ec 114 /**************************/
<> 150:02e0a0aed4ec 115 /* Status Change interrupt*/
<> 150:02e0a0aed4ec 116 /**************************/
<> 150:02e0a0aed4ec 117 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
<> 150:02e0a0aed4ec 118 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
<> 150:02e0a0aed4ec 119 if(id)
<> 150:02e0a0aed4ec 120 can1_irq_handler(can_irq_ids[id] , IRQ_RX);
<> 150:02e0a0aed4ec 121 else
<> 150:02e0a0aed4ec 122 can0_irq_handler(can_irq_ids[id], IRQ_RX);
<> 150:02e0a0aed4ec 123 }
<> 150:02e0a0aed4ec 124
<> 150:02e0a0aed4ec 125 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
<> 150:02e0a0aed4ec 126 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
<> 150:02e0a0aed4ec 127 if(id)
<> 150:02e0a0aed4ec 128 can1_irq_handler(can_irq_ids[id] , IRQ_TX);
<> 150:02e0a0aed4ec 129 else
<> 150:02e0a0aed4ec 130 can0_irq_handler(can_irq_ids[id], IRQ_TX);
<> 150:02e0a0aed4ec 131
<> 150:02e0a0aed4ec 132 }
<> 150:02e0a0aed4ec 133
<> 150:02e0a0aed4ec 134 /**************************/
<> 150:02e0a0aed4ec 135 /* Error Status interrupt */
<> 150:02e0a0aed4ec 136 /**************************/
<> 150:02e0a0aed4ec 137 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
<> 150:02e0a0aed4ec 138 if(id)
<> 150:02e0a0aed4ec 139 can1_irq_handler(can_irq_ids[id] , IRQ_ERROR);
<> 150:02e0a0aed4ec 140 else
<> 150:02e0a0aed4ec 141 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 150:02e0a0aed4ec 142 }
<> 150:02e0a0aed4ec 143
<> 150:02e0a0aed4ec 144 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
<> 150:02e0a0aed4ec 145 if(id)
<> 150:02e0a0aed4ec 146 can1_irq_handler(can_irq_ids[id] , IRQ_BUS);
<> 150:02e0a0aed4ec 147 else
<> 150:02e0a0aed4ec 148 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
<> 150:02e0a0aed4ec 149 }
<> 150:02e0a0aed4ec 150 } else if (u8IIDRstatus!=0) {
<> 150:02e0a0aed4ec 151
<> 150:02e0a0aed4ec 152 if(id)
<> 150:02e0a0aed4ec 153 can1_irq_handler(can_irq_ids[id] , IRQ_OVERRUN);
<> 150:02e0a0aed4ec 154 else
<> 150:02e0a0aed4ec 155 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
<> 150:02e0a0aed4ec 156
<> 150:02e0a0aed4ec 157 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
<> 150:02e0a0aed4ec 158
<> 150:02e0a0aed4ec 159 } else if(can->WU_STATUS == 1) {
<> 150:02e0a0aed4ec 160
<> 150:02e0a0aed4ec 161 can->WU_STATUS = 0; /* Write '0' to clear */
<> 150:02e0a0aed4ec 162 if(id)
<> 150:02e0a0aed4ec 163 can1_irq_handler(can_irq_ids[id] , IRQ_WAKEUP);
<> 150:02e0a0aed4ec 164 else
<> 150:02e0a0aed4ec 165 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
<> 150:02e0a0aed4ec 166 }
<> 150:02e0a0aed4ec 167 }
<> 150:02e0a0aed4ec 168
<> 150:02e0a0aed4ec 169 void CAN0_IRQHandler(void)
<> 150:02e0a0aed4ec 170 {
<> 150:02e0a0aed4ec 171 can_irq(CAN_0, 0);
<> 150:02e0a0aed4ec 172 }
<> 150:02e0a0aed4ec 173
<> 150:02e0a0aed4ec 174 void CAN1_IRQHandler(void)
<> 150:02e0a0aed4ec 175 {
<> 150:02e0a0aed4ec 176 can_irq(CAN_1, 1);
<> 150:02e0a0aed4ec 177 }
<> 150:02e0a0aed4ec 178
<> 150:02e0a0aed4ec 179 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 150:02e0a0aed4ec 180 {
<> 150:02e0a0aed4ec 181 if(obj->index)
<> 150:02e0a0aed4ec 182 can1_irq_handler = handler;
<> 150:02e0a0aed4ec 183 else
<> 150:02e0a0aed4ec 184 can0_irq_handler = handler;
<> 150:02e0a0aed4ec 185 can_irq_ids[obj->index] = id;
<> 150:02e0a0aed4ec 186
<> 150:02e0a0aed4ec 187 }
<> 150:02e0a0aed4ec 188
<> 150:02e0a0aed4ec 189 void can_irq_free(can_t *obj)
<> 150:02e0a0aed4ec 190 {
<> 161:2cc1468da177 191 CAN_DisableInt((CAN_T *)NU_MODBASE(obj->can), (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
<> 150:02e0a0aed4ec 192
<> 150:02e0a0aed4ec 193 can_irq_ids[obj->index] = 0;
<> 150:02e0a0aed4ec 194
<> 150:02e0a0aed4ec 195 if(!obj->index)
<> 150:02e0a0aed4ec 196 NVIC_DisableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 197 else
<> 150:02e0a0aed4ec 198 NVIC_DisableIRQ(CAN1_IRQn);
<> 150:02e0a0aed4ec 199
<> 150:02e0a0aed4ec 200
<> 150:02e0a0aed4ec 201 }
<> 150:02e0a0aed4ec 202
<> 150:02e0a0aed4ec 203 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
<> 150:02e0a0aed4ec 204 {
<> 161:2cc1468da177 205 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 206
<> 161:2cc1468da177 207 CAN_EnterInitMode((CAN_T*)can_base);
<> 150:02e0a0aed4ec 208
<> 161:2cc1468da177 209 ((CAN_T *)can_base)->CON = (((CAN_T *)can_base)->CON ) | ((enable != 0 )? CAN_CON_IE_Msk :0);
<> 150:02e0a0aed4ec 210
<> 150:02e0a0aed4ec 211 switch (irq)
<> 150:02e0a0aed4ec 212 {
<> 150:02e0a0aed4ec 213 case IRQ_ERROR:
<> 150:02e0a0aed4ec 214 case IRQ_BUS:
<> 150:02e0a0aed4ec 215 case IRQ_PASSIVE:
<> 161:2cc1468da177 216 can_base->CON = can_base->CON |CAN_CON_EIE_Msk;
<> 161:2cc1468da177 217 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 218 break;
<> 150:02e0a0aed4ec 219
<> 150:02e0a0aed4ec 220 case IRQ_RX:
<> 150:02e0a0aed4ec 221 case IRQ_TX:
<> 150:02e0a0aed4ec 222 case IRQ_OVERRUN:
<> 150:02e0a0aed4ec 223 case IRQ_WAKEUP:
<> 161:2cc1468da177 224 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 225 break;
<> 150:02e0a0aed4ec 226
<> 150:02e0a0aed4ec 227 default:
<> 150:02e0a0aed4ec 228 break;
<> 150:02e0a0aed4ec 229
<> 150:02e0a0aed4ec 230 }
<> 150:02e0a0aed4ec 231
<> 161:2cc1468da177 232 CAN_LeaveInitMode(can_base);
<> 150:02e0a0aed4ec 233
<> 150:02e0a0aed4ec 234 if(!obj->index)
<> 150:02e0a0aed4ec 235 {
<> 150:02e0a0aed4ec 236 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
<> 150:02e0a0aed4ec 237 NVIC_EnableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 238 }
<> 150:02e0a0aed4ec 239 else
<> 150:02e0a0aed4ec 240 {
<> 150:02e0a0aed4ec 241 NVIC_SetVector(CAN1_IRQn, (uint32_t)&CAN1_IRQHandler);
<> 150:02e0a0aed4ec 242 NVIC_EnableIRQ(CAN1_IRQn);
<> 150:02e0a0aed4ec 243 }
<> 150:02e0a0aed4ec 244
<> 150:02e0a0aed4ec 245 }
<> 150:02e0a0aed4ec 246
<> 150:02e0a0aed4ec 247 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 150:02e0a0aed4ec 248 {
<> 150:02e0a0aed4ec 249 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 250
<> 150:02e0a0aed4ec 251 CMsg.IdType = (uint32_t)msg.format;
<> 150:02e0a0aed4ec 252 CMsg.FrameType = (uint32_t)!msg.type;
<> 150:02e0a0aed4ec 253 CMsg.Id = msg.id;
<> 150:02e0a0aed4ec 254 CMsg.DLC = msg.len;
<> 150:02e0a0aed4ec 255 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
<> 150:02e0a0aed4ec 256
<> 161:2cc1468da177 257 return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), cc, &CMsg);
<> 150:02e0a0aed4ec 258 }
<> 150:02e0a0aed4ec 259
<> 150:02e0a0aed4ec 260 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 150:02e0a0aed4ec 261 {
<> 150:02e0a0aed4ec 262 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 263
<> 161:2cc1468da177 264 if(!CAN_Receive((CAN_T *)NU_MODBASE(obj->can), handle, &CMsg))
<> 150:02e0a0aed4ec 265 return 0;
<> 150:02e0a0aed4ec 266
<> 150:02e0a0aed4ec 267 msg->format = (CANFormat)CMsg.IdType;
<> 150:02e0a0aed4ec 268 msg->type = (CANType)!CMsg.FrameType;
<> 150:02e0a0aed4ec 269 msg->id = CMsg.Id;
<> 150:02e0a0aed4ec 270 msg->len = CMsg.DLC;
<> 150:02e0a0aed4ec 271 memcpy(&msg->data[0], &CMsg.Data[0], 8);
<> 150:02e0a0aed4ec 272
<> 150:02e0a0aed4ec 273 return 1;
<> 150:02e0a0aed4ec 274 }
<> 150:02e0a0aed4ec 275
<> 150:02e0a0aed4ec 276 int can_mode(can_t *obj, CanMode mode)
<> 150:02e0a0aed4ec 277 {
<> 161:2cc1468da177 278 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
<> 161:2cc1468da177 279
<> 150:02e0a0aed4ec 280 int success = 0;
<> 150:02e0a0aed4ec 281 switch (mode)
<> 150:02e0a0aed4ec 282 {
<> 150:02e0a0aed4ec 283 case MODE_RESET:
<> 161:2cc1468da177 284 CAN_LeaveTestMode(can_base);
<> 150:02e0a0aed4ec 285 success = 1;
<> 150:02e0a0aed4ec 286 break;
<> 150:02e0a0aed4ec 287
<> 150:02e0a0aed4ec 288 case MODE_NORMAL:
<> 161:2cc1468da177 289 CAN_EnterTestMode(can_base, CAN_TEST_BASIC_Msk);
<> 150:02e0a0aed4ec 290 success = 1;
<> 150:02e0a0aed4ec 291 break;
<> 150:02e0a0aed4ec 292
<> 150:02e0a0aed4ec 293 case MODE_SILENT:
<> 161:2cc1468da177 294 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 295 success = 1;
<> 150:02e0a0aed4ec 296 break;
<> 150:02e0a0aed4ec 297
<> 150:02e0a0aed4ec 298 case MODE_TEST_LOCAL:
<> 150:02e0a0aed4ec 299 case MODE_TEST_GLOBAL:
<> 161:2cc1468da177 300 CAN_EnterTestMode(can_base, CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 301 success = 1;
<> 150:02e0a0aed4ec 302 break;
<> 150:02e0a0aed4ec 303
<> 150:02e0a0aed4ec 304 case MODE_TEST_SILENT:
<> 161:2cc1468da177 305 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 306 success = 1;
<> 150:02e0a0aed4ec 307 break;
<> 150:02e0a0aed4ec 308
<> 150:02e0a0aed4ec 309 default:
<> 150:02e0a0aed4ec 310 success = 0;
<> 150:02e0a0aed4ec 311 break;
<> 150:02e0a0aed4ec 312
<> 150:02e0a0aed4ec 313 }
<> 150:02e0a0aed4ec 314
<> 150:02e0a0aed4ec 315
<> 150:02e0a0aed4ec 316 return success;
<> 150:02e0a0aed4ec 317 }
<> 150:02e0a0aed4ec 318
<> 150:02e0a0aed4ec 319 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 150:02e0a0aed4ec 320 {
<> 161:2cc1468da177 321 return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle , (uint32_t)format, id);
<> 150:02e0a0aed4ec 322 }
<> 150:02e0a0aed4ec 323
<> 150:02e0a0aed4ec 324
<> 150:02e0a0aed4ec 325 void can_reset(can_t *obj)
<> 150:02e0a0aed4ec 326 {
<> 150:02e0a0aed4ec 327 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 328
<> 150:02e0a0aed4ec 329 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 330 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 331
<> 150:02e0a0aed4ec 332 // Reset this module
<> 150:02e0a0aed4ec 333 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 334
<> 150:02e0a0aed4ec 335 }
<> 150:02e0a0aed4ec 336
<> 150:02e0a0aed4ec 337 unsigned char can_rderror(can_t *obj)
<> 150:02e0a0aed4ec 338 {
<> 161:2cc1468da177 339 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 340 return ((can->ERR>>8)&0xFF);
<> 150:02e0a0aed4ec 341 }
<> 150:02e0a0aed4ec 342
<> 150:02e0a0aed4ec 343 unsigned char can_tderror(can_t *obj)
<> 150:02e0a0aed4ec 344 {
<> 161:2cc1468da177 345 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 346 return ((can->ERR)&0xFF);
<> 150:02e0a0aed4ec 347 }
<> 150:02e0a0aed4ec 348
<> 150:02e0a0aed4ec 349 void can_monitor(can_t *obj, int silent)
<> 150:02e0a0aed4ec 350 {
<> 161:2cc1468da177 351 CAN_EnterTestMode((CAN_T *)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 352 }
<> 150:02e0a0aed4ec 353
<> 150:02e0a0aed4ec 354 #endif // DEVICE_CAN