Michael Spencer
Fork of Smoothie to port to mbed non-LPC targets.
Fork of
Smoothie
by 
Stéphane Cachat
Diff: libs/LPC17xx/LPC17xxLib/src/lpc17xx_can.c
- Revision:
- 3:f151d08d335c
- Parent:
- 2:1df0b61d3b5a
--- a/libs/LPC17xx/LPC17xxLib/src/lpc17xx_can.c Fri Feb 28 18:52:52 2014 -0800
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1937 +0,0 @@
-#ifdef __LPC17XX__
-
-/**********************************************************************
-* $Id$ lpc17xx_can.c 2011-03-09
-*//**
-* @file lpc17xx_can.c
-* @brief Contains all functions support for CAN firmware library on LPC17xx
-* @version 3.3
-* @date 09. March. 2011
-* @author NXP MCU SW Application Team
-*
-* Copyright(C) 2011, NXP Semiconductor
-* All rights reserved.
-*
-***********************************************************************
-* Software that is described herein is for illustrative purposes only
-* which provides customers with programming information regarding the
-* products. This software is supplied "AS IS" without any warranties.
-* NXP Semiconductors assumes no responsibility or liability for the
-* use of the software, conveys no license or title under any patent,
-* copyright, or mask work right to the product. NXP Semiconductors
-* reserves the right to make changes in the software without
-* notification. NXP Semiconductors also make no representation or
-* warranty that such application will be suitable for the specified
-* use without further testing or modification.
-**********************************************************************/
-
-/* Peripheral group ----------------------------------------------------------- */
-/** @addtogroup CAN
- * @{
- */
-
-/* Includes ------------------------------------------------------------------- */
-#include "lpc17xx_can.h"
-#include "lpc17xx_clkpwr.h"
-
-/* If this source file built with example, the LPC17xx FW library configuration
- * file in each example directory ("lpc17xx_libcfg.h") must be included,
- * otherwise the default FW library configuration file must be included instead
- */
-#ifdef __BUILD_WITH_EXAMPLE__
-#include "lpc17xx_libcfg.h"
-#else
-#include "lpc17xx_libcfg_default.h"
-#endif /* __BUILD_WITH_EXAMPLE__ */
-
-
-#ifdef _CAN
-
-/* Private Variables ---------------------------------------------------------- */
-/** @defgroup CAN_Private_Variables CAN Private Variables
- * @{
- */
-
-FunctionalState FULLCAN_ENABLE;
-
-
-/* Counts number of filters (CAN message objects) used */
-uint16_t CANAF_FullCAN_cnt = 0;
-uint16_t CANAF_std_cnt = 0;
-uint16_t CANAF_gstd_cnt = 0;
-uint16_t CANAF_ext_cnt = 0;
-uint16_t CANAF_gext_cnt = 0;
-
-/* End of Private Variables ----------------------------------------------------*/
-/**
- * @}
- */
-
-/* Private Variables ---------------------------------------------------------- */
-static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate);
-
-/*********************************************************************//**
- * @brief Setting CAN baud rate (bps)
- * @param[in] CANx point to LPC_CAN_TypeDef object, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] baudrate: is the baud rate value will be set
- * @return None
- ***********************************************************************/
-static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate)
-{
- uint32_t result = 0;
- uint8_t NT, TSEG1, TSEG2, BRFail;
- uint32_t CANPclk = 0;
- uint32_t BRP;
- CHECK_PARAM(PARAM_CANx(CANx));
-
- if (CANx == LPC_CAN1)
- {
- CANPclk = CLKPWR_GetPCLK (CLKPWR_PCLKSEL_CAN1);
- }
- else
- {
- CANPclk = CLKPWR_GetPCLK (CLKPWR_PCLKSEL_CAN2);
- }
- result = CANPclk / baudrate;
- /* Calculate suitable nominal time value
- * NT (nominal time) = (TSEG1 + TSEG2 + 3)
- * NT <= 24
- * TSEG1 >= 2*TSEG2
- */
- BRFail = 1;
- for(NT=24;NT>0;NT=NT-2)
- {
- if ((result%NT)==0)
- {
- BRP = result / NT - 1;
- NT--;
- TSEG2 = (NT/3) - 1;
- TSEG1 = NT -(NT/3) - 1;
- BRFail = 0;
- break;
- }
- }
- if(BRFail)
- while(1); // Failed to calculate exact CAN baud rate
- /* Enter reset mode */
- CANx->MOD = 0x01;
- /* Set bit timing
- * Default: SAM = 0x00;
- * SJW = 0x03;
- */
- CANx->BTR = (TSEG2<<20)|(TSEG1<<16)|(3<<14)|BRP;
- /* Return to normal operating */
- CANx->MOD = 0;
-}
-/* End of Private Functions ----------------------------------------------------*/
-
-
-/* Public Functions ----------------------------------------------------------- */
-/** @addtogroup CAN_Public_Functions
- * @{
- */
-
-/********************************************************************//**
- * @brief Initialize CAN peripheral with given baudrate
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] baudrate: the value of CAN baudrate will be set (bps)
- * @return None
- *********************************************************************/
-void CAN_Init(LPC_CAN_TypeDef *CANx, uint32_t baudrate)
-{
- volatile uint32_t temp;
- uint16_t i;
- CHECK_PARAM(PARAM_CANx(CANx));
-
- if(CANx == LPC_CAN1)
- {
- /* Turn on power and clock for CAN1 */
- CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, ENABLE);
- /* Set clock divide for CAN1 */
- }
- else
- {
- /* Turn on power and clock for CAN1 */
- CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, ENABLE);
- /* Set clock divide for CAN2 */
- }
- CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_CAN1, CLKPWR_PCLKSEL_CCLK_DIV_2);
- CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_CAN2, CLKPWR_PCLKSEL_CCLK_DIV_2);
- CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_ACF, CLKPWR_PCLKSEL_CCLK_DIV_2);
-
- CANx->MOD = 1; // Enter Reset Mode
- CANx->IER = 0; // Disable All CAN Interrupts
- CANx->GSR = 0;
- /* Request command to release Rx, Tx buffer and clear data overrun */
- //CANx->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO;
- CANx->CMR = (1<<1)|(1<<2)|(1<<3);
- /* Read to clear interrupt pending in interrupt capture register */
- temp = CANx->ICR;
- CANx->MOD = 0;// Return Normal operating
-
- //Reset CANAF value
- LPC_CANAF->AFMR = 0x01;
-
- //clear ALUT RAM
- for (i = 0; i < 512; i++) {
- LPC_CANAF_RAM->mask[i] = 0x00;
- }
-
- LPC_CANAF->SFF_sa = 0x00;
- LPC_CANAF->SFF_GRP_sa = 0x00;
- LPC_CANAF->EFF_sa = 0x00;
- LPC_CANAF->EFF_GRP_sa = 0x00;
- LPC_CANAF->ENDofTable = 0x00;
-
- LPC_CANAF->AFMR = 0x00;
- /* Set baudrate */
- can_SetBaudrate (CANx, baudrate);
-}
-
-/********************************************************************//**
- * @brief CAN deInit
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @return None
- *********************************************************************/
-void CAN_DeInit(LPC_CAN_TypeDef *CANx)
-{
- CHECK_PARAM(PARAM_CANx(CANx));
-
- if(CANx == LPC_CAN1)
- {
- /* Turn on power and clock for CAN1 */
- CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, DISABLE);
- }
- else
- {
- /* Turn on power and clock for CAN1 */
- CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, DISABLE);
- }
-}
-
-/********************************************************************//**
- * @brief Setup Acceptance Filter Look-Up Table
- * @param[in] CANAFx pointer to LPC_CANAF_TypeDef
- * Should be: LPC_CANAF
- * @param[in] AFSection the pointer to AF_SectionDef structure
- * It contain information about 5 sections will be install in AFLUT
- * @return CAN Error could be:
- * - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
- * - CAN_AF_ENTRY_ERROR: table error-violation of ascending numerical order
- * - CAN_OK: ID is added into table successfully
- *********************************************************************/
-CAN_ERROR CAN_SetupAFLUT(LPC_CANAF_TypeDef* CANAFx, AF_SectionDef* AFSection)
-{
- uint8_t ctrl1,ctrl2;
- uint8_t dis1, dis2;
- uint16_t SID, ID_temp,i, count = 0;
- uint32_t EID, entry, buf;
- uint16_t lowerSID, upperSID;
- uint32_t lowerEID, upperEID;
-
- CHECK_PARAM(PARAM_CANAFx(CANAFx));
- CANAFx->AFMR = 0x01;
-
-/***** setup FullCAN Table *****/
- if(AFSection->FullCAN_Sec == NULL)
- {
- FULLCAN_ENABLE = DISABLE;
- }
- else
- {
- FULLCAN_ENABLE = ENABLE;
- for(i=0;i<(AFSection->FC_NumEntry);i++)
- {
- if(count + 1 > 64)
- {
- return CAN_OBJECTS_FULL_ERROR;
- }
- ctrl1 = AFSection->FullCAN_Sec->controller;
- SID = AFSection->FullCAN_Sec->id_11;
- dis1 = AFSection->FullCAN_Sec->disable;
-
- CHECK_PARAM(PARAM_CTRL(ctrl1));
- CHECK_PARAM(PARAM_ID_11(SID));
- CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
- entry = 0x00; //reset entry value
- if((CANAF_FullCAN_cnt & 0x00000001)==0)
- {
- if(count!=0x00)
- {
- buf = LPC_CANAF_RAM->mask[count-1];
- ID_temp = (buf & 0xE7FF); //mask controller & identifier bits
- if(ID_temp > ((ctrl1<<13)|SID))
- {
- return CAN_AF_ENTRY_ERROR;
- }
- }
- entry = (ctrl1<<29)|(dis1<<28)|(SID<<16)|(1<<27);
- LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
- LPC_CANAF_RAM->mask[count] |= entry;
- CANAF_FullCAN_cnt++;
- if(CANAF_FullCAN_cnt == AFSection->FC_NumEntry) //this is the lastest FullCAN entry
- count++;
- }
- else
- {
- buf = LPC_CANAF_RAM->mask[count];
- ID_temp = (buf >>16) & 0xE7FF;
- if(ID_temp > ((ctrl1<<13)|SID))
- {
- return CAN_AF_ENTRY_ERROR;
- }
- entry = (ctrl1<<13)|(dis1<<12)|(SID<<0)|(1<<11);
- LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
- LPC_CANAF_RAM->mask[count]|= entry;
- count++;
- CANAF_FullCAN_cnt++;
- }
- AFSection->FullCAN_Sec = (FullCAN_Entry *)((uint32_t)(AFSection->FullCAN_Sec)+ sizeof(FullCAN_Entry));
- }
- }
-
-/***** Setup Explicit Standard Frame Format Section *****/
- if(AFSection->SFF_Sec != NULL)
- {
- for(i=0;i<(AFSection->SFF_NumEntry);i++)
- {
- if(count + 1 > 512)
- {
- return CAN_OBJECTS_FULL_ERROR;
- }
- ctrl1 = AFSection->SFF_Sec->controller;
- SID = AFSection->SFF_Sec->id_11;
- dis1 = AFSection->SFF_Sec->disable;
-
- //check parameter
- CHECK_PARAM(PARAM_CTRL(ctrl1));
- CHECK_PARAM(PARAM_ID_11(SID));
- CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
-
- entry = 0x00; //reset entry value
- if((CANAF_std_cnt & 0x00000001)==0)
- {
- if(CANAF_std_cnt !=0 )
- {
- buf = LPC_CANAF_RAM->mask[count-1];
- ID_temp = (buf & 0xE7FF); //mask controller & identifier bits
- if(ID_temp > ((ctrl1<<13)|SID))
- {
- return CAN_AF_ENTRY_ERROR;
- }
- }
- entry = (ctrl1<<29)|(dis1<<28)|(SID<<16);
- LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
- LPC_CANAF_RAM->mask[count] |= entry;
- CANAF_std_cnt++;
- if(CANAF_std_cnt == AFSection->SFF_NumEntry)//if this is the last SFF entry
- count++;
- }
- else
- {
- buf = LPC_CANAF_RAM->mask[count];
- ID_temp = (buf >>16) & 0xE7FF;
- if(ID_temp > ((ctrl1<<13)|SID))
- {
- return CAN_AF_ENTRY_ERROR;
- }
- entry = (ctrl1<<13)|(dis1<<12)|(SID<<0);
- LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
- LPC_CANAF_RAM->mask[count] |= entry;
- count++;
- CANAF_std_cnt++;
- }
- AFSection->SFF_Sec = (SFF_Entry *)((uint32_t)(AFSection->SFF_Sec)+ sizeof(SFF_Entry));
- }
- }
-
-/***** Setup Group of Standard Frame Format Identifier Section *****/
- if(AFSection->SFF_GPR_Sec != NULL)
- {
- for(i=0;i<(AFSection->SFF_GPR_NumEntry);i++)
- {
- if(count + 1 > 512)
- {
- return CAN_OBJECTS_FULL_ERROR;
- }
- ctrl1 = AFSection->SFF_GPR_Sec->controller1;
- ctrl2 = AFSection->SFF_GPR_Sec->controller2;
- dis1 = AFSection->SFF_GPR_Sec->disable1;
- dis2 = AFSection->SFF_GPR_Sec->disable2;
- lowerSID = AFSection->SFF_GPR_Sec->lowerID;
- upperSID = AFSection->SFF_GPR_Sec->upperID;
-
- /* check parameter */
- CHECK_PARAM(PARAM_CTRL(ctrl1));
- CHECK_PARAM(PARAM_CTRL(ctrl2));
- CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
- CHECK_PARAM(PARAM_MSG_DISABLE(dis2));
- CHECK_PARAM(PARAM_ID_11(lowerSID));
- CHECK_PARAM(PARAM_ID_11(upperSID));
-
- entry = 0x00;
- if(CANAF_gstd_cnt!=0)
- {
- buf = LPC_CANAF_RAM->mask[count-1];
- ID_temp = buf & 0xE7FF;
- if((ctrl1 != ctrl2)||(lowerSID > upperSID)||(ID_temp > ((ctrl1<<13)|lowerSID)))
- {
- return CAN_AF_ENTRY_ERROR;
- }
- }
- entry = (ctrl1 << 29)|(dis1 << 28)|(lowerSID << 16)| \
- (ctrl2 << 13)|(dis2 << 12)|(upperSID << 0);
- LPC_CANAF_RAM->mask[count] = entry;
- CANAF_gstd_cnt++;
- count++;
- AFSection->SFF_GPR_Sec = (SFF_GPR_Entry *)((uint32_t)(AFSection->SFF_GPR_Sec)+ sizeof(SFF_GPR_Entry));
- }
- }
-
-/***** Setup Explicit Extend Frame Format Identifier Section *****/
- if(AFSection->EFF_Sec != NULL)
- {
- for(i=0;i<(AFSection->EFF_NumEntry);i++)
- {
- if(count + 1 > 512)
- {
- return CAN_OBJECTS_FULL_ERROR;
- }
- EID = AFSection->EFF_Sec->ID_29;
- ctrl1 = AFSection->EFF_Sec->controller;
-
- // check parameter
- CHECK_PARAM(PARAM_ID_29(EID));
- CHECK_PARAM(PARAM_CTRL(ctrl1));
-
- entry = (ctrl1 << 29)|(EID << 0);
- if(CANAF_ext_cnt != 0)
- {
- buf = LPC_CANAF_RAM->mask[count-1];
-// EID_temp = buf & 0x0FFFFFFF;
- if(buf > entry)
- {
- return CAN_AF_ENTRY_ERROR;
- }
- }
- LPC_CANAF_RAM->mask[count] = entry;
- CANAF_ext_cnt ++;
- count++;
- AFSection->EFF_Sec = (EFF_Entry *)((uint32_t)(AFSection->EFF_Sec)+ sizeof(EFF_Entry));
- }
- }
-
-/***** Setup Group of Extended Frame Format Identifier Section *****/
- if(AFSection->EFF_GPR_Sec != NULL)
- {
- for(i=0;i<(AFSection->EFF_GPR_NumEntry);i++)
- {
- if(count + 2 > 512)
- {
- return CAN_OBJECTS_FULL_ERROR;
- }
- ctrl1 = AFSection->EFF_GPR_Sec->controller1;
- ctrl2 = AFSection->EFF_GPR_Sec->controller2;
- lowerEID = AFSection->EFF_GPR_Sec->lowerEID;
- upperEID = AFSection->EFF_GPR_Sec->upperEID;
-
- //check parameter
- CHECK_PARAM(PARAM_CTRL(ctrl1));
- CHECK_PARAM(PARAM_CTRL(ctrl2));
- CHECK_PARAM(PARAM_ID_29(lowerEID));
- CHECK_PARAM(PARAM_ID_29(upperEID));
-
- entry = 0x00;
- if(CANAF_gext_cnt != 0)
- {
- buf = LPC_CANAF_RAM->mask[count-1];
-// EID_temp = buf & 0x0FFFFFFF;
- if((ctrl1 != ctrl2) || (lowerEID > upperEID) || (buf > ((ctrl1 << 29)|(lowerEID << 0))))
- {
- return CAN_AF_ENTRY_ERROR;
- }
- }
- entry = (ctrl1 << 29)|(lowerEID << 0);
- LPC_CANAF_RAM->mask[count++] = entry;
- entry = (ctrl2 << 29)|(upperEID << 0);
- LPC_CANAF_RAM->mask[count++] = entry;
- CANAF_gext_cnt++;
- AFSection->EFF_GPR_Sec = (EFF_GPR_Entry *)((uint32_t)(AFSection->EFF_GPR_Sec)+ sizeof(EFF_GPR_Entry));
- }
- }
- //update address values
- LPC_CANAF->SFF_sa = ((CANAF_FullCAN_cnt + 1)>>1)<<2;
- LPC_CANAF->SFF_GRP_sa = LPC_CANAF->SFF_sa + (((CANAF_std_cnt+1)>>1)<< 2);
- LPC_CANAF->EFF_sa = LPC_CANAF->SFF_GRP_sa + (CANAF_gstd_cnt << 2);
- LPC_CANAF->EFF_GRP_sa = LPC_CANAF->EFF_sa + (CANAF_ext_cnt << 2);
- LPC_CANAF->ENDofTable = LPC_CANAF->EFF_GRP_sa + (CANAF_gext_cnt << 3);
-
- if(FULLCAN_ENABLE == DISABLE)
- {
- LPC_CANAF->AFMR = 0x00; // Normal mode
- }
- else
- {
- LPC_CANAF->AFMR = 0x04;
- }
- return CAN_OK;
-}
-/********************************************************************//**
- * @brief Add Explicit ID into AF Look-Up Table dynamically.
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] id: The ID of entry will be added
- * @param[in] format: is the type of ID Frame Format, should be:
- * - STD_ID_FORMAT: 11-bit ID value
- * - EXT_ID_FORMAT: 29-bit ID value
- * @return CAN Error, could be:
- * - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
- * - CAN_ID_EXIT_ERROR: ID exited in table
- * - CAN_OK: ID is added into table successfully
- *********************************************************************/
-CAN_ERROR CAN_LoadExplicitEntry(LPC_CAN_TypeDef* CANx, uint32_t id, CAN_ID_FORMAT_Type format)
-{
- uint32_t tmp0 = 0;
- uint32_t buf0=0, buf1=0;
- int16_t cnt1=0, cnt2=0, bound1=0, total=0;
-
-
- CHECK_PARAM(PARAM_CANx(CANx));
- CHECK_PARAM(PARAM_ID_FORMAT(format));
-
- if (CANx == LPC_CAN1)
- {
- tmp0 = 0;
- }
- else if (CANx == LPC_CAN2)
- {
- tmp0 = 1;
- }
-
- /* Acceptance Filter Memory full - return */
- total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \
- CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
- if (total >= 512){ //don't have enough space
- return CAN_OBJECTS_FULL_ERROR;
- }
-
- /* Setup Acceptance Filter Configuration
- Acceptance Filter Mode Register = Off */
- LPC_CANAF->AFMR = 0x00000001;
-
-/*********** Add Explicit Standard Identifier Frame Format entry *********/
- if(format == STD_ID_FORMAT)
- {
- id &= 0x07FF;
- id |= (tmp0 << 13); /* Add controller number */
- /* Move all remaining sections one place up
- if new entry will increase FullCAN list */
- if ((CANAF_std_cnt & 0x0001) == 0)
- {
- cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1);
- bound1 = total - cnt1;
- buf0 = LPC_CANAF_RAM->mask[cnt1];
- while(bound1--)
- {
- cnt1++;
- buf1 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = buf0;
- buf0 = buf1;
- }
- }
- if (CANAF_std_cnt == 0)
- {
- cnt2 = (CANAF_FullCAN_cnt + 1)>>1;
- /* For entering first ID */
- LPC_CANAF_RAM->mask[cnt2] = 0x0000FFFF | (id << 16);
- }
- else if (CANAF_std_cnt == 1)
- {
- cnt2 = (CANAF_FullCAN_cnt + 1)>>1;
- /* For entering second ID */
- if (((LPC_CANAF_RAM->mask[cnt2] >> 16)& 0xE7FF) > id)
- {
- LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] >> 16) | (id << 16);
- }
- else
- {
- LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] & 0xFFFF0000) | id;
- }
- }
- else
- {
- /* Find where to insert new ID */
- cnt1 = (CANAF_FullCAN_cnt+1)>>1;
- cnt2 = CANAF_std_cnt;
- bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1);
- while (cnt1 < bound1)
- {
- /* Loop through standard existing IDs */
- if (((LPC_CANAF_RAM->mask[cnt1] >> 16) & 0xE7FF) > id)
- {
- cnt2 = cnt1 * 2;
- break;
- }
-
- if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF) > id)
- {
- cnt2 = cnt1 * 2 + 1;
- break;
- }
-
- cnt1++;
- }
- /* cnt1 = U32 where to insert new ID */
- /* cnt2 = U16 where to insert new ID */
-
- if (cnt1 == bound1)
- {
- /* Adding ID as last entry */
- /* Even number of IDs exists */
- if ((CANAF_std_cnt & 0x0001) == 0)
- {
- LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
- }
- /* Odd number of IDs exists */
- else
- {
- LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
- }
- }
- else
- {
- buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
- if ((cnt2 & 0x0001) == 0)
- {
- /* Insert new mask to even address*/
- buf1 = (id << 16) | (buf0 >> 16);
- }
- else
- {
- /* Insert new mask to odd address */
- buf1 = (buf0 & 0xFFFF0000) | id;
- }
- LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */
- bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1)-1;
- /* Move all remaining standard mask entries one place up */
- while (cnt1 < bound1)
- {
- cnt1++;
- buf1 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
- buf0 = buf1;
- }
-
- if ((CANAF_std_cnt & 0x0001) == 0)
- {
- /* Even number of IDs exists */
- LPC_CANAF_RAM->mask[cnt1+1] = (buf0 <<16) |(0x0000FFFF);
- }
- }
- }
- CANAF_std_cnt++;
- //update address values
- LPC_CANAF->SFF_GRP_sa +=0x04 ;
- LPC_CANAF->EFF_sa +=0x04 ;
- LPC_CANAF->EFF_GRP_sa +=0x04;
- LPC_CANAF->ENDofTable +=0x04;
- }
-
-/*********** Add Explicit Extended Identifier Frame Format entry *********/
- else
- {
- /* Add controller number */
- id |= (tmp0) << 29;
-
- cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+(((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt);
- cnt2 = 0;
- while (cnt2 < CANAF_ext_cnt)
- {
- /* Loop through extended existing masks*/
- if (LPC_CANAF_RAM->mask[cnt1] > id)
- {
- break;
- }
- cnt1++;/* cnt1 = U32 where to insert new mask */
- cnt2++;
- }
-
- buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
- LPC_CANAF_RAM->mask[cnt1] = id; /* Insert mask */
-
- CANAF_ext_cnt++;
-
- bound1 = total;
- /* Move all remaining extended mask entries one place up*/
- while (cnt2 < bound1)
- {
- cnt1++;
- cnt2++;
- buf1 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = buf0;
- buf0 = buf1;
- }
- /* update address values */
- LPC_CANAF->EFF_GRP_sa += 4;
- LPC_CANAF->ENDofTable += 4;
- }
- if(CANAF_FullCAN_cnt == 0) //not use FullCAN mode
- {
- LPC_CANAF->AFMR = 0x00;//not use FullCAN mode
- }
- else
- {
- LPC_CANAF->AFMR = 0x04;
- }
-
- return CAN_OK;
-}
-
-/********************************************************************//**
- * @brief Load FullCAN entry into AFLUT
- * @param[in] CANx: CAN peripheral selected, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] id: identifier of entry that will be added
- * @return CAN_ERROR, could be:
- * - CAN_OK: loading is successful
- * - CAN_ID_EXIT_ERROR: ID exited in FullCAN Section
- * - CAN_OBJECTS_FULL_ERROR: no more space available
- *********************************************************************/
-CAN_ERROR CAN_LoadFullCANEntry (LPC_CAN_TypeDef* CANx, uint16_t id)
-{
- uint32_t ctrl0 = 0;
- uint32_t buf0=0, buf1=0, buf2=0;
- uint32_t tmp0=0, tmp1=0, tmp2=0;
- int16_t cnt1=0, cnt2=0, bound1=0, total=0;
- volatile uint32_t abc;
-
- CHECK_PARAM(PARAM_CANx(CANx));
-
- if (CANx == LPC_CAN1)
- {
- ctrl0 = 0;
- }
- else if (CANx == LPC_CAN2)
- {
- ctrl0 = 1;
- }
-
- /* Acceptance Filter Memory full - return */
- total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \
- CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
- //don't have enough space for this fullCAN Entry and its Object(3*32 bytes)
- if ((total >=508)||(CANAF_FullCAN_cnt>=64)){
- return CAN_OBJECTS_FULL_ERROR;
- }
- /* Setup Acceptance Filter Configuration
- Acceptance Filter Mode Register = Off */
- LPC_CANAF->AFMR = 0x00000001;
-
- /* Add mask for standard identifiers */
- id &= 0x07FF;
- id |= (ctrl0 << 13) | (1 << 11); /* Add controller number */
-// total = ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
- /* Move all remaining sections one place up
- if new entry will increase FullCAN list */
- if (((CANAF_FullCAN_cnt & 0x0001) == 0)&&(total!=0))
- {
- //then remove remaining section
- cnt1 = (CANAF_FullCAN_cnt >> 1);
- bound1 = total;
- buf0 = LPC_CANAF_RAM->mask[cnt1];
-
- while (bound1--)
- {
- cnt1++;
- buf1 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = buf0;
- buf0 = buf1;
- }
- }
- if (CANAF_FullCAN_cnt == 0)
- {
- /* For entering first ID */
- LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
- }
- else if (CANAF_FullCAN_cnt == 1)
- {
- /* For entering second ID */
- if (((LPC_CANAF_RAM->mask[0] >> 16)& 0xE7FF) > id)
- {
- LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
- }
- else
- {
- LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
- }
- }
- else
- {
- /* Find where to insert new ID */
- cnt1 = 0;
- cnt2 = CANAF_FullCAN_cnt;
- bound1 = (CANAF_FullCAN_cnt - 1) >> 1;
- while (cnt1 <= bound1)
- {
- abc = (LPC_CANAF_RAM->mask[cnt1] >> 16)& 0xE7FF;
- /* Loop through standard existing IDs */
- if (((LPC_CANAF_RAM->mask[cnt1] >> 16) & 0xE7FF) > (id & 0xE7FF))
- {
- cnt2 = cnt1 * 2;
- break;
- }
-
- abc = LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF;
- if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF) > (id & 0xE7FF))
- {
- cnt2 = cnt1 * 2 + 1;
- break;
- }
-
- cnt1++;
- }
- /* cnt1 = U32 where to insert new ID */
- /* cnt2 = U16 where to insert new ID */
-
- if (cnt1 > bound1)
- {
- /* Adding ID as last entry */
- /* Even number of IDs exists */
- if ((CANAF_FullCAN_cnt & 0x0001) == 0)
- {
- LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
- }
- /* Odd number of IDs exists */
- else
- {
- LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
- }
- }
- else
- {
- buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
- if ((cnt2 & 0x0001) == 0)
- {
- /* Insert new mask to even address*/
- buf1 = (id << 16) | (buf0 >> 16);
- }
- else
- {
- /* Insert new mask to odd address */
- buf1 = (buf0 & 0xFFFF0000) | id;
- }
- LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */
- bound1 = CANAF_FullCAN_cnt >> 1;
- /* Move all remaining standard mask entries one place up */
- while (cnt1 < bound1)
- {
- cnt1++;
- buf1 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
- buf0 = buf1;
- }
-
- if ((CANAF_FullCAN_cnt & 0x0001) == 0)
- {
- /* Even number of IDs exists */
- LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000)
- | (0x0000FFFF);
- }
- }
- }
- //restruct FulCAN Object Section
- bound1 = CANAF_FullCAN_cnt - cnt2;
- cnt1 = total - (CANAF_FullCAN_cnt)*3 + cnt2*3 + 1;
- buf0 = LPC_CANAF_RAM->mask[cnt1];
- buf1 = LPC_CANAF_RAM->mask[cnt1+1];
- buf2 = LPC_CANAF_RAM->mask[cnt1+2];
- LPC_CANAF_RAM->mask[cnt1]=LPC_CANAF_RAM->mask[cnt1+1]= LPC_CANAF_RAM->mask[cnt1+2]=0x00;
- cnt1+=3;
- while(bound1--)
- {
- tmp0 = LPC_CANAF_RAM->mask[cnt1];
- tmp1 = LPC_CANAF_RAM->mask[cnt1+1];
- tmp2 = LPC_CANAF_RAM->mask[cnt1+2];
- LPC_CANAF_RAM->mask[cnt1]= buf0;
- LPC_CANAF_RAM->mask[cnt1+1]= buf1;
- LPC_CANAF_RAM->mask[cnt1+2]= buf2;
- buf0 = tmp0;
- buf1 = tmp1;
- buf2 = tmp2;
- cnt1+=3;
- }
- CANAF_FullCAN_cnt++;
- //update address values
- LPC_CANAF->SFF_sa +=0x04;
- LPC_CANAF->SFF_GRP_sa +=0x04 ;
- LPC_CANAF->EFF_sa +=0x04 ;
- LPC_CANAF->EFF_GRP_sa +=0x04;
- LPC_CANAF->ENDofTable +=0x04;
-
- LPC_CANAF->AFMR = 0x04;
- return CAN_OK;
-}
-
-/********************************************************************//**
- * @brief Load Group entry into AFLUT
- * @param[in] CANx: CAN peripheral selected, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] lowerID, upperID: lower and upper identifier of entry
- * @param[in] format: type of ID format, should be:
- * - STD_ID_FORMAT: Standard ID format (11-bit value)
- * - EXT_ID_FORMAT: Extended ID format (29-bit value)
- * @return CAN_ERROR, could be:
- * - CAN_OK: loading is successful
- * - CAN_CONFLICT_ID_ERROR: Conflict ID occurs
- * - CAN_OBJECTS_FULL_ERROR: no more space available
- *********************************************************************/
-CAN_ERROR CAN_LoadGroupEntry(LPC_CAN_TypeDef* CANx, uint32_t lowerID, \
- uint32_t upperID, CAN_ID_FORMAT_Type format)
-{
- uint16_t tmp = 0;
- uint32_t buf0, buf1, entry1, entry2, LID,UID;
- int16_t cnt1, bound1, total;
- //LPC_CANAF_RAM_TypeDef *AFLUTTest = LPC_CANAF_RAM;
-
- CHECK_PARAM(PARAM_CANx(CANx));
- CHECK_PARAM(PARAM_ID_FORMAT(format));
-
- if(lowerID > upperID) return CAN_CONFLICT_ID_ERROR;
- if(CANx == LPC_CAN1)
- {
- tmp = 0;
- }
- else
- {
- tmp = 1;
- }
-
- total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \
- CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
-
- /* Setup Acceptance Filter Configuration
- Acceptance Filter Mode Register = Off */
- LPC_CANAF->AFMR = 0x00000001;
-
-/*********Add Group of Standard Identifier Frame Format************/
- if(format == STD_ID_FORMAT)
- {
- if ((total >= 512)){//don't have enough space
- return CAN_OBJECTS_FULL_ERROR;
- }
- lowerID &=0x7FF; //mask ID
- upperID &=0x7FF;
- entry1 = (tmp << 29)|(lowerID << 16)|(tmp << 13)|(upperID << 0);
- cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1);
-
- //if this is the first Group standard ID entry
- if(CANAF_gstd_cnt == 0)
- {
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- }
- else
- {
- //find the position to add new Group entry
- bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt;
- while(cnt1 < bound1)
- {
- //compare controller first
- while((LPC_CANAF_RAM->mask[cnt1] >> 29)< (entry1 >> 29))//increase until meet greater or equal controller
- cnt1++;
- buf0 = LPC_CANAF_RAM->mask[cnt1];
- if((LPC_CANAF_RAM->mask[cnt1] >> 29)> (entry1 >> 29)) //meet greater controller
- {
- //add at this position
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- break;
- }
- else //meet equal controller
- {
- LID = (buf0 >> 16)&0x7FF;
- UID = buf0 & 0x7FF;
- if (upperID <= LID)
- {
- //add new entry before this entry
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- break;
- }
- else if (lowerID >= UID)
- {
- //load next entry to compare
- cnt1 ++;
- }
- else
- return CAN_CONFLICT_ID_ERROR;
- }
- }
- if(cnt1 >= bound1)
- {
- //add new entry at the last position in this list
- buf0 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- }
-
- //remove all remaining entry of this section one place up
- bound1 = total - cnt1;
- while(bound1--)
- {
- cnt1++;
- buf1 = LPC_CANAF_RAM->mask[cnt1];
- LPC_CANAF_RAM->mask[cnt1] = buf0;
- buf0 = buf1;
- }
- }
- CANAF_gstd_cnt++;
- //update address values
- LPC_CANAF->EFF_sa +=0x04 ;
- LPC_CANAF->EFF_GRP_sa +=0x04;
- LPC_CANAF->ENDofTable +=0x04;
- }
-
-
-/*********Add Group of Extended Identifier Frame Format************/
- else
- {
- if ((total >= 511)){//don't have enough space
- return CAN_OBJECTS_FULL_ERROR;
- }
- lowerID &= 0x1FFFFFFF; //mask ID
- upperID &= 0x1FFFFFFF;
- entry1 = (tmp << 29)|(lowerID << 0);
- entry2 = (tmp << 29)|(upperID << 0);
-
- cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt + CANAF_ext_cnt;
- //if this is the first Group standard ID entry
- if(CANAF_gext_cnt == 0)
- {
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- LPC_CANAF_RAM->mask[cnt1+1] = entry2;
- }
- else
- {
- //find the position to add new Group entry
- bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt \
- + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
- while(cnt1 < bound1)
- {
- while((LPC_CANAF_RAM->mask[cnt1] >>29)< tmp) //increase until meet greater or equal controller
- cnt1++;
- buf0 = LPC_CANAF_RAM->mask[cnt1];
- buf1 = LPC_CANAF_RAM->mask[cnt1+1];
- if((LPC_CANAF_RAM->mask[cnt1] >> 29)> (entry1 >> 29)) //meet greater controller
- {
- //add at this position
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- LPC_CANAF_RAM->mask[++cnt1] = entry2;
- break;
- }
- else //meet equal controller
- {
- LID = buf0 & 0x1FFFFFFF; //mask ID
- UID = buf1 & 0x1FFFFFFF;
- if (upperID <= LID)
- {
- //add new entry before this entry
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- LPC_CANAF_RAM->mask[++cnt1] = entry2;
- break;
- }
- else if (lowerID >= UID)
- {
- //load next entry to compare
- cnt1 +=2;
- }
- else
- return CAN_CONFLICT_ID_ERROR;
- }
- }
- if(cnt1 >= bound1)
- {
- //add new entry at the last position in this list
- buf0 = LPC_CANAF_RAM->mask[cnt1];
- buf1 = LPC_CANAF_RAM->mask[cnt1+1];
- LPC_CANAF_RAM->mask[cnt1] = entry1;
- LPC_CANAF_RAM->mask[++cnt1] = entry2;
- }
- //remove all remaining entry of this section two place up
- bound1 = total - cnt1 + 1;
- cnt1++;
- while(bound1>0)
- {
- entry1 = LPC_CANAF_RAM->mask[cnt1];
- entry2 = LPC_CANAF_RAM->mask[cnt1+1];
- LPC_CANAF_RAM->mask[cnt1] = buf0;
- LPC_CANAF_RAM->mask[cnt1+1] = buf1;
- buf0 = entry1;
- buf1 = entry2;
- cnt1 +=2;
- bound1 -=2;
- }
- }
- CANAF_gext_cnt++;
- //update address values
- LPC_CANAF->ENDofTable +=0x08;
- }
- LPC_CANAF->AFMR = 0x04;
- return CAN_OK;
-}
-
-/********************************************************************//**
- * @brief Remove AFLUT entry (FullCAN entry and Explicit Standard entry)
- * @param[in] EntryType: the type of entry that want to remove, should be:
- * - FULLCAN_ENTRY
- * - EXPLICIT_STANDARD_ENTRY
- * - GROUP_STANDARD_ENTRY
- * - EXPLICIT_EXTEND_ENTRY
- * - GROUP_EXTEND_ENTRY
- * @param[in] position: the position of this entry in its section
- * Note: the first position is 0
- * @return CAN_ERROR, could be:
- * - CAN_OK: removing is successful
- * - CAN_ENTRY_NOT_EXIT_ERROR: entry want to remove is not exit
- *********************************************************************/
-CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position)
-{
- uint16_t cnt, bound, total;
- uint32_t buf0, buf1;
- CHECK_PARAM(PARAM_AFLUT_ENTRY_TYPE(EntryType));
- CHECK_PARAM(PARAM_POSITION(position));
-
- /* Setup Acceptance Filter Configuration
- Acceptance Filter Mode Register = Off */
- LPC_CANAF->AFMR = 0x00000001;
- total = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt + 1) >> 1) + \
- CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
-
-
-/************** Remove FullCAN Entry *************/
- if(EntryType == FULLCAN_ENTRY)
- {
- if((CANAF_FullCAN_cnt==0)||(position >= CANAF_FullCAN_cnt))
- {
- return CAN_ENTRY_NOT_EXIT_ERROR;
- }
- else
- {
- cnt = position >> 1;
- buf0 = LPC_CANAF_RAM->mask[cnt];
- bound = (CANAF_FullCAN_cnt - position -1)>>1;
- if((position & 0x0001) == 0) //event position
- {
- while(bound--)
- {
- //remove all remaining FullCAN entry one place down
- buf1 = LPC_CANAF_RAM->mask[cnt+1];
- LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
- buf0 = buf1;
- cnt++;
- }
- }
- else //odd position
- {
- while(bound--)
- {
- //remove all remaining FullCAN entry one place down
- buf1 = LPC_CANAF_RAM->mask[cnt+1];
- LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
- LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
- buf0 = buf1<<16;
- cnt++;
- }
- }
- if((CANAF_FullCAN_cnt & 0x0001) == 0)
- {
- if((position & 0x0001)==0)
- LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
- else
- LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
- }
- else
- {
- //remove all remaining section one place down
- cnt = (CANAF_FullCAN_cnt + 1)>>1;
- bound = total + CANAF_FullCAN_cnt * 3;
- while(bound>cnt)
- {
- LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
- cnt++;
- }
- LPC_CANAF_RAM->mask[cnt-1]=0x00;
- //update address values
- LPC_CANAF->SFF_sa -=0x04;
- LPC_CANAF->SFF_GRP_sa -=0x04 ;
- LPC_CANAF->EFF_sa -=0x04 ;
- LPC_CANAF->EFF_GRP_sa -=0x04;
- LPC_CANAF->ENDofTable -=0x04;
- }
- CANAF_FullCAN_cnt--;
-
- //delete its FullCAN Object in the FullCAN Object section
- //remove all remaining FullCAN Object three place down
- cnt = total + position * 3;
- bound = (CANAF_FullCAN_cnt - position + 1) * 3;
-
- while(bound)
- {
- LPC_CANAF_RAM->mask[cnt]=LPC_CANAF_RAM->mask[cnt+3];;
- LPC_CANAF_RAM->mask[cnt+1]=LPC_CANAF_RAM->mask[cnt+4];
- LPC_CANAF_RAM->mask[cnt+2]=LPC_CANAF_RAM->mask[cnt+5];
- bound -=3;
- cnt +=3;
- }
- }
- }
-
-/************** Remove Explicit Standard ID Entry *************/
- else if(EntryType == EXPLICIT_STANDARD_ENTRY)
- {
- if((CANAF_std_cnt==0)||(position >= CANAF_std_cnt))
- {
- return CAN_ENTRY_NOT_EXIT_ERROR;
- }
- else
- {
- cnt = ((CANAF_FullCAN_cnt+1)>>1)+ (position >> 1);
- buf0 = LPC_CANAF_RAM->mask[cnt];
- bound = (CANAF_std_cnt - position - 1)>>1;
- if((position & 0x0001) == 0) //event position
- {
- while(bound--)
- {
- //remove all remaining FullCAN entry one place down
- buf1 = LPC_CANAF_RAM->mask[cnt+1];
- LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
- buf0 = buf1;
- cnt++;
- }
- }
- else //odd position
- {
- while(bound--)
- {
- //remove all remaining FullCAN entry one place down
- buf1 = LPC_CANAF_RAM->mask[cnt+1];
- LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
- LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
- buf0 = buf1<<16;
- cnt++;
- }
- }
- if((CANAF_std_cnt & 0x0001) == 0)
- {
- if((position & 0x0001)==0)
- LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
- else
- LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
- }
- else
- {
- //remove all remaining section one place down
- cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1);
- bound = total + CANAF_FullCAN_cnt * 3;
- while(bound>cnt)
- {
- LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
- cnt++;
- }
- LPC_CANAF_RAM->mask[cnt-1]=0x00;
- //update address value
- LPC_CANAF->SFF_GRP_sa -=0x04 ;
- LPC_CANAF->EFF_sa -=0x04 ;
- LPC_CANAF->EFF_GRP_sa -=0x04;
- LPC_CANAF->ENDofTable -=0x04;
- }
- CANAF_std_cnt--;
- }
- }
-
-/************** Remove Group of Standard ID Entry *************/
- else if(EntryType == GROUP_STANDARD_ENTRY)
- {
- if((CANAF_gstd_cnt==0)||(position >= CANAF_gstd_cnt))
- {
- return CAN_ENTRY_NOT_EXIT_ERROR;
- }
- else
- {
- cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ position + 1;
- bound = total + CANAF_FullCAN_cnt * 3;
- while (cnt<bound)
- {
- LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
- cnt++;
- }
- LPC_CANAF_RAM->mask[cnt-1]=0x00;
- }
- CANAF_gstd_cnt--;
- //update address value
- LPC_CANAF->EFF_sa -=0x04;
- LPC_CANAF->EFF_GRP_sa -=0x04;
- LPC_CANAF->ENDofTable -=0x04;
- }
-
-/************** Remove Explicit Extended ID Entry *************/
- else if(EntryType == EXPLICIT_EXTEND_ENTRY)
- {
- if((CANAF_ext_cnt==0)||(position >= CANAF_ext_cnt))
- {
- return CAN_ENTRY_NOT_EXIT_ERROR;
- }
- else
- {
- cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + position + 1;
- bound = total + CANAF_FullCAN_cnt * 3;
- while (cnt<bound)
- {
- LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
- cnt++;
- }
- LPC_CANAF_RAM->mask[cnt-1]=0x00;
- }
- CANAF_ext_cnt--;
- LPC_CANAF->EFF_GRP_sa -=0x04;
- LPC_CANAF->ENDofTable -=0x04;
- }
-
-/************** Remove Group of Extended ID Entry *************/
- else
- {
- if((CANAF_gext_cnt==0)||(position >= CANAF_gext_cnt))
- {
- return CAN_ENTRY_NOT_EXIT_ERROR;
- }
- else
- {
- cnt = total - (CANAF_gext_cnt<<1) + (position<<1);
- bound = total + CANAF_FullCAN_cnt * 3;
- while (cnt<bound)
- {
- //remove all remaining entry two place up
- LPC_CANAF_RAM->mask[cnt] = LPC_CANAF_RAM->mask[cnt+2];
- LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+3];
- cnt+=2;
- }
- }
- CANAF_gext_cnt--;
- LPC_CANAF->ENDofTable -=0x08;
- }
- LPC_CANAF->AFMR = 0x04;
- return CAN_OK;
-}
-
-/********************************************************************//**
- * @brief Send message data
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] CAN_Msg point to the CAN_MSG_Type Structure, it contains message
- * information such as: ID, DLC, RTR, ID Format
- * @return Status:
- * - SUCCESS: send message successfully
- * - ERROR: send message unsuccessfully
- *********************************************************************/
-Status CAN_SendMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg)
-{
- uint32_t data;
- CHECK_PARAM(PARAM_CANx(CANx));
- CHECK_PARAM(PARAM_ID_FORMAT(CAN_Msg->format));
- if(CAN_Msg->format==STD_ID_FORMAT)
- {
- CHECK_PARAM(PARAM_ID_11(CAN_Msg->id));
- }
- else
- {
- CHECK_PARAM(PARAM_ID_29(CAN_Msg->id));
- }
- CHECK_PARAM(PARAM_DLC(CAN_Msg->len));
- CHECK_PARAM(PARAM_FRAME_TYPE(CAN_Msg->type));
-
- //Check status of Transmit Buffer 1
- if (CANx->SR & (1<<2))
- {
- /* Transmit Channel 1 is available */
- /* Write frame informations and frame data into its CANxTFI1,
- * CANxTID1, CANxTDA1, CANxTDB1 register */
- CANx->TFI1 &= ~0x000F0000;
- CANx->TFI1 |= (CAN_Msg->len)<<16;
- if(CAN_Msg->type == REMOTE_FRAME)
- {
- CANx->TFI1 |= (1<<30); //set bit RTR
- }
- else
- {
- CANx->TFI1 &= ~(1<<30);
- }
- if(CAN_Msg->format == EXT_ID_FORMAT)
- {
- CANx->TFI1 |= (1UL<<31); //set bit FF
- }
- else
- {
- CANx->TFI1 &= ~(1UL<<31);
- }
-
- /* Write CAN ID*/
- CANx->TID1 = CAN_Msg->id;
-
- /*Write first 4 data bytes*/
- data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
- CANx->TDA1 = data;
-
- /*Write second 4 data bytes*/
- data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
- CANx->TDB1 = data;
-
- /*Write transmission request*/
- CANx->CMR = 0x21;
- return SUCCESS;
- }
- //check status of Transmit Buffer 2
- else if(CANx->SR & (1<<10))
- {
- /* Transmit Channel 2 is available */
- /* Write frame informations and frame data into its CANxTFI2,
- * CANxTID2, CANxTDA2, CANxTDB2 register */
- CANx->TFI2 &= ~0x000F0000;
- CANx->TFI2 |= (CAN_Msg->len)<<16;
- if(CAN_Msg->type == REMOTE_FRAME)
- {
- CANx->TFI2 |= (1<<30); //set bit RTR
- }
- else
- {
- CANx->TFI2 &= ~(1<<30);
- }
- if(CAN_Msg->format == EXT_ID_FORMAT)
- {
- CANx->TFI2 |= (1UL<<31); //set bit FF
- }
- else
- {
- CANx->TFI2 &= ~(1UL<<31);
- }
-
- /* Write CAN ID*/
- CANx->TID2 = CAN_Msg->id;
-
- /*Write first 4 data bytes*/
- data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
- CANx->TDA2 = data;
-
- /*Write second 4 data bytes*/
- data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
- CANx->TDB2 = data;
-
- /*Write transmission request*/
- CANx->CMR = 0x41;
- return SUCCESS;
- }
- //check status of Transmit Buffer 3
- else if (CANx->SR & (1<<18))
- {
- /* Transmit Channel 3 is available */
- /* Write frame informations and frame data into its CANxTFI3,
- * CANxTID3, CANxTDA3, CANxTDB3 register */
- CANx->TFI3 &= ~0x000F0000;
- CANx->TFI3 |= (CAN_Msg->len)<<16;
- if(CAN_Msg->type == REMOTE_FRAME)
- {
- CANx->TFI3 |= (1<<30); //set bit RTR
- }
- else
- {
- CANx->TFI3 &= ~(1<<30);
- }
- if(CAN_Msg->format == EXT_ID_FORMAT)
- {
- CANx->TFI3 |= (1UL<<31); //set bit FF
- }
- else
- {
- CANx->TFI3 &= ~(1UL<<31);
- }
-
- /* Write CAN ID*/
- CANx->TID3 = CAN_Msg->id;
-
- /*Write first 4 data bytes*/
- data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
- CANx->TDA3 = data;
-
- /*Write second 4 data bytes*/
- data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
- CANx->TDB3 = data;
-
- /*Write transmission request*/
- CANx->CMR = 0x81;
- return SUCCESS;
- }
- else
- {
- return ERROR;
- }
-}
-
-/********************************************************************//**
- * @brief Receive message data
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received
- * message information such as: ID, DLC, RTR, ID Format
- * @return Status:
- * - SUCCESS: receive message successfully
- * - ERROR: receive message unsuccessfully
- *********************************************************************/
-Status CAN_ReceiveMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg)
-{
- uint32_t data;
-
- CHECK_PARAM(PARAM_CANx(CANx));
-
- //check status of Receive Buffer
- if((CANx->SR &0x00000001))
- {
- /* Receive message is available */
- /* Read frame informations */
- CAN_Msg->format = (uint8_t)(((CANx->RFS) & 0x80000000)>>31);
- CAN_Msg->type = (uint8_t)(((CANx->RFS) & 0x40000000)>>30);
- CAN_Msg->len = (uint8_t)(((CANx->RFS) & 0x000F0000)>>16);
-
-
- /* Read CAN message identifier */
- CAN_Msg->id = CANx->RID;
-
- /* Read the data if received message was DATA FRAME */
- if (CAN_Msg->type == DATA_FRAME)
- {
- /* Read first 4 data bytes */
- data = CANx->RDA;
- *((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF;
- *((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00)>>8;;
- *((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000)>>16;
- *((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000)>>24;
-
- /* Read second 4 data bytes */
- data = CANx->RDB;
- *((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF;
- *((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00)>>8;
- *((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000)>>16;
- *((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000)>>24;
-
- /*release receive buffer*/
- CANx->CMR = 0x04;
- }
- else
- {
- /* Received Frame is a Remote Frame, not have data, we just receive
- * message information only */
- CANx->CMR = 0x04; /*release receive buffer*/
- return SUCCESS;
- }
- }
- else
- {
- // no receive message available
- return ERROR;
- }
- return SUCCESS;
-}
-
-/********************************************************************//**
- * @brief Receive FullCAN Object
- * @param[in] CANAFx: CAN Acceptance Filter register, should be: LPC_CANAF
- * @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received
- * message information such as: ID, DLC, RTR, ID Format
- * @return CAN_ERROR, could be:
- * - CAN_FULL_OBJ_NOT_RCV: FullCAN Object is not be received
- * - CAN_OK: Received FullCAN Object successful
- *
- *********************************************************************/
-CAN_ERROR FCAN_ReadObj (LPC_CANAF_TypeDef* CANAFx, CAN_MSG_Type *CAN_Msg)
-{
- uint32_t *pSrc, data;
- uint32_t interrut_word, msg_idx, test_bit, head_idx, tail_idx;
-
- CHECK_PARAM(PARAM_CANAFx(CANAFx));
-
- interrut_word = 0;
-
- if (LPC_CANAF->FCANIC0 != 0)
- {
- interrut_word = LPC_CANAF->FCANIC0;
- head_idx = 0;
- tail_idx = 31;
- }
- else if (LPC_CANAF->FCANIC1 != 0)
- {
- interrut_word = LPC_CANAF->FCANIC1;
- head_idx = 32;
- tail_idx = 63;
- }
-
- if (interrut_word != 0)
- {
- /* Detect for interrupt pending */
- msg_idx = 0;
- for (msg_idx = head_idx; msg_idx <= tail_idx; msg_idx++)
- {
- test_bit = interrut_word & 0x1;
- interrut_word = interrut_word >> 1;
-
- if (test_bit)
- {
- pSrc = (uint32_t *) (LPC_CANAF->ENDofTable + LPC_CANAF_RAM_BASE + msg_idx * 12);
-
- /* Has been finished updating the content */
- if ((*pSrc & 0x03000000L) == 0x03000000L)
- {
- /*clear semaphore*/
- *pSrc &= 0xFCFFFFFF;
-
- /*Set to DatA*/
- pSrc++;
- /* Copy to dest buf */
- data = *pSrc;
- *((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF;
- *((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00)>>8;
- *((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000)>>16;
- *((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000)>>24;
-
- /*Set to DatB*/
- pSrc++;
- /* Copy to dest buf */
- data = *pSrc;
- *((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF;
- *((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00)>>8;
- *((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000)>>16;
- *((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000)>>24;
- /*Back to Dat1*/
- pSrc -= 2;
-
- CAN_Msg->id = *pSrc & 0x7FF;
- CAN_Msg->len = (uint8_t) (*pSrc >> 16) & 0x0F;
- CAN_Msg->format = 0; //FullCAN Object ID always is 11-bit value
- CAN_Msg->type = (uint8_t)(*pSrc >> 30) &0x01;
- /*Re-read semaphore*/
- if ((*pSrc & 0x03000000L) == 0)
- {
- return CAN_OK;
- }
- }
- }
- }
- }
- return CAN_FULL_OBJ_NOT_RCV;
-}
-/********************************************************************//**
- * @brief Get CAN Control Status
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] arg: type of CAN status to get from CAN status register
- * Should be:
- * - CANCTRL_GLOBAL_STS: CAN Global Status
- * - CANCTRL_INT_CAP: CAN Interrupt and Capture
- * - CANCTRL_ERR_WRN: CAN Error Warning Limit
- * - CANCTRL_STS: CAN Control Status
- * @return Current Control Status that you want to get value
- *********************************************************************/
-uint32_t CAN_GetCTRLStatus (LPC_CAN_TypeDef* CANx, CAN_CTRL_STS_Type arg)
-{
- CHECK_PARAM(PARAM_CANx(CANx));
- CHECK_PARAM(PARAM_CTRL_STS_TYPE(arg));
-
- switch (arg)
- {
- case CANCTRL_GLOBAL_STS:
- return CANx->GSR;
-
- case CANCTRL_INT_CAP:
- return CANx->ICR;
-
- case CANCTRL_ERR_WRN:
- return CANx->EWL;
-
- default: // CANCTRL_STS
- return CANx->SR;
- }
-}
-/********************************************************************//**
- * @brief Get CAN Central Status
- * @param[in] CANCRx point to LPC_CANCR_TypeDef, should be: LPC_CANCR
- * @param[in] arg: type of CAN status to get from CAN Central status register
- * Should be:
- * - CANCR_TX_STS: Central CAN Tx Status
- * - CANCR_RX_STS: Central CAN Rx Status
- * - CANCR_MS: Central CAN Miscellaneous Status
- * @return Current Central Status that you want to get value
- *********************************************************************/
-uint32_t CAN_GetCRStatus (LPC_CANCR_TypeDef* CANCRx, CAN_CR_STS_Type arg)
-{
- CHECK_PARAM(PARAM_CANCRx(CANCRx));
- CHECK_PARAM(PARAM_CR_STS_TYPE(arg));
-
- switch (arg)
- {
- case CANCR_TX_STS:
- return CANCRx->CANTxSR;
-
- case CANCR_RX_STS:
- return CANCRx->CANRxSR;
-
- default: // CANCR_MS
- return CANCRx->CANMSR;
- }
-}
-/********************************************************************//**
- * @brief Enable/Disable CAN Interrupt
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] arg: type of CAN interrupt that you want to enable/disable
- * Should be:
- * - CANINT_RIE: CAN Receiver Interrupt Enable
- * - CANINT_TIE1: CAN Transmit Interrupt Enable
- * - CANINT_EIE: CAN Error Warning Interrupt Enable
- * - CANINT_DOIE: CAN Data Overrun Interrupt Enable
- * - CANINT_WUIE: CAN Wake-Up Interrupt Enable
- * - CANINT_EPIE: CAN Error Passive Interrupt Enable
- * - CANINT_ALIE: CAN Arbitration Lost Interrupt Enable
- * - CANINT_BEIE: CAN Bus Error Interrupt Enable
- * - CANINT_IDIE: CAN ID Ready Interrupt Enable
- * - CANINT_TIE2: CAN Transmit Interrupt Enable for Buffer2
- * - CANINT_TIE3: CAN Transmit Interrupt Enable for Buffer3
- * - CANINT_FCE: FullCAN Interrupt Enable
- * @param[in] NewState: New state of this function, should be:
- * - ENABLE
- * - DISABLE
- * @return none
- *********************************************************************/
-void CAN_IRQCmd (LPC_CAN_TypeDef* CANx, CAN_INT_EN_Type arg, FunctionalState NewState)
-{
- CHECK_PARAM(PARAM_CANx(CANx));
- CHECK_PARAM(PARAM_INT_EN_TYPE(arg));
- CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState));
-
- if(NewState == ENABLE)
- {
- if(arg==CANINT_FCE)
- {
- LPC_CANAF->AFMR = 0x01;
- LPC_CANAF->FCANIE = 0x01;
- LPC_CANAF->AFMR = 0x04;
- }
- else
- CANx->IER |= (1 << arg);
- }
- else
- {
- if(arg==CANINT_FCE){
- LPC_CANAF->AFMR = 0x01;
- LPC_CANAF->FCANIE = 0x01;
- LPC_CANAF->AFMR = 0x00;
- }
- else
- CANx->IER &= ~(1 << arg);
- }
-}
-
-/********************************************************************//**
- * @brief Setting Acceptance Filter mode
- * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF
- * @param[in] AFMode: type of AF mode that you want to set, should be:
- * - CAN_Normal: Normal mode
- * - CAN_AccOff: Acceptance Filter Off Mode
- * - CAN_AccBP: Acceptance Fileter Bypass Mode
- * - CAN_eFCAN: FullCAN Mode Enhancement
- * @return none
- *********************************************************************/
-void CAN_SetAFMode (LPC_CANAF_TypeDef* CANAFx, CAN_AFMODE_Type AFMode)
-{
- CHECK_PARAM(PARAM_CANAFx(CANAFx));
- CHECK_PARAM(PARAM_AFMODE_TYPE(AFMode));
-
- switch(AFMode)
- {
- case CAN_Normal:
- CANAFx->AFMR = 0x00;
- break;
- case CAN_AccOff:
- CANAFx->AFMR = 0x01;
- break;
- case CAN_AccBP:
- CANAFx->AFMR = 0x02;
- break;
- case CAN_eFCAN:
- CANAFx->AFMR = 0x04;
- break;
- }
-}
-
-/********************************************************************//**
- * @brief Enable/Disable CAN Mode
- * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] mode: type of CAN mode that you want to enable/disable, should be:
- * - CAN_OPERATING_MODE: Normal Operating Mode
- * - CAN_RESET_MODE: Reset Mode
- * - CAN_LISTENONLY_MODE: Listen Only Mode
- * - CAN_SELFTEST_MODE: Self Test Mode
- * - CAN_TXPRIORITY_MODE: Transmit Priority Mode
- * - CAN_SLEEP_MODE: Sleep Mode
- * - CAN_RXPOLARITY_MODE: Receive Polarity Mode
- * - CAN_TEST_MODE: Test Mode
- * @param[in] NewState: New State of this function, should be:
- * - ENABLE
- * - DISABLE
- * @return none
- *********************************************************************/
-void CAN_ModeConfig(LPC_CAN_TypeDef* CANx, CAN_MODE_Type mode, FunctionalState NewState)
-{
- CHECK_PARAM(PARAM_CANx(CANx));
- CHECK_PARAM(PARAM_MODE_TYPE(mode));
- CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState));
-
- switch(mode)
- {
- case CAN_OPERATING_MODE:
- CANx->MOD = 0x00;
- break;
- case CAN_RESET_MODE:
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_RM;
- else
- CANx->MOD &= ~CAN_MOD_RM;
- break;
- case CAN_LISTENONLY_MODE:
- CANx->MOD |=CAN_MOD_RM;//Enter Reset mode
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_LOM;
- else
- CANx->MOD &=~CAN_MOD_LOM;
- CANx->MOD &=~CAN_MOD_RM;//Release Reset mode
- break;
- case CAN_SELFTEST_MODE:
- CANx->MOD |=CAN_MOD_RM;//Enter Reset mode
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_STM;
- else
- CANx->MOD &=~CAN_MOD_STM;
- CANx->MOD &=~CAN_MOD_RM;//Release Reset mode
- break;
- case CAN_TXPRIORITY_MODE:
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_TPM;
- else
- CANx->MOD &=~CAN_MOD_TPM;
- break;
- case CAN_SLEEP_MODE:
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_SM;
- else
- CANx->MOD &=~CAN_MOD_SM;
- break;
- case CAN_RXPOLARITY_MODE:
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_RPM;
- else
- CANx->MOD &=~CAN_MOD_RPM;
- break;
- case CAN_TEST_MODE:
- if(NewState == ENABLE)
- CANx->MOD |=CAN_MOD_TM;
- else
- CANx->MOD &=~CAN_MOD_TM;
- break;
- }
-}
-/*********************************************************************//**
- * @brief Set CAN command request
- * @param[in] CANx point to CAN peripheral selected, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @param[in] CMRType command request type, should be:
- * - CAN_CMR_TR: Transmission request
- * - CAN_CMR_AT: Abort Transmission request
- * - CAN_CMR_RRB: Release Receive Buffer request
- * - CAN_CMR_CDO: Clear Data Overrun request
- * - CAN_CMR_SRR: Self Reception request
- * - CAN_CMR_STB1: Select Tx Buffer 1 request
- * - CAN_CMR_STB2: Select Tx Buffer 2 request
- * - CAN_CMR_STB3: Select Tx Buffer 3 request
- * @return CANICR (CAN interrupt and Capture register) value
- **********************************************************************/
-void CAN_SetCommand(LPC_CAN_TypeDef* CANx, uint32_t CMRType)
-{
- CHECK_PARAM(PARAM_CANx(CANx));
- CANx->CMR |= CMRType;
-}
-
-/*********************************************************************//**
- * @brief Get CAN interrupt status
- * @param[in] CANx point to CAN peripheral selected, should be:
- * - LPC_CAN1: CAN1 peripheral
- * - LPC_CAN2: CAN2 peripheral
- * @return CANICR (CAN interrupt and Capture register) value
- **********************************************************************/
-uint32_t CAN_IntGetStatus(LPC_CAN_TypeDef* CANx)
-{
- CHECK_PARAM(PARAM_CANx(CANx));
- return CANx->ICR;
-}
-
-/*********************************************************************//**
- * @brief Check if FullCAN interrupt enable or not
- * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF
- * @return IntStatus, could be:
- * - SET: if FullCAN interrupt is enable
- * - RESET: if FullCAN interrupt is disable
- **********************************************************************/
-IntStatus CAN_FullCANIntGetStatus (LPC_CANAF_TypeDef* CANAFx)
-{
- CHECK_PARAM( PARAM_CANAFx(CANAFx));
- if (CANAFx->FCANIE)
- return SET;
- return RESET;
-}
-
-/*********************************************************************//**
- * @brief Get value of FullCAN interrupt and capture register
- * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF
- * @param[in] type: FullCAN IC type, should be:
- * - FULLCAN_IC0: FullCAN Interrupt Capture 0
- * - FULLCAN_IC1: FullCAN Interrupt Capture 1
- * @return FCANIC0 or FCANIC1 (FullCAN interrupt and Capture register) value
- **********************************************************************/
-uint32_t CAN_FullCANPendGetStatus(LPC_CANAF_TypeDef* CANAFx, FullCAN_IC_Type type)
-{
- CHECK_PARAM(PARAM_CANAFx(CANAFx));
- CHECK_PARAM( PARAM_FULLCAN_IC(type));
- if (type == FULLCAN_IC0)
- return CANAFx->FCANIC0;
- return CANAFx->FCANIC1;
-}
-/* End of Public Variables ---------------------------------------------------------- */
-/**
- * @}
- */
-
-#endif /* _CAN */
-
-/**
- * @}
- */
-
-/* --------------------------------- End Of File ------------------------------ */
-#endif /* __LPC17XX__ */