Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
libs/LPC17xx/LPC17xxLib/src/lpc17xx_can.c@2:1df0b61d3b5a, 2014-02-28 (annotated)
- Committer:
- Michael J. Spencer
- Date:
- Fri Feb 28 18:52:52 2014 -0800
- Revision:
- 2:1df0b61d3b5a
Update to latest Smoothie.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Michael J. Spencer |
2:1df0b61d3b5a | 1 | #ifdef __LPC17XX__ |
Michael J. Spencer |
2:1df0b61d3b5a | 2 | |
Michael J. Spencer |
2:1df0b61d3b5a | 3 | /********************************************************************** |
Michael J. Spencer |
2:1df0b61d3b5a | 4 | * $Id$ lpc17xx_can.c 2011-03-09 |
Michael J. Spencer |
2:1df0b61d3b5a | 5 | *//** |
Michael J. Spencer |
2:1df0b61d3b5a | 6 | * @file lpc17xx_can.c |
Michael J. Spencer |
2:1df0b61d3b5a | 7 | * @brief Contains all functions support for CAN firmware library on LPC17xx |
Michael J. Spencer |
2:1df0b61d3b5a | 8 | * @version 3.3 |
Michael J. Spencer |
2:1df0b61d3b5a | 9 | * @date 09. March. 2011 |
Michael J. Spencer |
2:1df0b61d3b5a | 10 | * @author NXP MCU SW Application Team |
Michael J. Spencer |
2:1df0b61d3b5a | 11 | * |
Michael J. Spencer |
2:1df0b61d3b5a | 12 | * Copyright(C) 2011, NXP Semiconductor |
Michael J. Spencer |
2:1df0b61d3b5a | 13 | * All rights reserved. |
Michael J. Spencer |
2:1df0b61d3b5a | 14 | * |
Michael J. Spencer |
2:1df0b61d3b5a | 15 | *********************************************************************** |
Michael J. Spencer |
2:1df0b61d3b5a | 16 | * Software that is described herein is for illustrative purposes only |
Michael J. Spencer |
2:1df0b61d3b5a | 17 | * which provides customers with programming information regarding the |
Michael J. Spencer |
2:1df0b61d3b5a | 18 | * products. This software is supplied "AS IS" without any warranties. |
Michael J. Spencer |
2:1df0b61d3b5a | 19 | * NXP Semiconductors assumes no responsibility or liability for the |
Michael J. Spencer |
2:1df0b61d3b5a | 20 | * use of the software, conveys no license or title under any patent, |
Michael J. Spencer |
2:1df0b61d3b5a | 21 | * copyright, or mask work right to the product. NXP Semiconductors |
Michael J. Spencer |
2:1df0b61d3b5a | 22 | * reserves the right to make changes in the software without |
Michael J. Spencer |
2:1df0b61d3b5a | 23 | * notification. NXP Semiconductors also make no representation or |
Michael J. Spencer |
2:1df0b61d3b5a | 24 | * warranty that such application will be suitable for the specified |
Michael J. Spencer |
2:1df0b61d3b5a | 25 | * use without further testing or modification. |
Michael J. Spencer |
2:1df0b61d3b5a | 26 | **********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 27 | |
Michael J. Spencer |
2:1df0b61d3b5a | 28 | /* Peripheral group ----------------------------------------------------------- */ |
Michael J. Spencer |
2:1df0b61d3b5a | 29 | /** @addtogroup CAN |
Michael J. Spencer |
2:1df0b61d3b5a | 30 | * @{ |
Michael J. Spencer |
2:1df0b61d3b5a | 31 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 32 | |
Michael J. Spencer |
2:1df0b61d3b5a | 33 | /* Includes ------------------------------------------------------------------- */ |
Michael J. Spencer |
2:1df0b61d3b5a | 34 | #include "lpc17xx_can.h" |
Michael J. Spencer |
2:1df0b61d3b5a | 35 | #include "lpc17xx_clkpwr.h" |
Michael J. Spencer |
2:1df0b61d3b5a | 36 | |
Michael J. Spencer |
2:1df0b61d3b5a | 37 | /* If this source file built with example, the LPC17xx FW library configuration |
Michael J. Spencer |
2:1df0b61d3b5a | 38 | * file in each example directory ("lpc17xx_libcfg.h") must be included, |
Michael J. Spencer |
2:1df0b61d3b5a | 39 | * otherwise the default FW library configuration file must be included instead |
Michael J. Spencer |
2:1df0b61d3b5a | 40 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 41 | #ifdef __BUILD_WITH_EXAMPLE__ |
Michael J. Spencer |
2:1df0b61d3b5a | 42 | #include "lpc17xx_libcfg.h" |
Michael J. Spencer |
2:1df0b61d3b5a | 43 | #else |
Michael J. Spencer |
2:1df0b61d3b5a | 44 | #include "lpc17xx_libcfg_default.h" |
Michael J. Spencer |
2:1df0b61d3b5a | 45 | #endif /* __BUILD_WITH_EXAMPLE__ */ |
Michael J. Spencer |
2:1df0b61d3b5a | 46 | |
Michael J. Spencer |
2:1df0b61d3b5a | 47 | |
Michael J. Spencer |
2:1df0b61d3b5a | 48 | #ifdef _CAN |
Michael J. Spencer |
2:1df0b61d3b5a | 49 | |
Michael J. Spencer |
2:1df0b61d3b5a | 50 | /* Private Variables ---------------------------------------------------------- */ |
Michael J. Spencer |
2:1df0b61d3b5a | 51 | /** @defgroup CAN_Private_Variables CAN Private Variables |
Michael J. Spencer |
2:1df0b61d3b5a | 52 | * @{ |
Michael J. Spencer |
2:1df0b61d3b5a | 53 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 54 | |
Michael J. Spencer |
2:1df0b61d3b5a | 55 | FunctionalState FULLCAN_ENABLE; |
Michael J. Spencer |
2:1df0b61d3b5a | 56 | |
Michael J. Spencer |
2:1df0b61d3b5a | 57 | |
Michael J. Spencer |
2:1df0b61d3b5a | 58 | /* Counts number of filters (CAN message objects) used */ |
Michael J. Spencer |
2:1df0b61d3b5a | 59 | uint16_t CANAF_FullCAN_cnt = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 60 | uint16_t CANAF_std_cnt = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 61 | uint16_t CANAF_gstd_cnt = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 62 | uint16_t CANAF_ext_cnt = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 63 | uint16_t CANAF_gext_cnt = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 64 | |
Michael J. Spencer |
2:1df0b61d3b5a | 65 | /* End of Private Variables ----------------------------------------------------*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 66 | /** |
Michael J. Spencer |
2:1df0b61d3b5a | 67 | * @} |
Michael J. Spencer |
2:1df0b61d3b5a | 68 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 69 | |
Michael J. Spencer |
2:1df0b61d3b5a | 70 | /* Private Variables ---------------------------------------------------------- */ |
Michael J. Spencer |
2:1df0b61d3b5a | 71 | static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate); |
Michael J. Spencer |
2:1df0b61d3b5a | 72 | |
Michael J. Spencer |
2:1df0b61d3b5a | 73 | /*********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 74 | * @brief Setting CAN baud rate (bps) |
Michael J. Spencer |
2:1df0b61d3b5a | 75 | * @param[in] CANx point to LPC_CAN_TypeDef object, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 76 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 77 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 78 | * @param[in] baudrate: is the baud rate value will be set |
Michael J. Spencer |
2:1df0b61d3b5a | 79 | * @return None |
Michael J. Spencer |
2:1df0b61d3b5a | 80 | ***********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 81 | static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate) |
Michael J. Spencer |
2:1df0b61d3b5a | 82 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 83 | uint32_t result = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 84 | uint8_t NT, TSEG1, TSEG2, BRFail; |
Michael J. Spencer |
2:1df0b61d3b5a | 85 | uint32_t CANPclk = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 86 | uint32_t BRP; |
Michael J. Spencer |
2:1df0b61d3b5a | 87 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 88 | |
Michael J. Spencer |
2:1df0b61d3b5a | 89 | if (CANx == LPC_CAN1) |
Michael J. Spencer |
2:1df0b61d3b5a | 90 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 91 | CANPclk = CLKPWR_GetPCLK (CLKPWR_PCLKSEL_CAN1); |
Michael J. Spencer |
2:1df0b61d3b5a | 92 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 93 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 94 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 95 | CANPclk = CLKPWR_GetPCLK (CLKPWR_PCLKSEL_CAN2); |
Michael J. Spencer |
2:1df0b61d3b5a | 96 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 97 | result = CANPclk / baudrate; |
Michael J. Spencer |
2:1df0b61d3b5a | 98 | /* Calculate suitable nominal time value |
Michael J. Spencer |
2:1df0b61d3b5a | 99 | * NT (nominal time) = (TSEG1 + TSEG2 + 3) |
Michael J. Spencer |
2:1df0b61d3b5a | 100 | * NT <= 24 |
Michael J. Spencer |
2:1df0b61d3b5a | 101 | * TSEG1 >= 2*TSEG2 |
Michael J. Spencer |
2:1df0b61d3b5a | 102 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 103 | BRFail = 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 104 | for(NT=24;NT>0;NT=NT-2) |
Michael J. Spencer |
2:1df0b61d3b5a | 105 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 106 | if ((result%NT)==0) |
Michael J. Spencer |
2:1df0b61d3b5a | 107 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 108 | BRP = result / NT - 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 109 | NT--; |
Michael J. Spencer |
2:1df0b61d3b5a | 110 | TSEG2 = (NT/3) - 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 111 | TSEG1 = NT -(NT/3) - 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 112 | BRFail = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 113 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 114 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 115 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 116 | if(BRFail) |
Michael J. Spencer |
2:1df0b61d3b5a | 117 | while(1); // Failed to calculate exact CAN baud rate |
Michael J. Spencer |
2:1df0b61d3b5a | 118 | /* Enter reset mode */ |
Michael J. Spencer |
2:1df0b61d3b5a | 119 | CANx->MOD = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 120 | /* Set bit timing |
Michael J. Spencer |
2:1df0b61d3b5a | 121 | * Default: SAM = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 122 | * SJW = 0x03; |
Michael J. Spencer |
2:1df0b61d3b5a | 123 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 124 | CANx->BTR = (TSEG2<<20)|(TSEG1<<16)|(3<<14)|BRP; |
Michael J. Spencer |
2:1df0b61d3b5a | 125 | /* Return to normal operating */ |
Michael J. Spencer |
2:1df0b61d3b5a | 126 | CANx->MOD = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 127 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 128 | /* End of Private Functions ----------------------------------------------------*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 129 | |
Michael J. Spencer |
2:1df0b61d3b5a | 130 | |
Michael J. Spencer |
2:1df0b61d3b5a | 131 | /* Public Functions ----------------------------------------------------------- */ |
Michael J. Spencer |
2:1df0b61d3b5a | 132 | /** @addtogroup CAN_Public_Functions |
Michael J. Spencer |
2:1df0b61d3b5a | 133 | * @{ |
Michael J. Spencer |
2:1df0b61d3b5a | 134 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 135 | |
Michael J. Spencer |
2:1df0b61d3b5a | 136 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 137 | * @brief Initialize CAN peripheral with given baudrate |
Michael J. Spencer |
2:1df0b61d3b5a | 138 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 139 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 140 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 141 | * @param[in] baudrate: the value of CAN baudrate will be set (bps) |
Michael J. Spencer |
2:1df0b61d3b5a | 142 | * @return None |
Michael J. Spencer |
2:1df0b61d3b5a | 143 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 144 | void CAN_Init(LPC_CAN_TypeDef *CANx, uint32_t baudrate) |
Michael J. Spencer |
2:1df0b61d3b5a | 145 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 146 | volatile uint32_t temp; |
Michael J. Spencer |
2:1df0b61d3b5a | 147 | uint16_t i; |
Michael J. Spencer |
2:1df0b61d3b5a | 148 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 149 | |
Michael J. Spencer |
2:1df0b61d3b5a | 150 | if(CANx == LPC_CAN1) |
Michael J. Spencer |
2:1df0b61d3b5a | 151 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 152 | /* Turn on power and clock for CAN1 */ |
Michael J. Spencer |
2:1df0b61d3b5a | 153 | CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, ENABLE); |
Michael J. Spencer |
2:1df0b61d3b5a | 154 | /* Set clock divide for CAN1 */ |
Michael J. Spencer |
2:1df0b61d3b5a | 155 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 156 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 157 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 158 | /* Turn on power and clock for CAN1 */ |
Michael J. Spencer |
2:1df0b61d3b5a | 159 | CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, ENABLE); |
Michael J. Spencer |
2:1df0b61d3b5a | 160 | /* Set clock divide for CAN2 */ |
Michael J. Spencer |
2:1df0b61d3b5a | 161 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 162 | CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_CAN1, CLKPWR_PCLKSEL_CCLK_DIV_2); |
Michael J. Spencer |
2:1df0b61d3b5a | 163 | CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_CAN2, CLKPWR_PCLKSEL_CCLK_DIV_2); |
Michael J. Spencer |
2:1df0b61d3b5a | 164 | CLKPWR_SetPCLKDiv (CLKPWR_PCLKSEL_ACF, CLKPWR_PCLKSEL_CCLK_DIV_2); |
Michael J. Spencer |
2:1df0b61d3b5a | 165 | |
Michael J. Spencer |
2:1df0b61d3b5a | 166 | CANx->MOD = 1; // Enter Reset Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 167 | CANx->IER = 0; // Disable All CAN Interrupts |
Michael J. Spencer |
2:1df0b61d3b5a | 168 | CANx->GSR = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 169 | /* Request command to release Rx, Tx buffer and clear data overrun */ |
Michael J. Spencer |
2:1df0b61d3b5a | 170 | //CANx->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO; |
Michael J. Spencer |
2:1df0b61d3b5a | 171 | CANx->CMR = (1<<1)|(1<<2)|(1<<3); |
Michael J. Spencer |
2:1df0b61d3b5a | 172 | /* Read to clear interrupt pending in interrupt capture register */ |
Michael J. Spencer |
2:1df0b61d3b5a | 173 | temp = CANx->ICR; |
Michael J. Spencer |
2:1df0b61d3b5a | 174 | CANx->MOD = 0;// Return Normal operating |
Michael J. Spencer |
2:1df0b61d3b5a | 175 | |
Michael J. Spencer |
2:1df0b61d3b5a | 176 | //Reset CANAF value |
Michael J. Spencer |
2:1df0b61d3b5a | 177 | LPC_CANAF->AFMR = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 178 | |
Michael J. Spencer |
2:1df0b61d3b5a | 179 | //clear ALUT RAM |
Michael J. Spencer |
2:1df0b61d3b5a | 180 | for (i = 0; i < 512; i++) { |
Michael J. Spencer |
2:1df0b61d3b5a | 181 | LPC_CANAF_RAM->mask[i] = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 182 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 183 | |
Michael J. Spencer |
2:1df0b61d3b5a | 184 | LPC_CANAF->SFF_sa = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 185 | LPC_CANAF->SFF_GRP_sa = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 186 | LPC_CANAF->EFF_sa = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 187 | LPC_CANAF->EFF_GRP_sa = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 188 | LPC_CANAF->ENDofTable = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 189 | |
Michael J. Spencer |
2:1df0b61d3b5a | 190 | LPC_CANAF->AFMR = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 191 | /* Set baudrate */ |
Michael J. Spencer |
2:1df0b61d3b5a | 192 | can_SetBaudrate (CANx, baudrate); |
Michael J. Spencer |
2:1df0b61d3b5a | 193 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 194 | |
Michael J. Spencer |
2:1df0b61d3b5a | 195 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 196 | * @brief CAN deInit |
Michael J. Spencer |
2:1df0b61d3b5a | 197 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 198 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 199 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 200 | * @return None |
Michael J. Spencer |
2:1df0b61d3b5a | 201 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 202 | void CAN_DeInit(LPC_CAN_TypeDef *CANx) |
Michael J. Spencer |
2:1df0b61d3b5a | 203 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 204 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 205 | |
Michael J. Spencer |
2:1df0b61d3b5a | 206 | if(CANx == LPC_CAN1) |
Michael J. Spencer |
2:1df0b61d3b5a | 207 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 208 | /* Turn on power and clock for CAN1 */ |
Michael J. Spencer |
2:1df0b61d3b5a | 209 | CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, DISABLE); |
Michael J. Spencer |
2:1df0b61d3b5a | 210 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 211 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 212 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 213 | /* Turn on power and clock for CAN1 */ |
Michael J. Spencer |
2:1df0b61d3b5a | 214 | CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, DISABLE); |
Michael J. Spencer |
2:1df0b61d3b5a | 215 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 216 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 217 | |
Michael J. Spencer |
2:1df0b61d3b5a | 218 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 219 | * @brief Setup Acceptance Filter Look-Up Table |
Michael J. Spencer |
2:1df0b61d3b5a | 220 | * @param[in] CANAFx pointer to LPC_CANAF_TypeDef |
Michael J. Spencer |
2:1df0b61d3b5a | 221 | * Should be: LPC_CANAF |
Michael J. Spencer |
2:1df0b61d3b5a | 222 | * @param[in] AFSection the pointer to AF_SectionDef structure |
Michael J. Spencer |
2:1df0b61d3b5a | 223 | * It contain information about 5 sections will be install in AFLUT |
Michael J. Spencer |
2:1df0b61d3b5a | 224 | * @return CAN Error could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 225 | * - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available |
Michael J. Spencer |
2:1df0b61d3b5a | 226 | * - CAN_AF_ENTRY_ERROR: table error-violation of ascending numerical order |
Michael J. Spencer |
2:1df0b61d3b5a | 227 | * - CAN_OK: ID is added into table successfully |
Michael J. Spencer |
2:1df0b61d3b5a | 228 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 229 | CAN_ERROR CAN_SetupAFLUT(LPC_CANAF_TypeDef* CANAFx, AF_SectionDef* AFSection) |
Michael J. Spencer |
2:1df0b61d3b5a | 230 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 231 | uint8_t ctrl1,ctrl2; |
Michael J. Spencer |
2:1df0b61d3b5a | 232 | uint8_t dis1, dis2; |
Michael J. Spencer |
2:1df0b61d3b5a | 233 | uint16_t SID, ID_temp,i, count = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 234 | uint32_t EID, entry, buf; |
Michael J. Spencer |
2:1df0b61d3b5a | 235 | uint16_t lowerSID, upperSID; |
Michael J. Spencer |
2:1df0b61d3b5a | 236 | uint32_t lowerEID, upperEID; |
Michael J. Spencer |
2:1df0b61d3b5a | 237 | |
Michael J. Spencer |
2:1df0b61d3b5a | 238 | CHECK_PARAM(PARAM_CANAFx(CANAFx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 239 | CANAFx->AFMR = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 240 | |
Michael J. Spencer |
2:1df0b61d3b5a | 241 | /***** setup FullCAN Table *****/ |
Michael J. Spencer |
2:1df0b61d3b5a | 242 | if(AFSection->FullCAN_Sec == NULL) |
Michael J. Spencer |
2:1df0b61d3b5a | 243 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 244 | FULLCAN_ENABLE = DISABLE; |
Michael J. Spencer |
2:1df0b61d3b5a | 245 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 246 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 247 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 248 | FULLCAN_ENABLE = ENABLE; |
Michael J. Spencer |
2:1df0b61d3b5a | 249 | for(i=0;i<(AFSection->FC_NumEntry);i++) |
Michael J. Spencer |
2:1df0b61d3b5a | 250 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 251 | if(count + 1 > 64) |
Michael J. Spencer |
2:1df0b61d3b5a | 252 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 253 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 254 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 255 | ctrl1 = AFSection->FullCAN_Sec->controller; |
Michael J. Spencer |
2:1df0b61d3b5a | 256 | SID = AFSection->FullCAN_Sec->id_11; |
Michael J. Spencer |
2:1df0b61d3b5a | 257 | dis1 = AFSection->FullCAN_Sec->disable; |
Michael J. Spencer |
2:1df0b61d3b5a | 258 | |
Michael J. Spencer |
2:1df0b61d3b5a | 259 | CHECK_PARAM(PARAM_CTRL(ctrl1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 260 | CHECK_PARAM(PARAM_ID_11(SID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 261 | CHECK_PARAM(PARAM_MSG_DISABLE(dis1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 262 | entry = 0x00; //reset entry value |
Michael J. Spencer |
2:1df0b61d3b5a | 263 | if((CANAF_FullCAN_cnt & 0x00000001)==0) |
Michael J. Spencer |
2:1df0b61d3b5a | 264 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 265 | if(count!=0x00) |
Michael J. Spencer |
2:1df0b61d3b5a | 266 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 267 | buf = LPC_CANAF_RAM->mask[count-1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 268 | ID_temp = (buf & 0xE7FF); //mask controller & identifier bits |
Michael J. Spencer |
2:1df0b61d3b5a | 269 | if(ID_temp > ((ctrl1<<13)|SID)) |
Michael J. Spencer |
2:1df0b61d3b5a | 270 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 271 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 272 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 273 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 274 | entry = (ctrl1<<29)|(dis1<<28)|(SID<<16)|(1<<27); |
Michael J. Spencer |
2:1df0b61d3b5a | 275 | LPC_CANAF_RAM->mask[count] &= 0x0000FFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 276 | LPC_CANAF_RAM->mask[count] |= entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 277 | CANAF_FullCAN_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 278 | if(CANAF_FullCAN_cnt == AFSection->FC_NumEntry) //this is the lastest FullCAN entry |
Michael J. Spencer |
2:1df0b61d3b5a | 279 | count++; |
Michael J. Spencer |
2:1df0b61d3b5a | 280 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 281 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 282 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 283 | buf = LPC_CANAF_RAM->mask[count]; |
Michael J. Spencer |
2:1df0b61d3b5a | 284 | ID_temp = (buf >>16) & 0xE7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 285 | if(ID_temp > ((ctrl1<<13)|SID)) |
Michael J. Spencer |
2:1df0b61d3b5a | 286 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 287 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 288 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 289 | entry = (ctrl1<<13)|(dis1<<12)|(SID<<0)|(1<<11); |
Michael J. Spencer |
2:1df0b61d3b5a | 290 | LPC_CANAF_RAM->mask[count] &= 0xFFFF0000; |
Michael J. Spencer |
2:1df0b61d3b5a | 291 | LPC_CANAF_RAM->mask[count]|= entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 292 | count++; |
Michael J. Spencer |
2:1df0b61d3b5a | 293 | CANAF_FullCAN_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 294 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 295 | AFSection->FullCAN_Sec = (FullCAN_Entry *)((uint32_t)(AFSection->FullCAN_Sec)+ sizeof(FullCAN_Entry)); |
Michael J. Spencer |
2:1df0b61d3b5a | 296 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 297 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 298 | |
Michael J. Spencer |
2:1df0b61d3b5a | 299 | /***** Setup Explicit Standard Frame Format Section *****/ |
Michael J. Spencer |
2:1df0b61d3b5a | 300 | if(AFSection->SFF_Sec != NULL) |
Michael J. Spencer |
2:1df0b61d3b5a | 301 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 302 | for(i=0;i<(AFSection->SFF_NumEntry);i++) |
Michael J. Spencer |
2:1df0b61d3b5a | 303 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 304 | if(count + 1 > 512) |
Michael J. Spencer |
2:1df0b61d3b5a | 305 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 306 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 307 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 308 | ctrl1 = AFSection->SFF_Sec->controller; |
Michael J. Spencer |
2:1df0b61d3b5a | 309 | SID = AFSection->SFF_Sec->id_11; |
Michael J. Spencer |
2:1df0b61d3b5a | 310 | dis1 = AFSection->SFF_Sec->disable; |
Michael J. Spencer |
2:1df0b61d3b5a | 311 | |
Michael J. Spencer |
2:1df0b61d3b5a | 312 | //check parameter |
Michael J. Spencer |
2:1df0b61d3b5a | 313 | CHECK_PARAM(PARAM_CTRL(ctrl1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 314 | CHECK_PARAM(PARAM_ID_11(SID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 315 | CHECK_PARAM(PARAM_MSG_DISABLE(dis1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 316 | |
Michael J. Spencer |
2:1df0b61d3b5a | 317 | entry = 0x00; //reset entry value |
Michael J. Spencer |
2:1df0b61d3b5a | 318 | if((CANAF_std_cnt & 0x00000001)==0) |
Michael J. Spencer |
2:1df0b61d3b5a | 319 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 320 | if(CANAF_std_cnt !=0 ) |
Michael J. Spencer |
2:1df0b61d3b5a | 321 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 322 | buf = LPC_CANAF_RAM->mask[count-1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 323 | ID_temp = (buf & 0xE7FF); //mask controller & identifier bits |
Michael J. Spencer |
2:1df0b61d3b5a | 324 | if(ID_temp > ((ctrl1<<13)|SID)) |
Michael J. Spencer |
2:1df0b61d3b5a | 325 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 326 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 327 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 328 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 329 | entry = (ctrl1<<29)|(dis1<<28)|(SID<<16); |
Michael J. Spencer |
2:1df0b61d3b5a | 330 | LPC_CANAF_RAM->mask[count] &= 0x0000FFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 331 | LPC_CANAF_RAM->mask[count] |= entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 332 | CANAF_std_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 333 | if(CANAF_std_cnt == AFSection->SFF_NumEntry)//if this is the last SFF entry |
Michael J. Spencer |
2:1df0b61d3b5a | 334 | count++; |
Michael J. Spencer |
2:1df0b61d3b5a | 335 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 336 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 337 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 338 | buf = LPC_CANAF_RAM->mask[count]; |
Michael J. Spencer |
2:1df0b61d3b5a | 339 | ID_temp = (buf >>16) & 0xE7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 340 | if(ID_temp > ((ctrl1<<13)|SID)) |
Michael J. Spencer |
2:1df0b61d3b5a | 341 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 342 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 343 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 344 | entry = (ctrl1<<13)|(dis1<<12)|(SID<<0); |
Michael J. Spencer |
2:1df0b61d3b5a | 345 | LPC_CANAF_RAM->mask[count] &= 0xFFFF0000; |
Michael J. Spencer |
2:1df0b61d3b5a | 346 | LPC_CANAF_RAM->mask[count] |= entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 347 | count++; |
Michael J. Spencer |
2:1df0b61d3b5a | 348 | CANAF_std_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 349 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 350 | AFSection->SFF_Sec = (SFF_Entry *)((uint32_t)(AFSection->SFF_Sec)+ sizeof(SFF_Entry)); |
Michael J. Spencer |
2:1df0b61d3b5a | 351 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 352 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 353 | |
Michael J. Spencer |
2:1df0b61d3b5a | 354 | /***** Setup Group of Standard Frame Format Identifier Section *****/ |
Michael J. Spencer |
2:1df0b61d3b5a | 355 | if(AFSection->SFF_GPR_Sec != NULL) |
Michael J. Spencer |
2:1df0b61d3b5a | 356 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 357 | for(i=0;i<(AFSection->SFF_GPR_NumEntry);i++) |
Michael J. Spencer |
2:1df0b61d3b5a | 358 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 359 | if(count + 1 > 512) |
Michael J. Spencer |
2:1df0b61d3b5a | 360 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 361 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 362 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 363 | ctrl1 = AFSection->SFF_GPR_Sec->controller1; |
Michael J. Spencer |
2:1df0b61d3b5a | 364 | ctrl2 = AFSection->SFF_GPR_Sec->controller2; |
Michael J. Spencer |
2:1df0b61d3b5a | 365 | dis1 = AFSection->SFF_GPR_Sec->disable1; |
Michael J. Spencer |
2:1df0b61d3b5a | 366 | dis2 = AFSection->SFF_GPR_Sec->disable2; |
Michael J. Spencer |
2:1df0b61d3b5a | 367 | lowerSID = AFSection->SFF_GPR_Sec->lowerID; |
Michael J. Spencer |
2:1df0b61d3b5a | 368 | upperSID = AFSection->SFF_GPR_Sec->upperID; |
Michael J. Spencer |
2:1df0b61d3b5a | 369 | |
Michael J. Spencer |
2:1df0b61d3b5a | 370 | /* check parameter */ |
Michael J. Spencer |
2:1df0b61d3b5a | 371 | CHECK_PARAM(PARAM_CTRL(ctrl1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 372 | CHECK_PARAM(PARAM_CTRL(ctrl2)); |
Michael J. Spencer |
2:1df0b61d3b5a | 373 | CHECK_PARAM(PARAM_MSG_DISABLE(dis1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 374 | CHECK_PARAM(PARAM_MSG_DISABLE(dis2)); |
Michael J. Spencer |
2:1df0b61d3b5a | 375 | CHECK_PARAM(PARAM_ID_11(lowerSID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 376 | CHECK_PARAM(PARAM_ID_11(upperSID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 377 | |
Michael J. Spencer |
2:1df0b61d3b5a | 378 | entry = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 379 | if(CANAF_gstd_cnt!=0) |
Michael J. Spencer |
2:1df0b61d3b5a | 380 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 381 | buf = LPC_CANAF_RAM->mask[count-1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 382 | ID_temp = buf & 0xE7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 383 | if((ctrl1 != ctrl2)||(lowerSID > upperSID)||(ID_temp > ((ctrl1<<13)|lowerSID))) |
Michael J. Spencer |
2:1df0b61d3b5a | 384 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 385 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 386 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 387 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 388 | entry = (ctrl1 << 29)|(dis1 << 28)|(lowerSID << 16)| \ |
Michael J. Spencer |
2:1df0b61d3b5a | 389 | (ctrl2 << 13)|(dis2 << 12)|(upperSID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 390 | LPC_CANAF_RAM->mask[count] = entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 391 | CANAF_gstd_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 392 | count++; |
Michael J. Spencer |
2:1df0b61d3b5a | 393 | AFSection->SFF_GPR_Sec = (SFF_GPR_Entry *)((uint32_t)(AFSection->SFF_GPR_Sec)+ sizeof(SFF_GPR_Entry)); |
Michael J. Spencer |
2:1df0b61d3b5a | 394 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 395 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 396 | |
Michael J. Spencer |
2:1df0b61d3b5a | 397 | /***** Setup Explicit Extend Frame Format Identifier Section *****/ |
Michael J. Spencer |
2:1df0b61d3b5a | 398 | if(AFSection->EFF_Sec != NULL) |
Michael J. Spencer |
2:1df0b61d3b5a | 399 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 400 | for(i=0;i<(AFSection->EFF_NumEntry);i++) |
Michael J. Spencer |
2:1df0b61d3b5a | 401 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 402 | if(count + 1 > 512) |
Michael J. Spencer |
2:1df0b61d3b5a | 403 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 404 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 405 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 406 | EID = AFSection->EFF_Sec->ID_29; |
Michael J. Spencer |
2:1df0b61d3b5a | 407 | ctrl1 = AFSection->EFF_Sec->controller; |
Michael J. Spencer |
2:1df0b61d3b5a | 408 | |
Michael J. Spencer |
2:1df0b61d3b5a | 409 | // check parameter |
Michael J. Spencer |
2:1df0b61d3b5a | 410 | CHECK_PARAM(PARAM_ID_29(EID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 411 | CHECK_PARAM(PARAM_CTRL(ctrl1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 412 | |
Michael J. Spencer |
2:1df0b61d3b5a | 413 | entry = (ctrl1 << 29)|(EID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 414 | if(CANAF_ext_cnt != 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 415 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 416 | buf = LPC_CANAF_RAM->mask[count-1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 417 | // EID_temp = buf & 0x0FFFFFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 418 | if(buf > entry) |
Michael J. Spencer |
2:1df0b61d3b5a | 419 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 420 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 421 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 422 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 423 | LPC_CANAF_RAM->mask[count] = entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 424 | CANAF_ext_cnt ++; |
Michael J. Spencer |
2:1df0b61d3b5a | 425 | count++; |
Michael J. Spencer |
2:1df0b61d3b5a | 426 | AFSection->EFF_Sec = (EFF_Entry *)((uint32_t)(AFSection->EFF_Sec)+ sizeof(EFF_Entry)); |
Michael J. Spencer |
2:1df0b61d3b5a | 427 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 428 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 429 | |
Michael J. Spencer |
2:1df0b61d3b5a | 430 | /***** Setup Group of Extended Frame Format Identifier Section *****/ |
Michael J. Spencer |
2:1df0b61d3b5a | 431 | if(AFSection->EFF_GPR_Sec != NULL) |
Michael J. Spencer |
2:1df0b61d3b5a | 432 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 433 | for(i=0;i<(AFSection->EFF_GPR_NumEntry);i++) |
Michael J. Spencer |
2:1df0b61d3b5a | 434 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 435 | if(count + 2 > 512) |
Michael J. Spencer |
2:1df0b61d3b5a | 436 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 437 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 438 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 439 | ctrl1 = AFSection->EFF_GPR_Sec->controller1; |
Michael J. Spencer |
2:1df0b61d3b5a | 440 | ctrl2 = AFSection->EFF_GPR_Sec->controller2; |
Michael J. Spencer |
2:1df0b61d3b5a | 441 | lowerEID = AFSection->EFF_GPR_Sec->lowerEID; |
Michael J. Spencer |
2:1df0b61d3b5a | 442 | upperEID = AFSection->EFF_GPR_Sec->upperEID; |
Michael J. Spencer |
2:1df0b61d3b5a | 443 | |
Michael J. Spencer |
2:1df0b61d3b5a | 444 | //check parameter |
Michael J. Spencer |
2:1df0b61d3b5a | 445 | CHECK_PARAM(PARAM_CTRL(ctrl1)); |
Michael J. Spencer |
2:1df0b61d3b5a | 446 | CHECK_PARAM(PARAM_CTRL(ctrl2)); |
Michael J. Spencer |
2:1df0b61d3b5a | 447 | CHECK_PARAM(PARAM_ID_29(lowerEID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 448 | CHECK_PARAM(PARAM_ID_29(upperEID)); |
Michael J. Spencer |
2:1df0b61d3b5a | 449 | |
Michael J. Spencer |
2:1df0b61d3b5a | 450 | entry = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 451 | if(CANAF_gext_cnt != 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 452 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 453 | buf = LPC_CANAF_RAM->mask[count-1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 454 | // EID_temp = buf & 0x0FFFFFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 455 | if((ctrl1 != ctrl2) || (lowerEID > upperEID) || (buf > ((ctrl1 << 29)|(lowerEID << 0)))) |
Michael J. Spencer |
2:1df0b61d3b5a | 456 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 457 | return CAN_AF_ENTRY_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 458 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 459 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 460 | entry = (ctrl1 << 29)|(lowerEID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 461 | LPC_CANAF_RAM->mask[count++] = entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 462 | entry = (ctrl2 << 29)|(upperEID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 463 | LPC_CANAF_RAM->mask[count++] = entry; |
Michael J. Spencer |
2:1df0b61d3b5a | 464 | CANAF_gext_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 465 | AFSection->EFF_GPR_Sec = (EFF_GPR_Entry *)((uint32_t)(AFSection->EFF_GPR_Sec)+ sizeof(EFF_GPR_Entry)); |
Michael J. Spencer |
2:1df0b61d3b5a | 466 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 467 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 468 | //update address values |
Michael J. Spencer |
2:1df0b61d3b5a | 469 | LPC_CANAF->SFF_sa = ((CANAF_FullCAN_cnt + 1)>>1)<<2; |
Michael J. Spencer |
2:1df0b61d3b5a | 470 | LPC_CANAF->SFF_GRP_sa = LPC_CANAF->SFF_sa + (((CANAF_std_cnt+1)>>1)<< 2); |
Michael J. Spencer |
2:1df0b61d3b5a | 471 | LPC_CANAF->EFF_sa = LPC_CANAF->SFF_GRP_sa + (CANAF_gstd_cnt << 2); |
Michael J. Spencer |
2:1df0b61d3b5a | 472 | LPC_CANAF->EFF_GRP_sa = LPC_CANAF->EFF_sa + (CANAF_ext_cnt << 2); |
Michael J. Spencer |
2:1df0b61d3b5a | 473 | LPC_CANAF->ENDofTable = LPC_CANAF->EFF_GRP_sa + (CANAF_gext_cnt << 3); |
Michael J. Spencer |
2:1df0b61d3b5a | 474 | |
Michael J. Spencer |
2:1df0b61d3b5a | 475 | if(FULLCAN_ENABLE == DISABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 476 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 477 | LPC_CANAF->AFMR = 0x00; // Normal mode |
Michael J. Spencer |
2:1df0b61d3b5a | 478 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 479 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 480 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 481 | LPC_CANAF->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 482 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 483 | return CAN_OK; |
Michael J. Spencer |
2:1df0b61d3b5a | 484 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 485 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 486 | * @brief Add Explicit ID into AF Look-Up Table dynamically. |
Michael J. Spencer |
2:1df0b61d3b5a | 487 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 488 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 489 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 490 | * @param[in] id: The ID of entry will be added |
Michael J. Spencer |
2:1df0b61d3b5a | 491 | * @param[in] format: is the type of ID Frame Format, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 492 | * - STD_ID_FORMAT: 11-bit ID value |
Michael J. Spencer |
2:1df0b61d3b5a | 493 | * - EXT_ID_FORMAT: 29-bit ID value |
Michael J. Spencer |
2:1df0b61d3b5a | 494 | * @return CAN Error, could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 495 | * - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available |
Michael J. Spencer |
2:1df0b61d3b5a | 496 | * - CAN_ID_EXIT_ERROR: ID exited in table |
Michael J. Spencer |
2:1df0b61d3b5a | 497 | * - CAN_OK: ID is added into table successfully |
Michael J. Spencer |
2:1df0b61d3b5a | 498 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 499 | CAN_ERROR CAN_LoadExplicitEntry(LPC_CAN_TypeDef* CANx, uint32_t id, CAN_ID_FORMAT_Type format) |
Michael J. Spencer |
2:1df0b61d3b5a | 500 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 501 | uint32_t tmp0 = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 502 | uint32_t buf0=0, buf1=0; |
Michael J. Spencer |
2:1df0b61d3b5a | 503 | int16_t cnt1=0, cnt2=0, bound1=0, total=0; |
Michael J. Spencer |
2:1df0b61d3b5a | 504 | |
Michael J. Spencer |
2:1df0b61d3b5a | 505 | |
Michael J. Spencer |
2:1df0b61d3b5a | 506 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 507 | CHECK_PARAM(PARAM_ID_FORMAT(format)); |
Michael J. Spencer |
2:1df0b61d3b5a | 508 | |
Michael J. Spencer |
2:1df0b61d3b5a | 509 | if (CANx == LPC_CAN1) |
Michael J. Spencer |
2:1df0b61d3b5a | 510 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 511 | tmp0 = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 512 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 513 | else if (CANx == LPC_CAN2) |
Michael J. Spencer |
2:1df0b61d3b5a | 514 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 515 | tmp0 = 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 516 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 517 | |
Michael J. Spencer |
2:1df0b61d3b5a | 518 | /* Acceptance Filter Memory full - return */ |
Michael J. Spencer |
2:1df0b61d3b5a | 519 | total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \ |
Michael J. Spencer |
2:1df0b61d3b5a | 520 | CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 521 | if (total >= 512){ //don't have enough space |
Michael J. Spencer |
2:1df0b61d3b5a | 522 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 523 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 524 | |
Michael J. Spencer |
2:1df0b61d3b5a | 525 | /* Setup Acceptance Filter Configuration |
Michael J. Spencer |
2:1df0b61d3b5a | 526 | Acceptance Filter Mode Register = Off */ |
Michael J. Spencer |
2:1df0b61d3b5a | 527 | LPC_CANAF->AFMR = 0x00000001; |
Michael J. Spencer |
2:1df0b61d3b5a | 528 | |
Michael J. Spencer |
2:1df0b61d3b5a | 529 | /*********** Add Explicit Standard Identifier Frame Format entry *********/ |
Michael J. Spencer |
2:1df0b61d3b5a | 530 | if(format == STD_ID_FORMAT) |
Michael J. Spencer |
2:1df0b61d3b5a | 531 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 532 | id &= 0x07FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 533 | id |= (tmp0 << 13); /* Add controller number */ |
Michael J. Spencer |
2:1df0b61d3b5a | 534 | /* Move all remaining sections one place up |
Michael J. Spencer |
2:1df0b61d3b5a | 535 | if new entry will increase FullCAN list */ |
Michael J. Spencer |
2:1df0b61d3b5a | 536 | if ((CANAF_std_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 537 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 538 | cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1); |
Michael J. Spencer |
2:1df0b61d3b5a | 539 | bound1 = total - cnt1; |
Michael J. Spencer |
2:1df0b61d3b5a | 540 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 541 | while(bound1--) |
Michael J. Spencer |
2:1df0b61d3b5a | 542 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 543 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 544 | buf1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 545 | LPC_CANAF_RAM->mask[cnt1] = buf0; |
Michael J. Spencer |
2:1df0b61d3b5a | 546 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 547 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 548 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 549 | if (CANAF_std_cnt == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 550 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 551 | cnt2 = (CANAF_FullCAN_cnt + 1)>>1; |
Michael J. Spencer |
2:1df0b61d3b5a | 552 | /* For entering first ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 553 | LPC_CANAF_RAM->mask[cnt2] = 0x0000FFFF | (id << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 554 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 555 | else if (CANAF_std_cnt == 1) |
Michael J. Spencer |
2:1df0b61d3b5a | 556 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 557 | cnt2 = (CANAF_FullCAN_cnt + 1)>>1; |
Michael J. Spencer |
2:1df0b61d3b5a | 558 | /* For entering second ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 559 | if (((LPC_CANAF_RAM->mask[cnt2] >> 16)& 0xE7FF) > id) |
Michael J. Spencer |
2:1df0b61d3b5a | 560 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 561 | LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] >> 16) | (id << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 562 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 563 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 564 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 565 | LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] & 0xFFFF0000) | id; |
Michael J. Spencer |
2:1df0b61d3b5a | 566 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 567 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 568 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 569 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 570 | /* Find where to insert new ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 571 | cnt1 = (CANAF_FullCAN_cnt+1)>>1; |
Michael J. Spencer |
2:1df0b61d3b5a | 572 | cnt2 = CANAF_std_cnt; |
Michael J. Spencer |
2:1df0b61d3b5a | 573 | bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1); |
Michael J. Spencer |
2:1df0b61d3b5a | 574 | while (cnt1 < bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 575 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 576 | /* Loop through standard existing IDs */ |
Michael J. Spencer |
2:1df0b61d3b5a | 577 | if (((LPC_CANAF_RAM->mask[cnt1] >> 16) & 0xE7FF) > id) |
Michael J. Spencer |
2:1df0b61d3b5a | 578 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 579 | cnt2 = cnt1 * 2; |
Michael J. Spencer |
2:1df0b61d3b5a | 580 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 581 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 582 | |
Michael J. Spencer |
2:1df0b61d3b5a | 583 | if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF) > id) |
Michael J. Spencer |
2:1df0b61d3b5a | 584 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 585 | cnt2 = cnt1 * 2 + 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 586 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 587 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 588 | |
Michael J. Spencer |
2:1df0b61d3b5a | 589 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 590 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 591 | /* cnt1 = U32 where to insert new ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 592 | /* cnt2 = U16 where to insert new ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 593 | |
Michael J. Spencer |
2:1df0b61d3b5a | 594 | if (cnt1 == bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 595 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 596 | /* Adding ID as last entry */ |
Michael J. Spencer |
2:1df0b61d3b5a | 597 | /* Even number of IDs exists */ |
Michael J. Spencer |
2:1df0b61d3b5a | 598 | if ((CANAF_std_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 599 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 600 | LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 601 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 602 | /* Odd number of IDs exists */ |
Michael J. Spencer |
2:1df0b61d3b5a | 603 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 604 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 605 | LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id; |
Michael J. Spencer |
2:1df0b61d3b5a | 606 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 607 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 608 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 609 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 610 | buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */ |
Michael J. Spencer |
2:1df0b61d3b5a | 611 | if ((cnt2 & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 612 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 613 | /* Insert new mask to even address*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 614 | buf1 = (id << 16) | (buf0 >> 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 615 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 616 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 617 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 618 | /* Insert new mask to odd address */ |
Michael J. Spencer |
2:1df0b61d3b5a | 619 | buf1 = (buf0 & 0xFFFF0000) | id; |
Michael J. Spencer |
2:1df0b61d3b5a | 620 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 621 | LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */ |
Michael J. Spencer |
2:1df0b61d3b5a | 622 | bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1)-1; |
Michael J. Spencer |
2:1df0b61d3b5a | 623 | /* Move all remaining standard mask entries one place up */ |
Michael J. Spencer |
2:1df0b61d3b5a | 624 | while (cnt1 < bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 625 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 626 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 627 | buf1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 628 | LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 629 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 630 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 631 | |
Michael J. Spencer |
2:1df0b61d3b5a | 632 | if ((CANAF_std_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 633 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 634 | /* Even number of IDs exists */ |
Michael J. Spencer |
2:1df0b61d3b5a | 635 | LPC_CANAF_RAM->mask[cnt1+1] = (buf0 <<16) |(0x0000FFFF); |
Michael J. Spencer |
2:1df0b61d3b5a | 636 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 637 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 638 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 639 | CANAF_std_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 640 | //update address values |
Michael J. Spencer |
2:1df0b61d3b5a | 641 | LPC_CANAF->SFF_GRP_sa +=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 642 | LPC_CANAF->EFF_sa +=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 643 | LPC_CANAF->EFF_GRP_sa +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 644 | LPC_CANAF->ENDofTable +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 645 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 646 | |
Michael J. Spencer |
2:1df0b61d3b5a | 647 | /*********** Add Explicit Extended Identifier Frame Format entry *********/ |
Michael J. Spencer |
2:1df0b61d3b5a | 648 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 649 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 650 | /* Add controller number */ |
Michael J. Spencer |
2:1df0b61d3b5a | 651 | id |= (tmp0) << 29; |
Michael J. Spencer |
2:1df0b61d3b5a | 652 | |
Michael J. Spencer |
2:1df0b61d3b5a | 653 | cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+(((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt); |
Michael J. Spencer |
2:1df0b61d3b5a | 654 | cnt2 = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 655 | while (cnt2 < CANAF_ext_cnt) |
Michael J. Spencer |
2:1df0b61d3b5a | 656 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 657 | /* Loop through extended existing masks*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 658 | if (LPC_CANAF_RAM->mask[cnt1] > id) |
Michael J. Spencer |
2:1df0b61d3b5a | 659 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 660 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 661 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 662 | cnt1++;/* cnt1 = U32 where to insert new mask */ |
Michael J. Spencer |
2:1df0b61d3b5a | 663 | cnt2++; |
Michael J. Spencer |
2:1df0b61d3b5a | 664 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 665 | |
Michael J. Spencer |
2:1df0b61d3b5a | 666 | buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */ |
Michael J. Spencer |
2:1df0b61d3b5a | 667 | LPC_CANAF_RAM->mask[cnt1] = id; /* Insert mask */ |
Michael J. Spencer |
2:1df0b61d3b5a | 668 | |
Michael J. Spencer |
2:1df0b61d3b5a | 669 | CANAF_ext_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 670 | |
Michael J. Spencer |
2:1df0b61d3b5a | 671 | bound1 = total; |
Michael J. Spencer |
2:1df0b61d3b5a | 672 | /* Move all remaining extended mask entries one place up*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 673 | while (cnt2 < bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 674 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 675 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 676 | cnt2++; |
Michael J. Spencer |
2:1df0b61d3b5a | 677 | buf1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 678 | LPC_CANAF_RAM->mask[cnt1] = buf0; |
Michael J. Spencer |
2:1df0b61d3b5a | 679 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 680 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 681 | /* update address values */ |
Michael J. Spencer |
2:1df0b61d3b5a | 682 | LPC_CANAF->EFF_GRP_sa += 4; |
Michael J. Spencer |
2:1df0b61d3b5a | 683 | LPC_CANAF->ENDofTable += 4; |
Michael J. Spencer |
2:1df0b61d3b5a | 684 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 685 | if(CANAF_FullCAN_cnt == 0) //not use FullCAN mode |
Michael J. Spencer |
2:1df0b61d3b5a | 686 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 687 | LPC_CANAF->AFMR = 0x00;//not use FullCAN mode |
Michael J. Spencer |
2:1df0b61d3b5a | 688 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 689 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 690 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 691 | LPC_CANAF->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 692 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 693 | |
Michael J. Spencer |
2:1df0b61d3b5a | 694 | return CAN_OK; |
Michael J. Spencer |
2:1df0b61d3b5a | 695 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 696 | |
Michael J. Spencer |
2:1df0b61d3b5a | 697 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 698 | * @brief Load FullCAN entry into AFLUT |
Michael J. Spencer |
2:1df0b61d3b5a | 699 | * @param[in] CANx: CAN peripheral selected, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 700 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 701 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 702 | * @param[in] id: identifier of entry that will be added |
Michael J. Spencer |
2:1df0b61d3b5a | 703 | * @return CAN_ERROR, could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 704 | * - CAN_OK: loading is successful |
Michael J. Spencer |
2:1df0b61d3b5a | 705 | * - CAN_ID_EXIT_ERROR: ID exited in FullCAN Section |
Michael J. Spencer |
2:1df0b61d3b5a | 706 | * - CAN_OBJECTS_FULL_ERROR: no more space available |
Michael J. Spencer |
2:1df0b61d3b5a | 707 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 708 | CAN_ERROR CAN_LoadFullCANEntry (LPC_CAN_TypeDef* CANx, uint16_t id) |
Michael J. Spencer |
2:1df0b61d3b5a | 709 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 710 | uint32_t ctrl0 = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 711 | uint32_t buf0=0, buf1=0, buf2=0; |
Michael J. Spencer |
2:1df0b61d3b5a | 712 | uint32_t tmp0=0, tmp1=0, tmp2=0; |
Michael J. Spencer |
2:1df0b61d3b5a | 713 | int16_t cnt1=0, cnt2=0, bound1=0, total=0; |
Michael J. Spencer |
2:1df0b61d3b5a | 714 | volatile uint32_t abc; |
Michael J. Spencer |
2:1df0b61d3b5a | 715 | |
Michael J. Spencer |
2:1df0b61d3b5a | 716 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 717 | |
Michael J. Spencer |
2:1df0b61d3b5a | 718 | if (CANx == LPC_CAN1) |
Michael J. Spencer |
2:1df0b61d3b5a | 719 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 720 | ctrl0 = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 721 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 722 | else if (CANx == LPC_CAN2) |
Michael J. Spencer |
2:1df0b61d3b5a | 723 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 724 | ctrl0 = 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 725 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 726 | |
Michael J. Spencer |
2:1df0b61d3b5a | 727 | /* Acceptance Filter Memory full - return */ |
Michael J. Spencer |
2:1df0b61d3b5a | 728 | total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \ |
Michael J. Spencer |
2:1df0b61d3b5a | 729 | CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 730 | //don't have enough space for this fullCAN Entry and its Object(3*32 bytes) |
Michael J. Spencer |
2:1df0b61d3b5a | 731 | if ((total >=508)||(CANAF_FullCAN_cnt>=64)){ |
Michael J. Spencer |
2:1df0b61d3b5a | 732 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 733 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 734 | /* Setup Acceptance Filter Configuration |
Michael J. Spencer |
2:1df0b61d3b5a | 735 | Acceptance Filter Mode Register = Off */ |
Michael J. Spencer |
2:1df0b61d3b5a | 736 | LPC_CANAF->AFMR = 0x00000001; |
Michael J. Spencer |
2:1df0b61d3b5a | 737 | |
Michael J. Spencer |
2:1df0b61d3b5a | 738 | /* Add mask for standard identifiers */ |
Michael J. Spencer |
2:1df0b61d3b5a | 739 | id &= 0x07FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 740 | id |= (ctrl0 << 13) | (1 << 11); /* Add controller number */ |
Michael J. Spencer |
2:1df0b61d3b5a | 741 | // total = ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 742 | /* Move all remaining sections one place up |
Michael J. Spencer |
2:1df0b61d3b5a | 743 | if new entry will increase FullCAN list */ |
Michael J. Spencer |
2:1df0b61d3b5a | 744 | if (((CANAF_FullCAN_cnt & 0x0001) == 0)&&(total!=0)) |
Michael J. Spencer |
2:1df0b61d3b5a | 745 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 746 | //then remove remaining section |
Michael J. Spencer |
2:1df0b61d3b5a | 747 | cnt1 = (CANAF_FullCAN_cnt >> 1); |
Michael J. Spencer |
2:1df0b61d3b5a | 748 | bound1 = total; |
Michael J. Spencer |
2:1df0b61d3b5a | 749 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 750 | |
Michael J. Spencer |
2:1df0b61d3b5a | 751 | while (bound1--) |
Michael J. Spencer |
2:1df0b61d3b5a | 752 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 753 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 754 | buf1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 755 | LPC_CANAF_RAM->mask[cnt1] = buf0; |
Michael J. Spencer |
2:1df0b61d3b5a | 756 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 757 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 758 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 759 | if (CANAF_FullCAN_cnt == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 760 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 761 | /* For entering first ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 762 | LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 763 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 764 | else if (CANAF_FullCAN_cnt == 1) |
Michael J. Spencer |
2:1df0b61d3b5a | 765 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 766 | /* For entering second ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 767 | if (((LPC_CANAF_RAM->mask[0] >> 16)& 0xE7FF) > id) |
Michael J. Spencer |
2:1df0b61d3b5a | 768 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 769 | LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 770 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 771 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 772 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 773 | LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id; |
Michael J. Spencer |
2:1df0b61d3b5a | 774 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 775 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 776 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 777 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 778 | /* Find where to insert new ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 779 | cnt1 = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 780 | cnt2 = CANAF_FullCAN_cnt; |
Michael J. Spencer |
2:1df0b61d3b5a | 781 | bound1 = (CANAF_FullCAN_cnt - 1) >> 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 782 | while (cnt1 <= bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 783 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 784 | abc = (LPC_CANAF_RAM->mask[cnt1] >> 16)& 0xE7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 785 | /* Loop through standard existing IDs */ |
Michael J. Spencer |
2:1df0b61d3b5a | 786 | if (((LPC_CANAF_RAM->mask[cnt1] >> 16) & 0xE7FF) > (id & 0xE7FF)) |
Michael J. Spencer |
2:1df0b61d3b5a | 787 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 788 | cnt2 = cnt1 * 2; |
Michael J. Spencer |
2:1df0b61d3b5a | 789 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 790 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 791 | |
Michael J. Spencer |
2:1df0b61d3b5a | 792 | abc = LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 793 | if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF) > (id & 0xE7FF)) |
Michael J. Spencer |
2:1df0b61d3b5a | 794 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 795 | cnt2 = cnt1 * 2 + 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 796 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 797 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 798 | |
Michael J. Spencer |
2:1df0b61d3b5a | 799 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 800 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 801 | /* cnt1 = U32 where to insert new ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 802 | /* cnt2 = U16 where to insert new ID */ |
Michael J. Spencer |
2:1df0b61d3b5a | 803 | |
Michael J. Spencer |
2:1df0b61d3b5a | 804 | if (cnt1 > bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 805 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 806 | /* Adding ID as last entry */ |
Michael J. Spencer |
2:1df0b61d3b5a | 807 | /* Even number of IDs exists */ |
Michael J. Spencer |
2:1df0b61d3b5a | 808 | if ((CANAF_FullCAN_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 809 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 810 | LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 811 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 812 | /* Odd number of IDs exists */ |
Michael J. Spencer |
2:1df0b61d3b5a | 813 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 814 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 815 | LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id; |
Michael J. Spencer |
2:1df0b61d3b5a | 816 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 817 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 818 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 819 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 820 | buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */ |
Michael J. Spencer |
2:1df0b61d3b5a | 821 | if ((cnt2 & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 822 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 823 | /* Insert new mask to even address*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 824 | buf1 = (id << 16) | (buf0 >> 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 825 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 826 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 827 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 828 | /* Insert new mask to odd address */ |
Michael J. Spencer |
2:1df0b61d3b5a | 829 | buf1 = (buf0 & 0xFFFF0000) | id; |
Michael J. Spencer |
2:1df0b61d3b5a | 830 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 831 | LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */ |
Michael J. Spencer |
2:1df0b61d3b5a | 832 | bound1 = CANAF_FullCAN_cnt >> 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 833 | /* Move all remaining standard mask entries one place up */ |
Michael J. Spencer |
2:1df0b61d3b5a | 834 | while (cnt1 < bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 835 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 836 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 837 | buf1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 838 | LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 839 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 840 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 841 | |
Michael J. Spencer |
2:1df0b61d3b5a | 842 | if ((CANAF_FullCAN_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 843 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 844 | /* Even number of IDs exists */ |
Michael J. Spencer |
2:1df0b61d3b5a | 845 | LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) |
Michael J. Spencer |
2:1df0b61d3b5a | 846 | | (0x0000FFFF); |
Michael J. Spencer |
2:1df0b61d3b5a | 847 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 848 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 849 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 850 | //restruct FulCAN Object Section |
Michael J. Spencer |
2:1df0b61d3b5a | 851 | bound1 = CANAF_FullCAN_cnt - cnt2; |
Michael J. Spencer |
2:1df0b61d3b5a | 852 | cnt1 = total - (CANAF_FullCAN_cnt)*3 + cnt2*3 + 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 853 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 854 | buf1 = LPC_CANAF_RAM->mask[cnt1+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 855 | buf2 = LPC_CANAF_RAM->mask[cnt1+2]; |
Michael J. Spencer |
2:1df0b61d3b5a | 856 | LPC_CANAF_RAM->mask[cnt1]=LPC_CANAF_RAM->mask[cnt1+1]= LPC_CANAF_RAM->mask[cnt1+2]=0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 857 | cnt1+=3; |
Michael J. Spencer |
2:1df0b61d3b5a | 858 | while(bound1--) |
Michael J. Spencer |
2:1df0b61d3b5a | 859 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 860 | tmp0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 861 | tmp1 = LPC_CANAF_RAM->mask[cnt1+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 862 | tmp2 = LPC_CANAF_RAM->mask[cnt1+2]; |
Michael J. Spencer |
2:1df0b61d3b5a | 863 | LPC_CANAF_RAM->mask[cnt1]= buf0; |
Michael J. Spencer |
2:1df0b61d3b5a | 864 | LPC_CANAF_RAM->mask[cnt1+1]= buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 865 | LPC_CANAF_RAM->mask[cnt1+2]= buf2; |
Michael J. Spencer |
2:1df0b61d3b5a | 866 | buf0 = tmp0; |
Michael J. Spencer |
2:1df0b61d3b5a | 867 | buf1 = tmp1; |
Michael J. Spencer |
2:1df0b61d3b5a | 868 | buf2 = tmp2; |
Michael J. Spencer |
2:1df0b61d3b5a | 869 | cnt1+=3; |
Michael J. Spencer |
2:1df0b61d3b5a | 870 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 871 | CANAF_FullCAN_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 872 | //update address values |
Michael J. Spencer |
2:1df0b61d3b5a | 873 | LPC_CANAF->SFF_sa +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 874 | LPC_CANAF->SFF_GRP_sa +=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 875 | LPC_CANAF->EFF_sa +=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 876 | LPC_CANAF->EFF_GRP_sa +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 877 | LPC_CANAF->ENDofTable +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 878 | |
Michael J. Spencer |
2:1df0b61d3b5a | 879 | LPC_CANAF->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 880 | return CAN_OK; |
Michael J. Spencer |
2:1df0b61d3b5a | 881 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 882 | |
Michael J. Spencer |
2:1df0b61d3b5a | 883 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 884 | * @brief Load Group entry into AFLUT |
Michael J. Spencer |
2:1df0b61d3b5a | 885 | * @param[in] CANx: CAN peripheral selected, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 886 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 887 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 888 | * @param[in] lowerID, upperID: lower and upper identifier of entry |
Michael J. Spencer |
2:1df0b61d3b5a | 889 | * @param[in] format: type of ID format, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 890 | * - STD_ID_FORMAT: Standard ID format (11-bit value) |
Michael J. Spencer |
2:1df0b61d3b5a | 891 | * - EXT_ID_FORMAT: Extended ID format (29-bit value) |
Michael J. Spencer |
2:1df0b61d3b5a | 892 | * @return CAN_ERROR, could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 893 | * - CAN_OK: loading is successful |
Michael J. Spencer |
2:1df0b61d3b5a | 894 | * - CAN_CONFLICT_ID_ERROR: Conflict ID occurs |
Michael J. Spencer |
2:1df0b61d3b5a | 895 | * - CAN_OBJECTS_FULL_ERROR: no more space available |
Michael J. Spencer |
2:1df0b61d3b5a | 896 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 897 | CAN_ERROR CAN_LoadGroupEntry(LPC_CAN_TypeDef* CANx, uint32_t lowerID, \ |
Michael J. Spencer |
2:1df0b61d3b5a | 898 | uint32_t upperID, CAN_ID_FORMAT_Type format) |
Michael J. Spencer |
2:1df0b61d3b5a | 899 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 900 | uint16_t tmp = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 901 | uint32_t buf0, buf1, entry1, entry2, LID,UID; |
Michael J. Spencer |
2:1df0b61d3b5a | 902 | int16_t cnt1, bound1, total; |
Michael J. Spencer |
2:1df0b61d3b5a | 903 | //LPC_CANAF_RAM_TypeDef *AFLUTTest = LPC_CANAF_RAM; |
Michael J. Spencer |
2:1df0b61d3b5a | 904 | |
Michael J. Spencer |
2:1df0b61d3b5a | 905 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 906 | CHECK_PARAM(PARAM_ID_FORMAT(format)); |
Michael J. Spencer |
2:1df0b61d3b5a | 907 | |
Michael J. Spencer |
2:1df0b61d3b5a | 908 | if(lowerID > upperID) return CAN_CONFLICT_ID_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 909 | if(CANx == LPC_CAN1) |
Michael J. Spencer |
2:1df0b61d3b5a | 910 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 911 | tmp = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 912 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 913 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 914 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 915 | tmp = 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 916 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 917 | |
Michael J. Spencer |
2:1df0b61d3b5a | 918 | total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \ |
Michael J. Spencer |
2:1df0b61d3b5a | 919 | CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 920 | |
Michael J. Spencer |
2:1df0b61d3b5a | 921 | /* Setup Acceptance Filter Configuration |
Michael J. Spencer |
2:1df0b61d3b5a | 922 | Acceptance Filter Mode Register = Off */ |
Michael J. Spencer |
2:1df0b61d3b5a | 923 | LPC_CANAF->AFMR = 0x00000001; |
Michael J. Spencer |
2:1df0b61d3b5a | 924 | |
Michael J. Spencer |
2:1df0b61d3b5a | 925 | /*********Add Group of Standard Identifier Frame Format************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 926 | if(format == STD_ID_FORMAT) |
Michael J. Spencer |
2:1df0b61d3b5a | 927 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 928 | if ((total >= 512)){//don't have enough space |
Michael J. Spencer |
2:1df0b61d3b5a | 929 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 930 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 931 | lowerID &=0x7FF; //mask ID |
Michael J. Spencer |
2:1df0b61d3b5a | 932 | upperID &=0x7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 933 | entry1 = (tmp << 29)|(lowerID << 16)|(tmp << 13)|(upperID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 934 | cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1); |
Michael J. Spencer |
2:1df0b61d3b5a | 935 | |
Michael J. Spencer |
2:1df0b61d3b5a | 936 | //if this is the first Group standard ID entry |
Michael J. Spencer |
2:1df0b61d3b5a | 937 | if(CANAF_gstd_cnt == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 938 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 939 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 940 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 941 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 942 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 943 | //find the position to add new Group entry |
Michael J. Spencer |
2:1df0b61d3b5a | 944 | bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt; |
Michael J. Spencer |
2:1df0b61d3b5a | 945 | while(cnt1 < bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 946 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 947 | //compare controller first |
Michael J. Spencer |
2:1df0b61d3b5a | 948 | while((LPC_CANAF_RAM->mask[cnt1] >> 29)< (entry1 >> 29))//increase until meet greater or equal controller |
Michael J. Spencer |
2:1df0b61d3b5a | 949 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 950 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 951 | if((LPC_CANAF_RAM->mask[cnt1] >> 29)> (entry1 >> 29)) //meet greater controller |
Michael J. Spencer |
2:1df0b61d3b5a | 952 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 953 | //add at this position |
Michael J. Spencer |
2:1df0b61d3b5a | 954 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 955 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 956 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 957 | else //meet equal controller |
Michael J. Spencer |
2:1df0b61d3b5a | 958 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 959 | LID = (buf0 >> 16)&0x7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 960 | UID = buf0 & 0x7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 961 | if (upperID <= LID) |
Michael J. Spencer |
2:1df0b61d3b5a | 962 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 963 | //add new entry before this entry |
Michael J. Spencer |
2:1df0b61d3b5a | 964 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 965 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 966 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 967 | else if (lowerID >= UID) |
Michael J. Spencer |
2:1df0b61d3b5a | 968 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 969 | //load next entry to compare |
Michael J. Spencer |
2:1df0b61d3b5a | 970 | cnt1 ++; |
Michael J. Spencer |
2:1df0b61d3b5a | 971 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 972 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 973 | return CAN_CONFLICT_ID_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 974 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 975 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 976 | if(cnt1 >= bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 977 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 978 | //add new entry at the last position in this list |
Michael J. Spencer |
2:1df0b61d3b5a | 979 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 980 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 981 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 982 | |
Michael J. Spencer |
2:1df0b61d3b5a | 983 | //remove all remaining entry of this section one place up |
Michael J. Spencer |
2:1df0b61d3b5a | 984 | bound1 = total - cnt1; |
Michael J. Spencer |
2:1df0b61d3b5a | 985 | while(bound1--) |
Michael J. Spencer |
2:1df0b61d3b5a | 986 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 987 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 988 | buf1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 989 | LPC_CANAF_RAM->mask[cnt1] = buf0; |
Michael J. Spencer |
2:1df0b61d3b5a | 990 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 991 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 992 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 993 | CANAF_gstd_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 994 | //update address values |
Michael J. Spencer |
2:1df0b61d3b5a | 995 | LPC_CANAF->EFF_sa +=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 996 | LPC_CANAF->EFF_GRP_sa +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 997 | LPC_CANAF->ENDofTable +=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 998 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 999 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1000 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1001 | /*********Add Group of Extended Identifier Frame Format************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1002 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1003 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1004 | if ((total >= 511)){//don't have enough space |
Michael J. Spencer |
2:1df0b61d3b5a | 1005 | return CAN_OBJECTS_FULL_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1006 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1007 | lowerID &= 0x1FFFFFFF; //mask ID |
Michael J. Spencer |
2:1df0b61d3b5a | 1008 | upperID &= 0x1FFFFFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1009 | entry1 = (tmp << 29)|(lowerID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 1010 | entry2 = (tmp << 29)|(upperID << 0); |
Michael J. Spencer |
2:1df0b61d3b5a | 1011 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1012 | cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt + CANAF_ext_cnt; |
Michael J. Spencer |
2:1df0b61d3b5a | 1013 | //if this is the first Group standard ID entry |
Michael J. Spencer |
2:1df0b61d3b5a | 1014 | if(CANAF_gext_cnt == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1015 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1016 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1017 | LPC_CANAF_RAM->mask[cnt1+1] = entry2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1018 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1019 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1020 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1021 | //find the position to add new Group entry |
Michael J. Spencer |
2:1df0b61d3b5a | 1022 | bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt \ |
Michael J. Spencer |
2:1df0b61d3b5a | 1023 | + CANAF_ext_cnt + (CANAF_gext_cnt<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 1024 | while(cnt1 < bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 1025 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1026 | while((LPC_CANAF_RAM->mask[cnt1] >>29)< tmp) //increase until meet greater or equal controller |
Michael J. Spencer |
2:1df0b61d3b5a | 1027 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1028 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1029 | buf1 = LPC_CANAF_RAM->mask[cnt1+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1030 | if((LPC_CANAF_RAM->mask[cnt1] >> 29)> (entry1 >> 29)) //meet greater controller |
Michael J. Spencer |
2:1df0b61d3b5a | 1031 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1032 | //add at this position |
Michael J. Spencer |
2:1df0b61d3b5a | 1033 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1034 | LPC_CANAF_RAM->mask[++cnt1] = entry2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1035 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1036 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1037 | else //meet equal controller |
Michael J. Spencer |
2:1df0b61d3b5a | 1038 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1039 | LID = buf0 & 0x1FFFFFFF; //mask ID |
Michael J. Spencer |
2:1df0b61d3b5a | 1040 | UID = buf1 & 0x1FFFFFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1041 | if (upperID <= LID) |
Michael J. Spencer |
2:1df0b61d3b5a | 1042 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1043 | //add new entry before this entry |
Michael J. Spencer |
2:1df0b61d3b5a | 1044 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1045 | LPC_CANAF_RAM->mask[++cnt1] = entry2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1046 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1047 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1048 | else if (lowerID >= UID) |
Michael J. Spencer |
2:1df0b61d3b5a | 1049 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1050 | //load next entry to compare |
Michael J. Spencer |
2:1df0b61d3b5a | 1051 | cnt1 +=2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1052 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1053 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1054 | return CAN_CONFLICT_ID_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1055 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1056 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1057 | if(cnt1 >= bound1) |
Michael J. Spencer |
2:1df0b61d3b5a | 1058 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1059 | //add new entry at the last position in this list |
Michael J. Spencer |
2:1df0b61d3b5a | 1060 | buf0 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1061 | buf1 = LPC_CANAF_RAM->mask[cnt1+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1062 | LPC_CANAF_RAM->mask[cnt1] = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1063 | LPC_CANAF_RAM->mask[++cnt1] = entry2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1064 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1065 | //remove all remaining entry of this section two place up |
Michael J. Spencer |
2:1df0b61d3b5a | 1066 | bound1 = total - cnt1 + 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1067 | cnt1++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1068 | while(bound1>0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1069 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1070 | entry1 = LPC_CANAF_RAM->mask[cnt1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1071 | entry2 = LPC_CANAF_RAM->mask[cnt1+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1072 | LPC_CANAF_RAM->mask[cnt1] = buf0; |
Michael J. Spencer |
2:1df0b61d3b5a | 1073 | LPC_CANAF_RAM->mask[cnt1+1] = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1074 | buf0 = entry1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1075 | buf1 = entry2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1076 | cnt1 +=2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1077 | bound1 -=2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1078 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1079 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1080 | CANAF_gext_cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1081 | //update address values |
Michael J. Spencer |
2:1df0b61d3b5a | 1082 | LPC_CANAF->ENDofTable +=0x08; |
Michael J. Spencer |
2:1df0b61d3b5a | 1083 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1084 | LPC_CANAF->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1085 | return CAN_OK; |
Michael J. Spencer |
2:1df0b61d3b5a | 1086 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1087 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1088 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1089 | * @brief Remove AFLUT entry (FullCAN entry and Explicit Standard entry) |
Michael J. Spencer |
2:1df0b61d3b5a | 1090 | * @param[in] EntryType: the type of entry that want to remove, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1091 | * - FULLCAN_ENTRY |
Michael J. Spencer |
2:1df0b61d3b5a | 1092 | * - EXPLICIT_STANDARD_ENTRY |
Michael J. Spencer |
2:1df0b61d3b5a | 1093 | * - GROUP_STANDARD_ENTRY |
Michael J. Spencer |
2:1df0b61d3b5a | 1094 | * - EXPLICIT_EXTEND_ENTRY |
Michael J. Spencer |
2:1df0b61d3b5a | 1095 | * - GROUP_EXTEND_ENTRY |
Michael J. Spencer |
2:1df0b61d3b5a | 1096 | * @param[in] position: the position of this entry in its section |
Michael J. Spencer |
2:1df0b61d3b5a | 1097 | * Note: the first position is 0 |
Michael J. Spencer |
2:1df0b61d3b5a | 1098 | * @return CAN_ERROR, could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1099 | * - CAN_OK: removing is successful |
Michael J. Spencer |
2:1df0b61d3b5a | 1100 | * - CAN_ENTRY_NOT_EXIT_ERROR: entry want to remove is not exit |
Michael J. Spencer |
2:1df0b61d3b5a | 1101 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1102 | CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position) |
Michael J. Spencer |
2:1df0b61d3b5a | 1103 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1104 | uint16_t cnt, bound, total; |
Michael J. Spencer |
2:1df0b61d3b5a | 1105 | uint32_t buf0, buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1106 | CHECK_PARAM(PARAM_AFLUT_ENTRY_TYPE(EntryType)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1107 | CHECK_PARAM(PARAM_POSITION(position)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1108 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1109 | /* Setup Acceptance Filter Configuration |
Michael J. Spencer |
2:1df0b61d3b5a | 1110 | Acceptance Filter Mode Register = Off */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1111 | LPC_CANAF->AFMR = 0x00000001; |
Michael J. Spencer |
2:1df0b61d3b5a | 1112 | total = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt + 1) >> 1) + \ |
Michael J. Spencer |
2:1df0b61d3b5a | 1113 | CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 1114 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1115 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1116 | /************** Remove FullCAN Entry *************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1117 | if(EntryType == FULLCAN_ENTRY) |
Michael J. Spencer |
2:1df0b61d3b5a | 1118 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1119 | if((CANAF_FullCAN_cnt==0)||(position >= CANAF_FullCAN_cnt)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1120 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1121 | return CAN_ENTRY_NOT_EXIT_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1122 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1123 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1124 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1125 | cnt = position >> 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1126 | buf0 = LPC_CANAF_RAM->mask[cnt]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1127 | bound = (CANAF_FullCAN_cnt - position -1)>>1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1128 | if((position & 0x0001) == 0) //event position |
Michael J. Spencer |
2:1df0b61d3b5a | 1129 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1130 | while(bound--) |
Michael J. Spencer |
2:1df0b61d3b5a | 1131 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1132 | //remove all remaining FullCAN entry one place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1133 | buf1 = LPC_CANAF_RAM->mask[cnt+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1134 | LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 1135 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1136 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1137 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1138 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1139 | else //odd position |
Michael J. Spencer |
2:1df0b61d3b5a | 1140 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1141 | while(bound--) |
Michael J. Spencer |
2:1df0b61d3b5a | 1142 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1143 | //remove all remaining FullCAN entry one place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1144 | buf1 = LPC_CANAF_RAM->mask[cnt+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1145 | LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 1146 | LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1147 | buf0 = buf1<<16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1148 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1149 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1150 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1151 | if((CANAF_FullCAN_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1152 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1153 | if((position & 0x0001)==0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1154 | LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF); |
Michael J. Spencer |
2:1df0b61d3b5a | 1155 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1156 | LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1157 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1158 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1159 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1160 | //remove all remaining section one place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1161 | cnt = (CANAF_FullCAN_cnt + 1)>>1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1162 | bound = total + CANAF_FullCAN_cnt * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1163 | while(bound>cnt) |
Michael J. Spencer |
2:1df0b61d3b5a | 1164 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1165 | LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1166 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1167 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1168 | LPC_CANAF_RAM->mask[cnt-1]=0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1169 | //update address values |
Michael J. Spencer |
2:1df0b61d3b5a | 1170 | LPC_CANAF->SFF_sa -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1171 | LPC_CANAF->SFF_GRP_sa -=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 1172 | LPC_CANAF->EFF_sa -=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 1173 | LPC_CANAF->EFF_GRP_sa -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1174 | LPC_CANAF->ENDofTable -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1175 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1176 | CANAF_FullCAN_cnt--; |
Michael J. Spencer |
2:1df0b61d3b5a | 1177 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1178 | //delete its FullCAN Object in the FullCAN Object section |
Michael J. Spencer |
2:1df0b61d3b5a | 1179 | //remove all remaining FullCAN Object three place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1180 | cnt = total + position * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1181 | bound = (CANAF_FullCAN_cnt - position + 1) * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1182 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1183 | while(bound) |
Michael J. Spencer |
2:1df0b61d3b5a | 1184 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1185 | LPC_CANAF_RAM->mask[cnt]=LPC_CANAF_RAM->mask[cnt+3];; |
Michael J. Spencer |
2:1df0b61d3b5a | 1186 | LPC_CANAF_RAM->mask[cnt+1]=LPC_CANAF_RAM->mask[cnt+4]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1187 | LPC_CANAF_RAM->mask[cnt+2]=LPC_CANAF_RAM->mask[cnt+5]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1188 | bound -=3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1189 | cnt +=3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1190 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1191 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1192 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1193 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1194 | /************** Remove Explicit Standard ID Entry *************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1195 | else if(EntryType == EXPLICIT_STANDARD_ENTRY) |
Michael J. Spencer |
2:1df0b61d3b5a | 1196 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1197 | if((CANAF_std_cnt==0)||(position >= CANAF_std_cnt)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1198 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1199 | return CAN_ENTRY_NOT_EXIT_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1200 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1201 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1202 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1203 | cnt = ((CANAF_FullCAN_cnt+1)>>1)+ (position >> 1); |
Michael J. Spencer |
2:1df0b61d3b5a | 1204 | buf0 = LPC_CANAF_RAM->mask[cnt]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1205 | bound = (CANAF_std_cnt - position - 1)>>1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1206 | if((position & 0x0001) == 0) //event position |
Michael J. Spencer |
2:1df0b61d3b5a | 1207 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1208 | while(bound--) |
Michael J. Spencer |
2:1df0b61d3b5a | 1209 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1210 | //remove all remaining FullCAN entry one place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1211 | buf1 = LPC_CANAF_RAM->mask[cnt+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1212 | LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 1213 | buf0 = buf1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1214 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1215 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1216 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1217 | else //odd position |
Michael J. Spencer |
2:1df0b61d3b5a | 1218 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1219 | while(bound--) |
Michael J. Spencer |
2:1df0b61d3b5a | 1220 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1221 | //remove all remaining FullCAN entry one place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1222 | buf1 = LPC_CANAF_RAM->mask[cnt+1]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1223 | LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16); |
Michael J. Spencer |
2:1df0b61d3b5a | 1224 | LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1225 | buf0 = buf1<<16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1226 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1227 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1228 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1229 | if((CANAF_std_cnt & 0x0001) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1230 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1231 | if((position & 0x0001)==0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1232 | LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF); |
Michael J. Spencer |
2:1df0b61d3b5a | 1233 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1234 | LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1235 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1236 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1237 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1238 | //remove all remaining section one place down |
Michael J. Spencer |
2:1df0b61d3b5a | 1239 | cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1); |
Michael J. Spencer |
2:1df0b61d3b5a | 1240 | bound = total + CANAF_FullCAN_cnt * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1241 | while(bound>cnt) |
Michael J. Spencer |
2:1df0b61d3b5a | 1242 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1243 | LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1244 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1245 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1246 | LPC_CANAF_RAM->mask[cnt-1]=0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1247 | //update address value |
Michael J. Spencer |
2:1df0b61d3b5a | 1248 | LPC_CANAF->SFF_GRP_sa -=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 1249 | LPC_CANAF->EFF_sa -=0x04 ; |
Michael J. Spencer |
2:1df0b61d3b5a | 1250 | LPC_CANAF->EFF_GRP_sa -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1251 | LPC_CANAF->ENDofTable -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1252 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1253 | CANAF_std_cnt--; |
Michael J. Spencer |
2:1df0b61d3b5a | 1254 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1255 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1256 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1257 | /************** Remove Group of Standard ID Entry *************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1258 | else if(EntryType == GROUP_STANDARD_ENTRY) |
Michael J. Spencer |
2:1df0b61d3b5a | 1259 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1260 | if((CANAF_gstd_cnt==0)||(position >= CANAF_gstd_cnt)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1261 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1262 | return CAN_ENTRY_NOT_EXIT_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1263 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1264 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1265 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1266 | cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ position + 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1267 | bound = total + CANAF_FullCAN_cnt * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1268 | while (cnt<bound) |
Michael J. Spencer |
2:1df0b61d3b5a | 1269 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1270 | LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1271 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1272 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1273 | LPC_CANAF_RAM->mask[cnt-1]=0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1274 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1275 | CANAF_gstd_cnt--; |
Michael J. Spencer |
2:1df0b61d3b5a | 1276 | //update address value |
Michael J. Spencer |
2:1df0b61d3b5a | 1277 | LPC_CANAF->EFF_sa -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1278 | LPC_CANAF->EFF_GRP_sa -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1279 | LPC_CANAF->ENDofTable -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1280 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1281 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1282 | /************** Remove Explicit Extended ID Entry *************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1283 | else if(EntryType == EXPLICIT_EXTEND_ENTRY) |
Michael J. Spencer |
2:1df0b61d3b5a | 1284 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1285 | if((CANAF_ext_cnt==0)||(position >= CANAF_ext_cnt)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1286 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1287 | return CAN_ENTRY_NOT_EXIT_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1288 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1289 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1290 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1291 | cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + position + 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1292 | bound = total + CANAF_FullCAN_cnt * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1293 | while (cnt<bound) |
Michael J. Spencer |
2:1df0b61d3b5a | 1294 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1295 | LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1296 | cnt++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1297 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1298 | LPC_CANAF_RAM->mask[cnt-1]=0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1299 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1300 | CANAF_ext_cnt--; |
Michael J. Spencer |
2:1df0b61d3b5a | 1301 | LPC_CANAF->EFF_GRP_sa -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1302 | LPC_CANAF->ENDofTable -=0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1303 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1304 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1305 | /************** Remove Group of Extended ID Entry *************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1306 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1307 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1308 | if((CANAF_gext_cnt==0)||(position >= CANAF_gext_cnt)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1309 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1310 | return CAN_ENTRY_NOT_EXIT_ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1311 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1312 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1313 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1314 | cnt = total - (CANAF_gext_cnt<<1) + (position<<1); |
Michael J. Spencer |
2:1df0b61d3b5a | 1315 | bound = total + CANAF_FullCAN_cnt * 3; |
Michael J. Spencer |
2:1df0b61d3b5a | 1316 | while (cnt<bound) |
Michael J. Spencer |
2:1df0b61d3b5a | 1317 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1318 | //remove all remaining entry two place up |
Michael J. Spencer |
2:1df0b61d3b5a | 1319 | LPC_CANAF_RAM->mask[cnt] = LPC_CANAF_RAM->mask[cnt+2]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1320 | LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+3]; |
Michael J. Spencer |
2:1df0b61d3b5a | 1321 | cnt+=2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1322 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1323 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1324 | CANAF_gext_cnt--; |
Michael J. Spencer |
2:1df0b61d3b5a | 1325 | LPC_CANAF->ENDofTable -=0x08; |
Michael J. Spencer |
2:1df0b61d3b5a | 1326 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1327 | LPC_CANAF->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1328 | return CAN_OK; |
Michael J. Spencer |
2:1df0b61d3b5a | 1329 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1330 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1331 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1332 | * @brief Send message data |
Michael J. Spencer |
2:1df0b61d3b5a | 1333 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1334 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1335 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1336 | * @param[in] CAN_Msg point to the CAN_MSG_Type Structure, it contains message |
Michael J. Spencer |
2:1df0b61d3b5a | 1337 | * information such as: ID, DLC, RTR, ID Format |
Michael J. Spencer |
2:1df0b61d3b5a | 1338 | * @return Status: |
Michael J. Spencer |
2:1df0b61d3b5a | 1339 | * - SUCCESS: send message successfully |
Michael J. Spencer |
2:1df0b61d3b5a | 1340 | * - ERROR: send message unsuccessfully |
Michael J. Spencer |
2:1df0b61d3b5a | 1341 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1342 | Status CAN_SendMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1343 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1344 | uint32_t data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1345 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1346 | CHECK_PARAM(PARAM_ID_FORMAT(CAN_Msg->format)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1347 | if(CAN_Msg->format==STD_ID_FORMAT) |
Michael J. Spencer |
2:1df0b61d3b5a | 1348 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1349 | CHECK_PARAM(PARAM_ID_11(CAN_Msg->id)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1350 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1351 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1352 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1353 | CHECK_PARAM(PARAM_ID_29(CAN_Msg->id)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1354 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1355 | CHECK_PARAM(PARAM_DLC(CAN_Msg->len)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1356 | CHECK_PARAM(PARAM_FRAME_TYPE(CAN_Msg->type)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1357 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1358 | //Check status of Transmit Buffer 1 |
Michael J. Spencer |
2:1df0b61d3b5a | 1359 | if (CANx->SR & (1<<2)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1360 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1361 | /* Transmit Channel 1 is available */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1362 | /* Write frame informations and frame data into its CANxTFI1, |
Michael J. Spencer |
2:1df0b61d3b5a | 1363 | * CANxTID1, CANxTDA1, CANxTDB1 register */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1364 | CANx->TFI1 &= ~0x000F0000; |
Michael J. Spencer |
2:1df0b61d3b5a | 1365 | CANx->TFI1 |= (CAN_Msg->len)<<16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1366 | if(CAN_Msg->type == REMOTE_FRAME) |
Michael J. Spencer |
2:1df0b61d3b5a | 1367 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1368 | CANx->TFI1 |= (1<<30); //set bit RTR |
Michael J. Spencer |
2:1df0b61d3b5a | 1369 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1370 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1371 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1372 | CANx->TFI1 &= ~(1<<30); |
Michael J. Spencer |
2:1df0b61d3b5a | 1373 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1374 | if(CAN_Msg->format == EXT_ID_FORMAT) |
Michael J. Spencer |
2:1df0b61d3b5a | 1375 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1376 | CANx->TFI1 |= (1UL<<31); //set bit FF |
Michael J. Spencer |
2:1df0b61d3b5a | 1377 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1378 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1379 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1380 | CANx->TFI1 &= ~(1UL<<31); |
Michael J. Spencer |
2:1df0b61d3b5a | 1381 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1382 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1383 | /* Write CAN ID*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1384 | CANx->TID1 = CAN_Msg->id; |
Michael J. Spencer |
2:1df0b61d3b5a | 1385 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1386 | /*Write first 4 data bytes*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1387 | data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24); |
Michael J. Spencer |
2:1df0b61d3b5a | 1388 | CANx->TDA1 = data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1389 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1390 | /*Write second 4 data bytes*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1391 | data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24); |
Michael J. Spencer |
2:1df0b61d3b5a | 1392 | CANx->TDB1 = data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1393 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1394 | /*Write transmission request*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1395 | CANx->CMR = 0x21; |
Michael J. Spencer |
2:1df0b61d3b5a | 1396 | return SUCCESS; |
Michael J. Spencer |
2:1df0b61d3b5a | 1397 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1398 | //check status of Transmit Buffer 2 |
Michael J. Spencer |
2:1df0b61d3b5a | 1399 | else if(CANx->SR & (1<<10)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1400 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1401 | /* Transmit Channel 2 is available */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1402 | /* Write frame informations and frame data into its CANxTFI2, |
Michael J. Spencer |
2:1df0b61d3b5a | 1403 | * CANxTID2, CANxTDA2, CANxTDB2 register */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1404 | CANx->TFI2 &= ~0x000F0000; |
Michael J. Spencer |
2:1df0b61d3b5a | 1405 | CANx->TFI2 |= (CAN_Msg->len)<<16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1406 | if(CAN_Msg->type == REMOTE_FRAME) |
Michael J. Spencer |
2:1df0b61d3b5a | 1407 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1408 | CANx->TFI2 |= (1<<30); //set bit RTR |
Michael J. Spencer |
2:1df0b61d3b5a | 1409 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1410 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1411 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1412 | CANx->TFI2 &= ~(1<<30); |
Michael J. Spencer |
2:1df0b61d3b5a | 1413 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1414 | if(CAN_Msg->format == EXT_ID_FORMAT) |
Michael J. Spencer |
2:1df0b61d3b5a | 1415 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1416 | CANx->TFI2 |= (1UL<<31); //set bit FF |
Michael J. Spencer |
2:1df0b61d3b5a | 1417 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1418 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1419 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1420 | CANx->TFI2 &= ~(1UL<<31); |
Michael J. Spencer |
2:1df0b61d3b5a | 1421 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1422 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1423 | /* Write CAN ID*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1424 | CANx->TID2 = CAN_Msg->id; |
Michael J. Spencer |
2:1df0b61d3b5a | 1425 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1426 | /*Write first 4 data bytes*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1427 | data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24); |
Michael J. Spencer |
2:1df0b61d3b5a | 1428 | CANx->TDA2 = data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1429 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1430 | /*Write second 4 data bytes*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1431 | data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24); |
Michael J. Spencer |
2:1df0b61d3b5a | 1432 | CANx->TDB2 = data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1433 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1434 | /*Write transmission request*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1435 | CANx->CMR = 0x41; |
Michael J. Spencer |
2:1df0b61d3b5a | 1436 | return SUCCESS; |
Michael J. Spencer |
2:1df0b61d3b5a | 1437 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1438 | //check status of Transmit Buffer 3 |
Michael J. Spencer |
2:1df0b61d3b5a | 1439 | else if (CANx->SR & (1<<18)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1440 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1441 | /* Transmit Channel 3 is available */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1442 | /* Write frame informations and frame data into its CANxTFI3, |
Michael J. Spencer |
2:1df0b61d3b5a | 1443 | * CANxTID3, CANxTDA3, CANxTDB3 register */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1444 | CANx->TFI3 &= ~0x000F0000; |
Michael J. Spencer |
2:1df0b61d3b5a | 1445 | CANx->TFI3 |= (CAN_Msg->len)<<16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1446 | if(CAN_Msg->type == REMOTE_FRAME) |
Michael J. Spencer |
2:1df0b61d3b5a | 1447 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1448 | CANx->TFI3 |= (1<<30); //set bit RTR |
Michael J. Spencer |
2:1df0b61d3b5a | 1449 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1450 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1451 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1452 | CANx->TFI3 &= ~(1<<30); |
Michael J. Spencer |
2:1df0b61d3b5a | 1453 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1454 | if(CAN_Msg->format == EXT_ID_FORMAT) |
Michael J. Spencer |
2:1df0b61d3b5a | 1455 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1456 | CANx->TFI3 |= (1UL<<31); //set bit FF |
Michael J. Spencer |
2:1df0b61d3b5a | 1457 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1458 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1459 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1460 | CANx->TFI3 &= ~(1UL<<31); |
Michael J. Spencer |
2:1df0b61d3b5a | 1461 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1462 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1463 | /* Write CAN ID*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1464 | CANx->TID3 = CAN_Msg->id; |
Michael J. Spencer |
2:1df0b61d3b5a | 1465 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1466 | /*Write first 4 data bytes*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1467 | data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24); |
Michael J. Spencer |
2:1df0b61d3b5a | 1468 | CANx->TDA3 = data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1469 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1470 | /*Write second 4 data bytes*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1471 | data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24); |
Michael J. Spencer |
2:1df0b61d3b5a | 1472 | CANx->TDB3 = data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1473 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1474 | /*Write transmission request*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1475 | CANx->CMR = 0x81; |
Michael J. Spencer |
2:1df0b61d3b5a | 1476 | return SUCCESS; |
Michael J. Spencer |
2:1df0b61d3b5a | 1477 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1478 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1479 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1480 | return ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1481 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1482 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1483 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1484 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1485 | * @brief Receive message data |
Michael J. Spencer |
2:1df0b61d3b5a | 1486 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1487 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1488 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1489 | * @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received |
Michael J. Spencer |
2:1df0b61d3b5a | 1490 | * message information such as: ID, DLC, RTR, ID Format |
Michael J. Spencer |
2:1df0b61d3b5a | 1491 | * @return Status: |
Michael J. Spencer |
2:1df0b61d3b5a | 1492 | * - SUCCESS: receive message successfully |
Michael J. Spencer |
2:1df0b61d3b5a | 1493 | * - ERROR: receive message unsuccessfully |
Michael J. Spencer |
2:1df0b61d3b5a | 1494 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1495 | Status CAN_ReceiveMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1496 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1497 | uint32_t data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1498 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1499 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1500 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1501 | //check status of Receive Buffer |
Michael J. Spencer |
2:1df0b61d3b5a | 1502 | if((CANx->SR &0x00000001)) |
Michael J. Spencer |
2:1df0b61d3b5a | 1503 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1504 | /* Receive message is available */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1505 | /* Read frame informations */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1506 | CAN_Msg->format = (uint8_t)(((CANx->RFS) & 0x80000000)>>31); |
Michael J. Spencer |
2:1df0b61d3b5a | 1507 | CAN_Msg->type = (uint8_t)(((CANx->RFS) & 0x40000000)>>30); |
Michael J. Spencer |
2:1df0b61d3b5a | 1508 | CAN_Msg->len = (uint8_t)(((CANx->RFS) & 0x000F0000)>>16); |
Michael J. Spencer |
2:1df0b61d3b5a | 1509 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1510 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1511 | /* Read CAN message identifier */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1512 | CAN_Msg->id = CANx->RID; |
Michael J. Spencer |
2:1df0b61d3b5a | 1513 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1514 | /* Read the data if received message was DATA FRAME */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1515 | if (CAN_Msg->type == DATA_FRAME) |
Michael J. Spencer |
2:1df0b61d3b5a | 1516 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1517 | /* Read first 4 data bytes */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1518 | data = CANx->RDA; |
Michael J. Spencer |
2:1df0b61d3b5a | 1519 | *((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1520 | *((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00)>>8;; |
Michael J. Spencer |
2:1df0b61d3b5a | 1521 | *((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000)>>16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1522 | *((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000)>>24; |
Michael J. Spencer |
2:1df0b61d3b5a | 1523 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1524 | /* Read second 4 data bytes */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1525 | data = CANx->RDB; |
Michael J. Spencer |
2:1df0b61d3b5a | 1526 | *((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1527 | *((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00)>>8; |
Michael J. Spencer |
2:1df0b61d3b5a | 1528 | *((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000)>>16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1529 | *((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000)>>24; |
Michael J. Spencer |
2:1df0b61d3b5a | 1530 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1531 | /*release receive buffer*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1532 | CANx->CMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1533 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1534 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1535 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1536 | /* Received Frame is a Remote Frame, not have data, we just receive |
Michael J. Spencer |
2:1df0b61d3b5a | 1537 | * message information only */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1538 | CANx->CMR = 0x04; /*release receive buffer*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1539 | return SUCCESS; |
Michael J. Spencer |
2:1df0b61d3b5a | 1540 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1541 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1542 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1543 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1544 | // no receive message available |
Michael J. Spencer |
2:1df0b61d3b5a | 1545 | return ERROR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1546 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1547 | return SUCCESS; |
Michael J. Spencer |
2:1df0b61d3b5a | 1548 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1549 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1550 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1551 | * @brief Receive FullCAN Object |
Michael J. Spencer |
2:1df0b61d3b5a | 1552 | * @param[in] CANAFx: CAN Acceptance Filter register, should be: LPC_CANAF |
Michael J. Spencer |
2:1df0b61d3b5a | 1553 | * @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received |
Michael J. Spencer |
2:1df0b61d3b5a | 1554 | * message information such as: ID, DLC, RTR, ID Format |
Michael J. Spencer |
2:1df0b61d3b5a | 1555 | * @return CAN_ERROR, could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1556 | * - CAN_FULL_OBJ_NOT_RCV: FullCAN Object is not be received |
Michael J. Spencer |
2:1df0b61d3b5a | 1557 | * - CAN_OK: Received FullCAN Object successful |
Michael J. Spencer |
2:1df0b61d3b5a | 1558 | * |
Michael J. Spencer |
2:1df0b61d3b5a | 1559 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1560 | CAN_ERROR FCAN_ReadObj (LPC_CANAF_TypeDef* CANAFx, CAN_MSG_Type *CAN_Msg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1561 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1562 | uint32_t *pSrc, data; |
Michael J. Spencer |
2:1df0b61d3b5a | 1563 | uint32_t interrut_word, msg_idx, test_bit, head_idx, tail_idx; |
Michael J. Spencer |
2:1df0b61d3b5a | 1564 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1565 | CHECK_PARAM(PARAM_CANAFx(CANAFx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1566 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1567 | interrut_word = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 1568 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1569 | if (LPC_CANAF->FCANIC0 != 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1570 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1571 | interrut_word = LPC_CANAF->FCANIC0; |
Michael J. Spencer |
2:1df0b61d3b5a | 1572 | head_idx = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 1573 | tail_idx = 31; |
Michael J. Spencer |
2:1df0b61d3b5a | 1574 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1575 | else if (LPC_CANAF->FCANIC1 != 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1576 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1577 | interrut_word = LPC_CANAF->FCANIC1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1578 | head_idx = 32; |
Michael J. Spencer |
2:1df0b61d3b5a | 1579 | tail_idx = 63; |
Michael J. Spencer |
2:1df0b61d3b5a | 1580 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1581 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1582 | if (interrut_word != 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1583 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1584 | /* Detect for interrupt pending */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1585 | msg_idx = 0; |
Michael J. Spencer |
2:1df0b61d3b5a | 1586 | for (msg_idx = head_idx; msg_idx <= tail_idx; msg_idx++) |
Michael J. Spencer |
2:1df0b61d3b5a | 1587 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1588 | test_bit = interrut_word & 0x1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1589 | interrut_word = interrut_word >> 1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1590 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1591 | if (test_bit) |
Michael J. Spencer |
2:1df0b61d3b5a | 1592 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1593 | pSrc = (uint32_t *) (LPC_CANAF->ENDofTable + LPC_CANAF_RAM_BASE + msg_idx * 12); |
Michael J. Spencer |
2:1df0b61d3b5a | 1594 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1595 | /* Has been finished updating the content */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1596 | if ((*pSrc & 0x03000000L) == 0x03000000L) |
Michael J. Spencer |
2:1df0b61d3b5a | 1597 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1598 | /*clear semaphore*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1599 | *pSrc &= 0xFCFFFFFF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1600 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1601 | /*Set to DatA*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1602 | pSrc++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1603 | /* Copy to dest buf */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1604 | data = *pSrc; |
Michael J. Spencer |
2:1df0b61d3b5a | 1605 | *((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1606 | *((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00)>>8; |
Michael J. Spencer |
2:1df0b61d3b5a | 1607 | *((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000)>>16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1608 | *((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000)>>24; |
Michael J. Spencer |
2:1df0b61d3b5a | 1609 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1610 | /*Set to DatB*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1611 | pSrc++; |
Michael J. Spencer |
2:1df0b61d3b5a | 1612 | /* Copy to dest buf */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1613 | data = *pSrc; |
Michael J. Spencer |
2:1df0b61d3b5a | 1614 | *((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1615 | *((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00)>>8; |
Michael J. Spencer |
2:1df0b61d3b5a | 1616 | *((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000)>>16; |
Michael J. Spencer |
2:1df0b61d3b5a | 1617 | *((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000)>>24; |
Michael J. Spencer |
2:1df0b61d3b5a | 1618 | /*Back to Dat1*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1619 | pSrc -= 2; |
Michael J. Spencer |
2:1df0b61d3b5a | 1620 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1621 | CAN_Msg->id = *pSrc & 0x7FF; |
Michael J. Spencer |
2:1df0b61d3b5a | 1622 | CAN_Msg->len = (uint8_t) (*pSrc >> 16) & 0x0F; |
Michael J. Spencer |
2:1df0b61d3b5a | 1623 | CAN_Msg->format = 0; //FullCAN Object ID always is 11-bit value |
Michael J. Spencer |
2:1df0b61d3b5a | 1624 | CAN_Msg->type = (uint8_t)(*pSrc >> 30) &0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 1625 | /*Re-read semaphore*/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1626 | if ((*pSrc & 0x03000000L) == 0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1627 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1628 | return CAN_OK; |
Michael J. Spencer |
2:1df0b61d3b5a | 1629 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1630 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1631 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1632 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1633 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1634 | return CAN_FULL_OBJ_NOT_RCV; |
Michael J. Spencer |
2:1df0b61d3b5a | 1635 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1636 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1637 | * @brief Get CAN Control Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1638 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1639 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1640 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1641 | * @param[in] arg: type of CAN status to get from CAN status register |
Michael J. Spencer |
2:1df0b61d3b5a | 1642 | * Should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1643 | * - CANCTRL_GLOBAL_STS: CAN Global Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1644 | * - CANCTRL_INT_CAP: CAN Interrupt and Capture |
Michael J. Spencer |
2:1df0b61d3b5a | 1645 | * - CANCTRL_ERR_WRN: CAN Error Warning Limit |
Michael J. Spencer |
2:1df0b61d3b5a | 1646 | * - CANCTRL_STS: CAN Control Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1647 | * @return Current Control Status that you want to get value |
Michael J. Spencer |
2:1df0b61d3b5a | 1648 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1649 | uint32_t CAN_GetCTRLStatus (LPC_CAN_TypeDef* CANx, CAN_CTRL_STS_Type arg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1650 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1651 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1652 | CHECK_PARAM(PARAM_CTRL_STS_TYPE(arg)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1653 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1654 | switch (arg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1655 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1656 | case CANCTRL_GLOBAL_STS: |
Michael J. Spencer |
2:1df0b61d3b5a | 1657 | return CANx->GSR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1658 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1659 | case CANCTRL_INT_CAP: |
Michael J. Spencer |
2:1df0b61d3b5a | 1660 | return CANx->ICR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1661 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1662 | case CANCTRL_ERR_WRN: |
Michael J. Spencer |
2:1df0b61d3b5a | 1663 | return CANx->EWL; |
Michael J. Spencer |
2:1df0b61d3b5a | 1664 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1665 | default: // CANCTRL_STS |
Michael J. Spencer |
2:1df0b61d3b5a | 1666 | return CANx->SR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1667 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1668 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1669 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1670 | * @brief Get CAN Central Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1671 | * @param[in] CANCRx point to LPC_CANCR_TypeDef, should be: LPC_CANCR |
Michael J. Spencer |
2:1df0b61d3b5a | 1672 | * @param[in] arg: type of CAN status to get from CAN Central status register |
Michael J. Spencer |
2:1df0b61d3b5a | 1673 | * Should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1674 | * - CANCR_TX_STS: Central CAN Tx Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1675 | * - CANCR_RX_STS: Central CAN Rx Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1676 | * - CANCR_MS: Central CAN Miscellaneous Status |
Michael J. Spencer |
2:1df0b61d3b5a | 1677 | * @return Current Central Status that you want to get value |
Michael J. Spencer |
2:1df0b61d3b5a | 1678 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1679 | uint32_t CAN_GetCRStatus (LPC_CANCR_TypeDef* CANCRx, CAN_CR_STS_Type arg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1680 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1681 | CHECK_PARAM(PARAM_CANCRx(CANCRx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1682 | CHECK_PARAM(PARAM_CR_STS_TYPE(arg)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1683 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1684 | switch (arg) |
Michael J. Spencer |
2:1df0b61d3b5a | 1685 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1686 | case CANCR_TX_STS: |
Michael J. Spencer |
2:1df0b61d3b5a | 1687 | return CANCRx->CANTxSR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1688 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1689 | case CANCR_RX_STS: |
Michael J. Spencer |
2:1df0b61d3b5a | 1690 | return CANCRx->CANRxSR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1691 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1692 | default: // CANCR_MS |
Michael J. Spencer |
2:1df0b61d3b5a | 1693 | return CANCRx->CANMSR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1694 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1695 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1696 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1697 | * @brief Enable/Disable CAN Interrupt |
Michael J. Spencer |
2:1df0b61d3b5a | 1698 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1699 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1700 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1701 | * @param[in] arg: type of CAN interrupt that you want to enable/disable |
Michael J. Spencer |
2:1df0b61d3b5a | 1702 | * Should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1703 | * - CANINT_RIE: CAN Receiver Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1704 | * - CANINT_TIE1: CAN Transmit Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1705 | * - CANINT_EIE: CAN Error Warning Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1706 | * - CANINT_DOIE: CAN Data Overrun Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1707 | * - CANINT_WUIE: CAN Wake-Up Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1708 | * - CANINT_EPIE: CAN Error Passive Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1709 | * - CANINT_ALIE: CAN Arbitration Lost Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1710 | * - CANINT_BEIE: CAN Bus Error Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1711 | * - CANINT_IDIE: CAN ID Ready Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1712 | * - CANINT_TIE2: CAN Transmit Interrupt Enable for Buffer2 |
Michael J. Spencer |
2:1df0b61d3b5a | 1713 | * - CANINT_TIE3: CAN Transmit Interrupt Enable for Buffer3 |
Michael J. Spencer |
2:1df0b61d3b5a | 1714 | * - CANINT_FCE: FullCAN Interrupt Enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1715 | * @param[in] NewState: New state of this function, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1716 | * - ENABLE |
Michael J. Spencer |
2:1df0b61d3b5a | 1717 | * - DISABLE |
Michael J. Spencer |
2:1df0b61d3b5a | 1718 | * @return none |
Michael J. Spencer |
2:1df0b61d3b5a | 1719 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1720 | void CAN_IRQCmd (LPC_CAN_TypeDef* CANx, CAN_INT_EN_Type arg, FunctionalState NewState) |
Michael J. Spencer |
2:1df0b61d3b5a | 1721 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1722 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1723 | CHECK_PARAM(PARAM_INT_EN_TYPE(arg)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1724 | CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1725 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1726 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1727 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1728 | if(arg==CANINT_FCE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1729 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1730 | LPC_CANAF->AFMR = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 1731 | LPC_CANAF->FCANIE = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 1732 | LPC_CANAF->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1733 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1734 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1735 | CANx->IER |= (1 << arg); |
Michael J. Spencer |
2:1df0b61d3b5a | 1736 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1737 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1738 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1739 | if(arg==CANINT_FCE){ |
Michael J. Spencer |
2:1df0b61d3b5a | 1740 | LPC_CANAF->AFMR = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 1741 | LPC_CANAF->FCANIE = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 1742 | LPC_CANAF->AFMR = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1743 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1744 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1745 | CANx->IER &= ~(1 << arg); |
Michael J. Spencer |
2:1df0b61d3b5a | 1746 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1747 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1748 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1749 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1750 | * @brief Setting Acceptance Filter mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1751 | * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF |
Michael J. Spencer |
2:1df0b61d3b5a | 1752 | * @param[in] AFMode: type of AF mode that you want to set, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1753 | * - CAN_Normal: Normal mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1754 | * - CAN_AccOff: Acceptance Filter Off Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1755 | * - CAN_AccBP: Acceptance Fileter Bypass Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1756 | * - CAN_eFCAN: FullCAN Mode Enhancement |
Michael J. Spencer |
2:1df0b61d3b5a | 1757 | * @return none |
Michael J. Spencer |
2:1df0b61d3b5a | 1758 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1759 | void CAN_SetAFMode (LPC_CANAF_TypeDef* CANAFx, CAN_AFMODE_Type AFMode) |
Michael J. Spencer |
2:1df0b61d3b5a | 1760 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1761 | CHECK_PARAM(PARAM_CANAFx(CANAFx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1762 | CHECK_PARAM(PARAM_AFMODE_TYPE(AFMode)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1763 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1764 | switch(AFMode) |
Michael J. Spencer |
2:1df0b61d3b5a | 1765 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1766 | case CAN_Normal: |
Michael J. Spencer |
2:1df0b61d3b5a | 1767 | CANAFx->AFMR = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1768 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1769 | case CAN_AccOff: |
Michael J. Spencer |
2:1df0b61d3b5a | 1770 | CANAFx->AFMR = 0x01; |
Michael J. Spencer |
2:1df0b61d3b5a | 1771 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1772 | case CAN_AccBP: |
Michael J. Spencer |
2:1df0b61d3b5a | 1773 | CANAFx->AFMR = 0x02; |
Michael J. Spencer |
2:1df0b61d3b5a | 1774 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1775 | case CAN_eFCAN: |
Michael J. Spencer |
2:1df0b61d3b5a | 1776 | CANAFx->AFMR = 0x04; |
Michael J. Spencer |
2:1df0b61d3b5a | 1777 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1778 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1779 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1780 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1781 | /********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1782 | * @brief Enable/Disable CAN Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1783 | * @param[in] CANx pointer to LPC_CAN_TypeDef, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1784 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1785 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1786 | * @param[in] mode: type of CAN mode that you want to enable/disable, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1787 | * - CAN_OPERATING_MODE: Normal Operating Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1788 | * - CAN_RESET_MODE: Reset Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1789 | * - CAN_LISTENONLY_MODE: Listen Only Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1790 | * - CAN_SELFTEST_MODE: Self Test Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1791 | * - CAN_TXPRIORITY_MODE: Transmit Priority Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1792 | * - CAN_SLEEP_MODE: Sleep Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1793 | * - CAN_RXPOLARITY_MODE: Receive Polarity Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1794 | * - CAN_TEST_MODE: Test Mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1795 | * @param[in] NewState: New State of this function, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1796 | * - ENABLE |
Michael J. Spencer |
2:1df0b61d3b5a | 1797 | * - DISABLE |
Michael J. Spencer |
2:1df0b61d3b5a | 1798 | * @return none |
Michael J. Spencer |
2:1df0b61d3b5a | 1799 | *********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1800 | void CAN_ModeConfig(LPC_CAN_TypeDef* CANx, CAN_MODE_Type mode, FunctionalState NewState) |
Michael J. Spencer |
2:1df0b61d3b5a | 1801 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1802 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1803 | CHECK_PARAM(PARAM_MODE_TYPE(mode)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1804 | CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1805 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1806 | switch(mode) |
Michael J. Spencer |
2:1df0b61d3b5a | 1807 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1808 | case CAN_OPERATING_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1809 | CANx->MOD = 0x00; |
Michael J. Spencer |
2:1df0b61d3b5a | 1810 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1811 | case CAN_RESET_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1812 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1813 | CANx->MOD |=CAN_MOD_RM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1814 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1815 | CANx->MOD &= ~CAN_MOD_RM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1816 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1817 | case CAN_LISTENONLY_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1818 | CANx->MOD |=CAN_MOD_RM;//Enter Reset mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1819 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1820 | CANx->MOD |=CAN_MOD_LOM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1821 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1822 | CANx->MOD &=~CAN_MOD_LOM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1823 | CANx->MOD &=~CAN_MOD_RM;//Release Reset mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1824 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1825 | case CAN_SELFTEST_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1826 | CANx->MOD |=CAN_MOD_RM;//Enter Reset mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1827 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1828 | CANx->MOD |=CAN_MOD_STM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1829 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1830 | CANx->MOD &=~CAN_MOD_STM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1831 | CANx->MOD &=~CAN_MOD_RM;//Release Reset mode |
Michael J. Spencer |
2:1df0b61d3b5a | 1832 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1833 | case CAN_TXPRIORITY_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1834 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1835 | CANx->MOD |=CAN_MOD_TPM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1836 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1837 | CANx->MOD &=~CAN_MOD_TPM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1838 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1839 | case CAN_SLEEP_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1840 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1841 | CANx->MOD |=CAN_MOD_SM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1842 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1843 | CANx->MOD &=~CAN_MOD_SM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1844 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1845 | case CAN_RXPOLARITY_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1846 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1847 | CANx->MOD |=CAN_MOD_RPM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1848 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1849 | CANx->MOD &=~CAN_MOD_RPM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1850 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1851 | case CAN_TEST_MODE: |
Michael J. Spencer |
2:1df0b61d3b5a | 1852 | if(NewState == ENABLE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1853 | CANx->MOD |=CAN_MOD_TM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1854 | else |
Michael J. Spencer |
2:1df0b61d3b5a | 1855 | CANx->MOD &=~CAN_MOD_TM; |
Michael J. Spencer |
2:1df0b61d3b5a | 1856 | break; |
Michael J. Spencer |
2:1df0b61d3b5a | 1857 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1858 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1859 | /*********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1860 | * @brief Set CAN command request |
Michael J. Spencer |
2:1df0b61d3b5a | 1861 | * @param[in] CANx point to CAN peripheral selected, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1862 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1863 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1864 | * @param[in] CMRType command request type, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1865 | * - CAN_CMR_TR: Transmission request |
Michael J. Spencer |
2:1df0b61d3b5a | 1866 | * - CAN_CMR_AT: Abort Transmission request |
Michael J. Spencer |
2:1df0b61d3b5a | 1867 | * - CAN_CMR_RRB: Release Receive Buffer request |
Michael J. Spencer |
2:1df0b61d3b5a | 1868 | * - CAN_CMR_CDO: Clear Data Overrun request |
Michael J. Spencer |
2:1df0b61d3b5a | 1869 | * - CAN_CMR_SRR: Self Reception request |
Michael J. Spencer |
2:1df0b61d3b5a | 1870 | * - CAN_CMR_STB1: Select Tx Buffer 1 request |
Michael J. Spencer |
2:1df0b61d3b5a | 1871 | * - CAN_CMR_STB2: Select Tx Buffer 2 request |
Michael J. Spencer |
2:1df0b61d3b5a | 1872 | * - CAN_CMR_STB3: Select Tx Buffer 3 request |
Michael J. Spencer |
2:1df0b61d3b5a | 1873 | * @return CANICR (CAN interrupt and Capture register) value |
Michael J. Spencer |
2:1df0b61d3b5a | 1874 | **********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1875 | void CAN_SetCommand(LPC_CAN_TypeDef* CANx, uint32_t CMRType) |
Michael J. Spencer |
2:1df0b61d3b5a | 1876 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1877 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1878 | CANx->CMR |= CMRType; |
Michael J. Spencer |
2:1df0b61d3b5a | 1879 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1880 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1881 | /*********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1882 | * @brief Get CAN interrupt status |
Michael J. Spencer |
2:1df0b61d3b5a | 1883 | * @param[in] CANx point to CAN peripheral selected, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1884 | * - LPC_CAN1: CAN1 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1885 | * - LPC_CAN2: CAN2 peripheral |
Michael J. Spencer |
2:1df0b61d3b5a | 1886 | * @return CANICR (CAN interrupt and Capture register) value |
Michael J. Spencer |
2:1df0b61d3b5a | 1887 | **********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1888 | uint32_t CAN_IntGetStatus(LPC_CAN_TypeDef* CANx) |
Michael J. Spencer |
2:1df0b61d3b5a | 1889 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1890 | CHECK_PARAM(PARAM_CANx(CANx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1891 | return CANx->ICR; |
Michael J. Spencer |
2:1df0b61d3b5a | 1892 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1893 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1894 | /*********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1895 | * @brief Check if FullCAN interrupt enable or not |
Michael J. Spencer |
2:1df0b61d3b5a | 1896 | * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF |
Michael J. Spencer |
2:1df0b61d3b5a | 1897 | * @return IntStatus, could be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1898 | * - SET: if FullCAN interrupt is enable |
Michael J. Spencer |
2:1df0b61d3b5a | 1899 | * - RESET: if FullCAN interrupt is disable |
Michael J. Spencer |
2:1df0b61d3b5a | 1900 | **********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1901 | IntStatus CAN_FullCANIntGetStatus (LPC_CANAF_TypeDef* CANAFx) |
Michael J. Spencer |
2:1df0b61d3b5a | 1902 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1903 | CHECK_PARAM( PARAM_CANAFx(CANAFx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1904 | if (CANAFx->FCANIE) |
Michael J. Spencer |
2:1df0b61d3b5a | 1905 | return SET; |
Michael J. Spencer |
2:1df0b61d3b5a | 1906 | return RESET; |
Michael J. Spencer |
2:1df0b61d3b5a | 1907 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1908 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1909 | /*********************************************************************//** |
Michael J. Spencer |
2:1df0b61d3b5a | 1910 | * @brief Get value of FullCAN interrupt and capture register |
Michael J. Spencer |
2:1df0b61d3b5a | 1911 | * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF |
Michael J. Spencer |
2:1df0b61d3b5a | 1912 | * @param[in] type: FullCAN IC type, should be: |
Michael J. Spencer |
2:1df0b61d3b5a | 1913 | * - FULLCAN_IC0: FullCAN Interrupt Capture 0 |
Michael J. Spencer |
2:1df0b61d3b5a | 1914 | * - FULLCAN_IC1: FullCAN Interrupt Capture 1 |
Michael J. Spencer |
2:1df0b61d3b5a | 1915 | * @return FCANIC0 or FCANIC1 (FullCAN interrupt and Capture register) value |
Michael J. Spencer |
2:1df0b61d3b5a | 1916 | **********************************************************************/ |
Michael J. Spencer |
2:1df0b61d3b5a | 1917 | uint32_t CAN_FullCANPendGetStatus(LPC_CANAF_TypeDef* CANAFx, FullCAN_IC_Type type) |
Michael J. Spencer |
2:1df0b61d3b5a | 1918 | { |
Michael J. Spencer |
2:1df0b61d3b5a | 1919 | CHECK_PARAM(PARAM_CANAFx(CANAFx)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1920 | CHECK_PARAM( PARAM_FULLCAN_IC(type)); |
Michael J. Spencer |
2:1df0b61d3b5a | 1921 | if (type == FULLCAN_IC0) |
Michael J. Spencer |
2:1df0b61d3b5a | 1922 | return CANAFx->FCANIC0; |
Michael J. Spencer |
2:1df0b61d3b5a | 1923 | return CANAFx->FCANIC1; |
Michael J. Spencer |
2:1df0b61d3b5a | 1924 | } |
Michael J. Spencer |
2:1df0b61d3b5a | 1925 | /* End of Public Variables ---------------------------------------------------------- */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1926 | /** |
Michael J. Spencer |
2:1df0b61d3b5a | 1927 | * @} |
Michael J. Spencer |
2:1df0b61d3b5a | 1928 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1929 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1930 | #endif /* _CAN */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1931 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1932 | /** |
Michael J. Spencer |
2:1df0b61d3b5a | 1933 | * @} |
Michael J. Spencer |
2:1df0b61d3b5a | 1934 | */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1935 | |
Michael J. Spencer |
2:1df0b61d3b5a | 1936 | /* --------------------------------- End Of File ------------------------------ */ |
Michael J. Spencer |
2:1df0b61d3b5a | 1937 | #endif /* __LPC17XX__ */ |