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targets/TARGET_NUVOTON/TARGET_M480/can_api.c@182:57724642e740, 2018-02-16 (annotated)

Committer:
AnnaBridge
Date:
Fri Feb 16 16:09:33 2018 +0000
Revision:
182:57724642e740
Parent:
173:7d866c31b3c5 
mbed-dev library. Release version 159.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AnnaBridge 173:7d866c31b3c5 1 /* mbed Microcontroller Library
AnnaBridge 173:7d866c31b3c5 2 * Copyright (c) 2015-2016 Nuvoton
AnnaBridge 173:7d866c31b3c5 3 *
AnnaBridge 173:7d866c31b3c5 4 * Licensed under the Apache License, Version 2.0 (the "License");
AnnaBridge 173:7d866c31b3c5 5 * you may not use this file except in compliance with the License.
AnnaBridge 173:7d866c31b3c5 6 * You may obtain a copy of the License at
AnnaBridge 173:7d866c31b3c5 7 *
AnnaBridge 173:7d866c31b3c5 8 * http://www.apache.org/licenses/LICENSE-2.0
AnnaBridge 173:7d866c31b3c5 9 *
AnnaBridge 173:7d866c31b3c5 10 * Unless required by applicable law or agreed to in writing, software
AnnaBridge 173:7d866c31b3c5 11 * distributed under the License is distributed on an "AS IS" BASIS,
AnnaBridge 173:7d866c31b3c5 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
AnnaBridge 173:7d866c31b3c5 13 * See the License for the specific language governing permissions and
AnnaBridge 173:7d866c31b3c5 14 * limitations under the License.
AnnaBridge 173:7d866c31b3c5 15 */
AnnaBridge 173:7d866c31b3c5 16
AnnaBridge 173:7d866c31b3c5 17 #include "can_api.h"
AnnaBridge 173:7d866c31b3c5 18 #include "m480_gpio.h"
AnnaBridge 173:7d866c31b3c5 19 #include "m480_can.h"
AnnaBridge 173:7d866c31b3c5 20
AnnaBridge 173:7d866c31b3c5 21 #if DEVICE_CAN
AnnaBridge 173:7d866c31b3c5 22 #include <string.h>
AnnaBridge 173:7d866c31b3c5 23 #include "cmsis.h"
AnnaBridge 173:7d866c31b3c5 24 #include "pinmap.h"
AnnaBridge 173:7d866c31b3c5 25 #include "PeripheralPins.h"
AnnaBridge 173:7d866c31b3c5 26 #include "nu_modutil.h"
AnnaBridge 173:7d866c31b3c5 27 #include "nu_miscutil.h"
AnnaBridge 173:7d866c31b3c5 28 #include "nu_bitutil.h"
AnnaBridge 173:7d866c31b3c5 29 #include "mbed_critical.h"
AnnaBridge 173:7d866c31b3c5 30
AnnaBridge 173:7d866c31b3c5 31 #define NU_CAN_DEBUG 0
AnnaBridge 173:7d866c31b3c5 32 #define CAN_NUM 2
AnnaBridge 173:7d866c31b3c5 33
AnnaBridge 173:7d866c31b3c5 34 static uint32_t can_irq_ids[CAN_NUM] = {0};
AnnaBridge 173:7d866c31b3c5 35 static can_irq_handler can0_irq_handler;
AnnaBridge 173:7d866c31b3c5 36 static can_irq_handler can1_irq_handler;
AnnaBridge 173:7d866c31b3c5 37
AnnaBridge 173:7d866c31b3c5 38 extern uint32_t CAN_GetCANBitRate(CAN_T *tCAN);
AnnaBridge 173:7d866c31b3c5 39 extern void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask);
AnnaBridge 173:7d866c31b3c5 40 extern void CAN_LeaveInitMode(CAN_T *tCAN);
AnnaBridge 173:7d866c31b3c5 41 extern void CAN_LeaveTestMode(CAN_T *tCAN);
AnnaBridge 173:7d866c31b3c5 42 extern void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask);
AnnaBridge 173:7d866c31b3c5 43
AnnaBridge 173:7d866c31b3c5 44 static const struct nu_modinit_s can_modinit_tab[] = {
AnnaBridge 173:7d866c31b3c5 45 {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
AnnaBridge 173:7d866c31b3c5 46 {CAN_1, CAN1_MODULE, 0, 0, CAN1_RST, CAN1_IRQn, NULL},
AnnaBridge 173:7d866c31b3c5 47
AnnaBridge 173:7d866c31b3c5 48 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
AnnaBridge 173:7d866c31b3c5 49 };
AnnaBridge 173:7d866c31b3c5 50
AnnaBridge 173:7d866c31b3c5 51 void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
AnnaBridge 173:7d866c31b3c5 52 {
AnnaBridge 173:7d866c31b3c5 53 uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
AnnaBridge 173:7d866c31b3c5 54 uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
AnnaBridge 173:7d866c31b3c5 55 obj->can = (CANName)pinmap_merge(can_td, can_rd);
AnnaBridge 173:7d866c31b3c5 56 MBED_ASSERT((int)obj->can != NC);
AnnaBridge 173:7d866c31b3c5 57
AnnaBridge 173:7d866c31b3c5 58 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
AnnaBridge 173:7d866c31b3c5 59 MBED_ASSERT(modinit != NULL);
AnnaBridge 173:7d866c31b3c5 60 MBED_ASSERT(modinit->modname == (int) obj->can);
AnnaBridge 173:7d866c31b3c5 61
AnnaBridge 173:7d866c31b3c5 62 // Reset this module
AnnaBridge 173:7d866c31b3c5 63 SYS_ResetModule(modinit->rsetidx);
AnnaBridge 173:7d866c31b3c5 64
AnnaBridge 173:7d866c31b3c5 65 NVIC_DisableIRQ(CAN0_IRQn);
AnnaBridge 173:7d866c31b3c5 66 NVIC_DisableIRQ(CAN1_IRQn);
AnnaBridge 173:7d866c31b3c5 67
AnnaBridge 173:7d866c31b3c5 68 // Enable IP clock
AnnaBridge 173:7d866c31b3c5 69 CLK_EnableModuleClock(modinit->clkidx);
AnnaBridge 173:7d866c31b3c5 70
AnnaBridge 173:7d866c31b3c5 71 if(obj->can == CAN_1) {
AnnaBridge 173:7d866c31b3c5 72 obj->index = 1;
AnnaBridge 173:7d866c31b3c5 73 } else
AnnaBridge 173:7d866c31b3c5 74 obj->index = 0;
AnnaBridge 173:7d866c31b3c5 75
AnnaBridge 173:7d866c31b3c5 76 pinmap_pinout(td, PinMap_CAN_TD);
AnnaBridge 173:7d866c31b3c5 77 pinmap_pinout(rd, PinMap_CAN_RD);
AnnaBridge 173:7d866c31b3c5 78 #if 0
AnnaBridge 173:7d866c31b3c5 79 /* TBD: For M487 mbed Board Transmitter Setting (RS Pin) */
AnnaBridge 173:7d866c31b3c5 80 GPIO_SetMode(PA, BIT2| BIT3, GPIO_MODE_OUTPUT);
AnnaBridge 173:7d866c31b3c5 81 PA2 = 0x00;
AnnaBridge 173:7d866c31b3c5 82 PA3 = 0x00;
AnnaBridge 173:7d866c31b3c5 83 #endif
AnnaBridge 173:7d866c31b3c5 84 CAN_Open((CAN_T *)NU_MODBASE(obj->can), hz, CAN_NORMAL_MODE);
AnnaBridge 173:7d866c31b3c5 85
AnnaBridge 173:7d866c31b3c5 86 can_filter(obj, 0, 0, CANStandard, 0);
AnnaBridge 173:7d866c31b3c5 87 }
AnnaBridge 173:7d866c31b3c5 88
AnnaBridge 173:7d866c31b3c5 89 void can_init(can_t *obj, PinName rd, PinName td)
AnnaBridge 173:7d866c31b3c5 90 {
AnnaBridge 173:7d866c31b3c5 91 can_init_freq(obj, rd, td, 500000);
AnnaBridge 173:7d866c31b3c5 92 }
AnnaBridge 173:7d866c31b3c5 93
AnnaBridge 173:7d866c31b3c5 94 void can_free(can_t *obj)
AnnaBridge 173:7d866c31b3c5 95 {
AnnaBridge 173:7d866c31b3c5 96
AnnaBridge 173:7d866c31b3c5 97 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
AnnaBridge 173:7d866c31b3c5 98
AnnaBridge 173:7d866c31b3c5 99 MBED_ASSERT(modinit != NULL);
AnnaBridge 173:7d866c31b3c5 100 MBED_ASSERT(modinit->modname == (int) obj->can);
AnnaBridge 173:7d866c31b3c5 101
AnnaBridge 173:7d866c31b3c5 102 // Reset this module
AnnaBridge 173:7d866c31b3c5 103 SYS_ResetModule(modinit->rsetidx);
AnnaBridge 173:7d866c31b3c5 104
AnnaBridge 173:7d866c31b3c5 105 CLK_DisableModuleClock(modinit->clkidx);
AnnaBridge 173:7d866c31b3c5 106 }
AnnaBridge 173:7d866c31b3c5 107
AnnaBridge 173:7d866c31b3c5 108 int can_frequency(can_t *obj, int hz)
AnnaBridge 173:7d866c31b3c5 109 {
AnnaBridge 173:7d866c31b3c5 110 CAN_SetBaudRate((CAN_T *)NU_MODBASE(obj->can), hz);
AnnaBridge 173:7d866c31b3c5 111
AnnaBridge 173:7d866c31b3c5 112 return CAN_GetCANBitRate((CAN_T *)NU_MODBASE(obj->can));
AnnaBridge 173:7d866c31b3c5 113 }
AnnaBridge 173:7d866c31b3c5 114
AnnaBridge 173:7d866c31b3c5 115 static void can_irq(CANName name, int id)
AnnaBridge 173:7d866c31b3c5 116 {
AnnaBridge 173:7d866c31b3c5 117
AnnaBridge 173:7d866c31b3c5 118 CAN_T *can = (CAN_T *)NU_MODBASE(name);
AnnaBridge 173:7d866c31b3c5 119 uint32_t u8IIDRstatus;
AnnaBridge 173:7d866c31b3c5 120
AnnaBridge 173:7d866c31b3c5 121 u8IIDRstatus = can->IIDR;
AnnaBridge 173:7d866c31b3c5 122
AnnaBridge 173:7d866c31b3c5 123 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
AnnaBridge 173:7d866c31b3c5 124 /**************************/
AnnaBridge 173:7d866c31b3c5 125 /* Status Change interrupt*/
AnnaBridge 173:7d866c31b3c5 126 /**************************/
AnnaBridge 173:7d866c31b3c5 127 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
AnnaBridge 173:7d866c31b3c5 128 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
AnnaBridge 173:7d866c31b3c5 129 if(id)
AnnaBridge 173:7d866c31b3c5 130 can1_irq_handler(can_irq_ids[id], IRQ_RX);
AnnaBridge 173:7d866c31b3c5 131 else
AnnaBridge 173:7d866c31b3c5 132 can0_irq_handler(can_irq_ids[id], IRQ_RX);
AnnaBridge 173:7d866c31b3c5 133 }
AnnaBridge 173:7d866c31b3c5 134
AnnaBridge 173:7d866c31b3c5 135 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
AnnaBridge 173:7d866c31b3c5 136 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
AnnaBridge 173:7d866c31b3c5 137 if(id)
AnnaBridge 173:7d866c31b3c5 138 can1_irq_handler(can_irq_ids[id], IRQ_TX);
AnnaBridge 173:7d866c31b3c5 139 else
AnnaBridge 173:7d866c31b3c5 140 can0_irq_handler(can_irq_ids[id], IRQ_TX);
AnnaBridge 173:7d866c31b3c5 141
AnnaBridge 173:7d866c31b3c5 142 }
AnnaBridge 173:7d866c31b3c5 143
AnnaBridge 173:7d866c31b3c5 144 /**************************/
AnnaBridge 173:7d866c31b3c5 145 /* Error Status interrupt */
AnnaBridge 173:7d866c31b3c5 146 /**************************/
AnnaBridge 173:7d866c31b3c5 147 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
AnnaBridge 173:7d866c31b3c5 148 if(id)
AnnaBridge 173:7d866c31b3c5 149 can1_irq_handler(can_irq_ids[id], IRQ_ERROR);
AnnaBridge 173:7d866c31b3c5 150 else
AnnaBridge 173:7d866c31b3c5 151 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
AnnaBridge 173:7d866c31b3c5 152 }
AnnaBridge 173:7d866c31b3c5 153
AnnaBridge 173:7d866c31b3c5 154 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
AnnaBridge 173:7d866c31b3c5 155 if(id)
AnnaBridge 173:7d866c31b3c5 156 can1_irq_handler(can_irq_ids[id], IRQ_BUS);
AnnaBridge 173:7d866c31b3c5 157 else
AnnaBridge 173:7d866c31b3c5 158 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
AnnaBridge 173:7d866c31b3c5 159 }
AnnaBridge 173:7d866c31b3c5 160 } else if (u8IIDRstatus!=0) {
AnnaBridge 173:7d866c31b3c5 161
AnnaBridge 173:7d866c31b3c5 162 if(id)
AnnaBridge 173:7d866c31b3c5 163 can1_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
AnnaBridge 173:7d866c31b3c5 164 else
AnnaBridge 173:7d866c31b3c5 165 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
AnnaBridge 173:7d866c31b3c5 166
AnnaBridge 173:7d866c31b3c5 167 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
AnnaBridge 173:7d866c31b3c5 168
AnnaBridge 173:7d866c31b3c5 169 } else if(can->WU_STATUS == 1) {
AnnaBridge 173:7d866c31b3c5 170
AnnaBridge 173:7d866c31b3c5 171 can->WU_STATUS = 0; /* Write '0' to clear */
AnnaBridge 173:7d866c31b3c5 172 if(id)
AnnaBridge 173:7d866c31b3c5 173 can1_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
AnnaBridge 173:7d866c31b3c5 174 else
AnnaBridge 173:7d866c31b3c5 175 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
AnnaBridge 173:7d866c31b3c5 176 }
AnnaBridge 173:7d866c31b3c5 177 }
AnnaBridge 173:7d866c31b3c5 178
AnnaBridge 173:7d866c31b3c5 179 void CAN0_IRQHandler(void)
AnnaBridge 173:7d866c31b3c5 180 {
AnnaBridge 173:7d866c31b3c5 181 can_irq(CAN_0, 0);
AnnaBridge 173:7d866c31b3c5 182 }
AnnaBridge 173:7d866c31b3c5 183
AnnaBridge 173:7d866c31b3c5 184 void CAN1_IRQHandler(void)
AnnaBridge 173:7d866c31b3c5 185 {
AnnaBridge 173:7d866c31b3c5 186 can_irq(CAN_1, 1);
AnnaBridge 173:7d866c31b3c5 187 }
AnnaBridge 173:7d866c31b3c5 188
AnnaBridge 173:7d866c31b3c5 189 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
AnnaBridge 173:7d866c31b3c5 190 {
AnnaBridge 173:7d866c31b3c5 191 if(obj->index)
AnnaBridge 173:7d866c31b3c5 192 can1_irq_handler = handler;
AnnaBridge 173:7d866c31b3c5 193 else
AnnaBridge 173:7d866c31b3c5 194 can0_irq_handler = handler;
AnnaBridge 173:7d866c31b3c5 195 can_irq_ids[obj->index] = id;
AnnaBridge 173:7d866c31b3c5 196
AnnaBridge 173:7d866c31b3c5 197 }
AnnaBridge 173:7d866c31b3c5 198
AnnaBridge 173:7d866c31b3c5 199 void can_irq_free(can_t *obj)
AnnaBridge 173:7d866c31b3c5 200 {
AnnaBridge 173:7d866c31b3c5 201 CAN_DisableInt((CAN_T *)NU_MODBASE(obj->can), (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
AnnaBridge 173:7d866c31b3c5 202
AnnaBridge 173:7d866c31b3c5 203 can_irq_ids[obj->index] = 0;
AnnaBridge 173:7d866c31b3c5 204
AnnaBridge 173:7d866c31b3c5 205 if(!obj->index)
AnnaBridge 173:7d866c31b3c5 206 NVIC_DisableIRQ(CAN0_IRQn);
AnnaBridge 173:7d866c31b3c5 207 else
AnnaBridge 173:7d866c31b3c5 208 NVIC_DisableIRQ(CAN1_IRQn);
AnnaBridge 173:7d866c31b3c5 209
AnnaBridge 173:7d866c31b3c5 210
AnnaBridge 173:7d866c31b3c5 211 }
AnnaBridge 173:7d866c31b3c5 212
AnnaBridge 173:7d866c31b3c5 213 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
AnnaBridge 173:7d866c31b3c5 214 {
AnnaBridge 173:7d866c31b3c5 215 uint8_t u8Mask;
AnnaBridge 173:7d866c31b3c5 216
AnnaBridge 173:7d866c31b3c5 217 u8Mask = ((enable != 0 )? CAN_CON_IE_Msk :0);
AnnaBridge 173:7d866c31b3c5 218
AnnaBridge 173:7d866c31b3c5 219 switch (irq) {
AnnaBridge 173:7d866c31b3c5 220 case IRQ_ERROR:
AnnaBridge 173:7d866c31b3c5 221 case IRQ_BUS:
AnnaBridge 173:7d866c31b3c5 222 case IRQ_PASSIVE:
AnnaBridge 173:7d866c31b3c5 223 u8Mask = u8Mask | CAN_CON_EIE_Msk | CAN_CON_SIE_Msk;
AnnaBridge 173:7d866c31b3c5 224 break;
AnnaBridge 173:7d866c31b3c5 225
AnnaBridge 173:7d866c31b3c5 226 case IRQ_RX:
AnnaBridge 173:7d866c31b3c5 227 case IRQ_TX:
AnnaBridge 173:7d866c31b3c5 228 case IRQ_OVERRUN:
AnnaBridge 173:7d866c31b3c5 229 case IRQ_WAKEUP:
AnnaBridge 173:7d866c31b3c5 230 u8Mask = u8Mask | CAN_CON_SIE_Msk;
AnnaBridge 173:7d866c31b3c5 231 break;
AnnaBridge 173:7d866c31b3c5 232
AnnaBridge 173:7d866c31b3c5 233 default:
AnnaBridge 173:7d866c31b3c5 234 break;
AnnaBridge 173:7d866c31b3c5 235
AnnaBridge 173:7d866c31b3c5 236 }
AnnaBridge 173:7d866c31b3c5 237 CAN_EnterInitMode((CAN_T*)NU_MODBASE(obj->can), u8Mask);
AnnaBridge 173:7d866c31b3c5 238
AnnaBridge 173:7d866c31b3c5 239 CAN_LeaveInitMode((CAN_T*)NU_MODBASE(obj->can));
AnnaBridge 173:7d866c31b3c5 240
AnnaBridge 173:7d866c31b3c5 241 if(!obj->index) {
AnnaBridge 173:7d866c31b3c5 242 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
AnnaBridge 173:7d866c31b3c5 243 NVIC_EnableIRQ(CAN0_IRQn);
AnnaBridge 173:7d866c31b3c5 244 } else {
AnnaBridge 173:7d866c31b3c5 245 NVIC_SetVector(CAN1_IRQn, (uint32_t)&CAN1_IRQHandler);
AnnaBridge 173:7d866c31b3c5 246 NVIC_EnableIRQ(CAN1_IRQn);
AnnaBridge 173:7d866c31b3c5 247 }
AnnaBridge 173:7d866c31b3c5 248
AnnaBridge 173:7d866c31b3c5 249 }
AnnaBridge 173:7d866c31b3c5 250
AnnaBridge 173:7d866c31b3c5 251 int can_write(can_t *obj, CAN_Message msg, int cc)
AnnaBridge 173:7d866c31b3c5 252 {
AnnaBridge 173:7d866c31b3c5 253 STR_CANMSG_T CMsg;
AnnaBridge 173:7d866c31b3c5 254
AnnaBridge 173:7d866c31b3c5 255 CMsg.IdType = (uint32_t)msg.format;
AnnaBridge 173:7d866c31b3c5 256 CMsg.FrameType = (uint32_t)!msg.type;
AnnaBridge 173:7d866c31b3c5 257 CMsg.Id = msg.id;
AnnaBridge 173:7d866c31b3c5 258 CMsg.DLC = msg.len;
AnnaBridge 173:7d866c31b3c5 259 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
AnnaBridge 173:7d866c31b3c5 260
AnnaBridge 173:7d866c31b3c5 261 return CAN_Transmit((CAN_T *)(NU_MODBASE(obj->can)), cc, &CMsg);
AnnaBridge 173:7d866c31b3c5 262 }
AnnaBridge 173:7d866c31b3c5 263
AnnaBridge 173:7d866c31b3c5 264 int can_read(can_t *obj, CAN_Message *msg, int handle)
AnnaBridge 173:7d866c31b3c5 265 {
AnnaBridge 173:7d866c31b3c5 266 STR_CANMSG_T CMsg;
AnnaBridge 173:7d866c31b3c5 267
AnnaBridge 173:7d866c31b3c5 268 if(!CAN_Receive((CAN_T *)(NU_MODBASE(obj->can)), handle, &CMsg))
AnnaBridge 173:7d866c31b3c5 269 return 0;
AnnaBridge 173:7d866c31b3c5 270
AnnaBridge 173:7d866c31b3c5 271 msg->format = (CANFormat)CMsg.IdType;
AnnaBridge 173:7d866c31b3c5 272 msg->type = (CANType)!CMsg.FrameType;
AnnaBridge 173:7d866c31b3c5 273 msg->id = CMsg.Id;
AnnaBridge 173:7d866c31b3c5 274 msg->len = CMsg.DLC;
AnnaBridge 173:7d866c31b3c5 275 memcpy(&msg->data[0], &CMsg.Data[0], 8);
AnnaBridge 173:7d866c31b3c5 276
AnnaBridge 173:7d866c31b3c5 277 return 1;
AnnaBridge 173:7d866c31b3c5 278 }
AnnaBridge 173:7d866c31b3c5 279
AnnaBridge 173:7d866c31b3c5 280 int can_mode(can_t *obj, CanMode mode)
AnnaBridge 173:7d866c31b3c5 281 {
AnnaBridge 173:7d866c31b3c5 282 int success = 0;
AnnaBridge 173:7d866c31b3c5 283 switch (mode) {
AnnaBridge 173:7d866c31b3c5 284 case MODE_RESET:
AnnaBridge 173:7d866c31b3c5 285 CAN_LeaveTestMode((CAN_T*)NU_MODBASE(obj->can));
AnnaBridge 173:7d866c31b3c5 286 success = 1;
AnnaBridge 173:7d866c31b3c5 287 break;
AnnaBridge 173:7d866c31b3c5 288
AnnaBridge 173:7d866c31b3c5 289 case MODE_NORMAL:
AnnaBridge 173:7d866c31b3c5 290 CAN_EnterTestMode((CAN_T*)NU_MODBASE(obj->can), CAN_TEST_BASIC_Msk);
AnnaBridge 173:7d866c31b3c5 291 success = 1;
AnnaBridge 173:7d866c31b3c5 292 break;
AnnaBridge 173:7d866c31b3c5 293
AnnaBridge 173:7d866c31b3c5 294 case MODE_SILENT:
AnnaBridge 173:7d866c31b3c5 295 CAN_EnterTestMode((CAN_T*)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
AnnaBridge 173:7d866c31b3c5 296 success = 1;
AnnaBridge 173:7d866c31b3c5 297 break;
AnnaBridge 173:7d866c31b3c5 298
AnnaBridge 173:7d866c31b3c5 299 case MODE_TEST_LOCAL:
AnnaBridge 173:7d866c31b3c5 300 case MODE_TEST_GLOBAL:
AnnaBridge 173:7d866c31b3c5 301 CAN_EnterTestMode((CAN_T*)NU_MODBASE(obj->can), CAN_TEST_LBACK_Msk);
AnnaBridge 173:7d866c31b3c5 302 success = 1;
AnnaBridge 173:7d866c31b3c5 303 break;
AnnaBridge 173:7d866c31b3c5 304
AnnaBridge 173:7d866c31b3c5 305 case MODE_TEST_SILENT:
AnnaBridge 173:7d866c31b3c5 306 CAN_EnterTestMode((CAN_T*)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
AnnaBridge 173:7d866c31b3c5 307 success = 1;
AnnaBridge 173:7d866c31b3c5 308 break;
AnnaBridge 173:7d866c31b3c5 309
AnnaBridge 173:7d866c31b3c5 310 default:
AnnaBridge 173:7d866c31b3c5 311 success = 0;
AnnaBridge 173:7d866c31b3c5 312 break;
AnnaBridge 173:7d866c31b3c5 313
AnnaBridge 173:7d866c31b3c5 314 }
AnnaBridge 173:7d866c31b3c5 315
AnnaBridge 173:7d866c31b3c5 316
AnnaBridge 173:7d866c31b3c5 317 return success;
AnnaBridge 173:7d866c31b3c5 318 }
AnnaBridge 173:7d866c31b3c5 319
AnnaBridge 173:7d866c31b3c5 320 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
AnnaBridge 173:7d866c31b3c5 321 {
AnnaBridge 173:7d866c31b3c5 322 return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id);
AnnaBridge 173:7d866c31b3c5 323 }
AnnaBridge 173:7d866c31b3c5 324
AnnaBridge 173:7d866c31b3c5 325
AnnaBridge 173:7d866c31b3c5 326 void can_reset(can_t *obj)
AnnaBridge 173:7d866c31b3c5 327 {
AnnaBridge 173:7d866c31b3c5 328 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
AnnaBridge 173:7d866c31b3c5 329
AnnaBridge 173:7d866c31b3c5 330 MBED_ASSERT(modinit != NULL);
AnnaBridge 173:7d866c31b3c5 331 MBED_ASSERT(modinit->modname == (int) obj->can);
AnnaBridge 173:7d866c31b3c5 332
AnnaBridge 173:7d866c31b3c5 333 // Reset this module
AnnaBridge 173:7d866c31b3c5 334 SYS_ResetModule(modinit->rsetidx);
AnnaBridge 173:7d866c31b3c5 335
AnnaBridge 173:7d866c31b3c5 336 }
AnnaBridge 173:7d866c31b3c5 337
AnnaBridge 173:7d866c31b3c5 338 unsigned char can_rderror(can_t *obj)
AnnaBridge 173:7d866c31b3c5 339 {
AnnaBridge 173:7d866c31b3c5 340 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
AnnaBridge 173:7d866c31b3c5 341 return ((can->ERR>>8)&0xFF);
AnnaBridge 173:7d866c31b3c5 342 }
AnnaBridge 173:7d866c31b3c5 343
AnnaBridge 173:7d866c31b3c5 344 unsigned char can_tderror(can_t *obj)
AnnaBridge 173:7d866c31b3c5 345 {
AnnaBridge 173:7d866c31b3c5 346 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
AnnaBridge 173:7d866c31b3c5 347 return ((can->ERR)&0xFF);
AnnaBridge 173:7d866c31b3c5 348 }
AnnaBridge 173:7d866c31b3c5 349
AnnaBridge 173:7d866c31b3c5 350 void can_monitor(can_t *obj, int silent)
AnnaBridge 173:7d866c31b3c5 351 {
AnnaBridge 173:7d866c31b3c5 352 CAN_EnterTestMode((CAN_T *)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
AnnaBridge 173:7d866c31b3c5 353 }
AnnaBridge 173:7d866c31b3c5 354
AnnaBridge 173:7d866c31b3c5 355 #endif // DEVICE_CAN