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Diff: targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c
- Revision:
- 153:9398a535854b
- Parent:
- 152:9a67f0b066fc
--- a/targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c Thu Dec 15 11:48:27 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,351 +0,0 @@ -/* mbed Microcontroller Library - * Copyright (c) 2015-2016 Nuvoton - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - #include "can_api.h" - #include "nuc472_gpio.h" - #include "nuc472_can.h" - - #if DEVICE_CAN - #include <string.h> - #include "cmsis.h" - #include "pinmap.h" - #include "PeripheralPins.h" - #include "nu_modutil.h" - #include "nu_miscutil.h" - #include "nu_bitutil.h" - #include "critical.h" - - #define NU_CAN_DEBUG 0 - #define CAN_NUM 2 - - static uint32_t can_irq_ids[CAN_NUM] = {0}; - static can_irq_handler can0_irq_handler; - static can_irq_handler can1_irq_handler; - - - static const struct nu_modinit_s can_modinit_tab[] = { - {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL}, - {CAN_1, CAN1_MODULE, 0, 0, CAN1_RST, CAN1_IRQn, NULL}, - - {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL} -}; - - - void can_init(can_t *obj, PinName rd, PinName td) - { - uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD); - uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD); - obj->can = (CANName)pinmap_merge(can_td, can_rd); - MBED_ASSERT((int)obj->can != NC); - - const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab); - MBED_ASSERT(modinit != NULL); - MBED_ASSERT(modinit->modname == obj->can); - - // Reset this module - SYS_ResetModule(modinit->rsetidx); - - // Enable IP clock - CLK_EnableModuleClock(modinit->clkidx); - - if(obj->can == CAN_1) { - obj->index = 1; - } - else - obj->index = 0; - - pinmap_pinout(td, PinMap_CAN_TD); - pinmap_pinout(rd, PinMap_CAN_RD); - - /* For NCU 472 mbed Board Transmitter Setting (RS Pin) */ - GPIO_SetMode(PA, BIT2| BIT3, GPIO_MODE_OUTPUT); - PA2 = 0x00; - PA3 = 0x00; - - CAN_Open((CAN_T *)obj->can, 500000, CAN_NORMAL_MODE); - - can_filter(obj, 0, 0, CANStandard, 0); - } - - -void can_free(can_t *obj) -{ - - const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab); - - MBED_ASSERT(modinit != NULL); - MBED_ASSERT(modinit->modname == obj->can); - - // Reset this module - SYS_ResetModule(modinit->rsetidx); - - CLK_DisableModuleClock(modinit->clkidx); -} - -int can_frequency(can_t *obj, int hz) -{ - CAN_SetBaudRate((CAN_T *)obj->can, hz); - - return CAN_GetCANBitRate((CAN_T *)obj->can); -} - -static void can_irq(CANName name, int id) -{ - - CAN_T *can = (CAN_T *)NU_MODBASE(name); - uint32_t u8IIDRstatus; - - u8IIDRstatus = can->IIDR; - - if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */ - /**************************/ - /* Status Change interrupt*/ - /**************************/ - if(can->STATUS & CAN_STATUS_RXOK_Msk) { - can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/ - if(id) - can1_irq_handler(can_irq_ids[id] , IRQ_RX); - else - can0_irq_handler(can_irq_ids[id], IRQ_RX); - } - - if(can->STATUS & CAN_STATUS_TXOK_Msk) { - can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/ - if(id) - can1_irq_handler(can_irq_ids[id] , IRQ_TX); - else - can0_irq_handler(can_irq_ids[id], IRQ_TX); - - } - - /**************************/ - /* Error Status interrupt */ - /**************************/ - if(can->STATUS & CAN_STATUS_EWARN_Msk) { - if(id) - can1_irq_handler(can_irq_ids[id] , IRQ_ERROR); - else - can0_irq_handler(can_irq_ids[id], IRQ_ERROR); - } - - if(can->STATUS & CAN_STATUS_BOFF_Msk) { - if(id) - can1_irq_handler(can_irq_ids[id] , IRQ_BUS); - else - can0_irq_handler(can_irq_ids[id], IRQ_BUS); - } - } else if (u8IIDRstatus!=0) { - - if(id) - can1_irq_handler(can_irq_ids[id] , IRQ_OVERRUN); - else - can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN); - - CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */ - - } else if(can->WU_STATUS == 1) { - - can->WU_STATUS = 0; /* Write '0' to clear */ - if(id) - can1_irq_handler(can_irq_ids[id] , IRQ_WAKEUP); - else - can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP); - } -} - -void CAN0_IRQHandler(void) -{ - can_irq(CAN_0, 0); -} - -void CAN1_IRQHandler(void) -{ - can_irq(CAN_1, 1); -} - -void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) -{ - if(obj->index) - can1_irq_handler = handler; - else - can0_irq_handler = handler; - can_irq_ids[obj->index] = id; - -} - -void can_irq_free(can_t *obj) -{ - CAN_DisableInt((CAN_T *)obj->can, (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk)); - - can_irq_ids[obj->index] = 0; - - if(!obj->index) - NVIC_DisableIRQ(CAN0_IRQn); - else - NVIC_DisableIRQ(CAN1_IRQn); - - -} - -void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable) -{ - - CAN_EnterInitMode((CAN_T*)obj->can); - - ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON ) | ((enable != 0 )? CAN_CON_IE_Msk :0); - - switch (irq) - { - case IRQ_ERROR: - case IRQ_BUS: - case IRQ_PASSIVE: - ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON) |CAN_CON_EIE_Msk; - ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON) |CAN_CON_SIE_Msk; - break; - - case IRQ_RX: - case IRQ_TX: - case IRQ_OVERRUN: - case IRQ_WAKEUP: - ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON) |CAN_CON_SIE_Msk; - break; - - default: - break; - - } - - CAN_LeaveInitMode((CAN_T*)obj->can); - - if(!obj->index) - { - NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler); - NVIC_EnableIRQ(CAN0_IRQn); - } - else - { - NVIC_SetVector(CAN1_IRQn, (uint32_t)&CAN1_IRQHandler); - NVIC_EnableIRQ(CAN1_IRQn); - } - -} - -int can_write(can_t *obj, CAN_Message msg, int cc) -{ - STR_CANMSG_T CMsg; - - CMsg.IdType = (uint32_t)msg.format; - CMsg.FrameType = (uint32_t)!msg.type; - CMsg.Id = msg.id; - CMsg.DLC = msg.len; - memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8); - - return CAN_Transmit((CAN_T *)(obj->can), cc, &CMsg); -} - -int can_read(can_t *obj, CAN_Message *msg, int handle) -{ - STR_CANMSG_T CMsg; - - if(!CAN_Receive((CAN_T *)(obj->can), handle, &CMsg)) - return 0; - - msg->format = (CANFormat)CMsg.IdType; - msg->type = (CANType)!CMsg.FrameType; - msg->id = CMsg.Id; - msg->len = CMsg.DLC; - memcpy(&msg->data[0], &CMsg.Data[0], 8); - - return 1; -} - -int can_mode(can_t *obj, CanMode mode) -{ - int success = 0; - switch (mode) - { - case MODE_RESET: - CAN_LeaveTestMode((CAN_T*)obj->can); - success = 1; - break; - - case MODE_NORMAL: - CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_BASIC_Msk); - success = 1; - break; - - case MODE_SILENT: - CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_SILENT_Msk); - success = 1; - break; - - case MODE_TEST_LOCAL: - case MODE_TEST_GLOBAL: - CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_LBACK_Msk); - success = 1; - break; - - case MODE_TEST_SILENT: - CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk); - success = 1; - break; - - default: - success = 0; - break; - - } - - - return success; -} - -int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) -{ - return CAN_SetRxMsg((CAN_T *)(obj->can), handle , (uint32_t)format, id); -} - - -void can_reset(can_t *obj) -{ - const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab); - - MBED_ASSERT(modinit != NULL); - MBED_ASSERT(modinit->modname == obj->can); - - // Reset this module - SYS_ResetModule(modinit->rsetidx); - -} - -unsigned char can_rderror(can_t *obj) -{ - CAN_T *can = (CAN_T *)(obj->can); - return ((can->ERR>>8)&0xFF); -} - -unsigned char can_tderror(can_t *obj) -{ - CAN_T *can = (CAN_T *)(obj->can); - return ((can->ERR)&0xFF); -} - -void can_monitor(can_t *obj, int silent) -{ - CAN_EnterTestMode((CAN_T *)(obj->can), CAN_TEST_SILENT_Msk); -} - -#endif // DEVICE_CAN