Fawwaz Nadzmy
mbed library sources. Supersedes mbed-src.
Fork of
mbed-dev
by 
mbed official
Diff: targets/TARGET_NUVOTON/TARGET_NUC472/device/StdDriver/nuc472_can.c
- Revision:
- 149:156823d33999
- Parent:
- 144:ef7eb2e8f9f7
- Child:
- 150:02e0a0aed4ec
diff -r 21d94c44109e -r 156823d33999 targets/TARGET_NUVOTON/TARGET_NUC472/device/StdDriver/nuc472_can.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/TARGET_NUVOTON/TARGET_NUC472/device/StdDriver/nuc472_can.c Fri Oct 28 11:17:30 2016 +0100
@@ -0,0 +1,730 @@
+/**************************************************************************//**
+ * @file CAN.c
+ * @version V1.00
+ * $Revision: 14 $
+ * $Date: 14/10/06 5:38p $
+ * @brief NUC472/NUC442 CAN driver source file
+ *
+ * @note
+ * Copyright (C) 2013 Nuvoton Technology Corp. All rights reserved.
+*****************************************************************************/
+
+#include "NUC472_442.h"
+/** @addtogroup NUC472_442_Device_Driver NUC472/NUC442 Device Driver
+ @{
+*/
+
+/** @addtogroup NUC472_442_CAN_Driver CAN Driver
+ @{
+*/
+
+
+/** @addtogroup NUC472_442_CAN_EXPORTED_FUNCTIONS CAN Exported Functions
+ @{
+*/
+
+#include <stdio.h>
+
+
+/// @cond HIDDEN_SYMBOLS
+
+
+static uint32_t GetFreeIF(CAN_T *tCAN);
+
+
+//#define DEBUG_PRINTF printf
+#define DEBUG_PRINTF(...)
+
+/**
+ * @brief Check if SmartCard slot is presented.
+ * @param[in] tCAN The base address of can module.
+ * @retval 0 IF0 is free
+ * @retval 1 IF1 is free
+ * @retval 2 No IF is free
+ * @details Search the first free message interface, starting from 0.
+ */
+static uint32_t GetFreeIF(CAN_T *tCAN)
+{
+ if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0)
+ return 0;
+ else if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0)
+ return 1;
+ else
+ return 2;
+}
+
+/**
+ * @brief Enter initialization mode
+ * @param[in] tCAN The base address of can module.
+ * @return None
+ * @details This function is used to set CAN to enter initialization mode and enable access bit timing
+ * register. After bit timing configuration ready, user must call CAN_LeaveInitMode()
+ * to leave initialization mode and lock bit timing register to let new configuration
+ * take effect.
+ */
+void CAN_EnterInitMode(CAN_T *tCAN)
+{
+ tCAN->CON |= CAN_CON_INIT_Msk;
+ tCAN->CON |= CAN_CON_CCE_Msk;
+}
+
+
+/**
+ * @brief Leave initialization mode
+ * @param[in] tCAN The base address of can module.
+ * @return None
+ * @details This function is used to set CAN to leave initialization mode to let
+ * bit timing configuration take effect after configuration ready.
+ */
+void CAN_LeaveInitMode(CAN_T *tCAN)
+{
+ tCAN->CON &= (~(CAN_CON_INIT_Msk | CAN_CON_CCE_Msk));
+
+ while(tCAN->CON & CAN_CON_INIT_Msk); /* Check INIT bit is released */
+}
+
+/**
+ * @brief Wait message into message buffer in basic mode.
+ * @param[in] tCAN The base address of can module.
+ * @return None
+ * @details This function is used to wait message into message buffer in basic mode. Please notice the
+ * function is polling NEWDAT bit of MCON register by while loop and it is used in basic mode.
+ */
+void CAN_WaitMsg(CAN_T *tCAN)
+{
+ tCAN->STATUS = 0x0; /* clr status */
+
+ while (1) {
+ if(tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) { /* check new data */
+ DEBUG_PRINTF("New Data IN\n");
+ break;
+ }
+ if(tCAN->STATUS & CAN_STATUS_RXOK_Msk)
+ DEBUG_PRINTF("Rx OK\n");
+
+ if(tCAN->STATUS & CAN_STATUS_LEC_Msk) {
+ DEBUG_PRINTF("Error\n");
+ }
+ }
+}
+
+/**
+ * @brief Get current bit rate
+ * @param[in] tCAN The base address of can module.
+ * @return Current Bit-Rate (kilo bit per second)
+ * @details Return current CAN bit rate according to the user bit-timing parameter settings
+ */
+uint32_t CAN_GetCANBitRate(CAN_T *tCAN)
+{
+ uint8_t u8Tseg1,u8Tseg2;
+ uint32_t u32Bpr;
+
+ u8Tseg1 = (tCAN->BTIME & CAN_BTIME_TSEG1_Msk) >> CAN_BTIME_TSEG1_Pos;
+ u8Tseg2 = (tCAN->BTIME & CAN_BTIME_TSEG2_Msk) >> CAN_BTIME_TSEG2_Pos;
+ u32Bpr = (tCAN->BTIME & CAN_BTIME_BRP_Msk) | (tCAN->BRPE << 6);
+
+ return (SystemCoreClock/(u32Bpr+1)/(u8Tseg1 + u8Tseg2 + 3));
+}
+
+/**
+ * @brief Switch the CAN into test mode.
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u8TestMask Specifies the configuration in test modes
+ * CAN_TEST_BASIC_Msk : Enable basic mode of test mode
+ * CAN_TESTR_SILENT_Msk : Enable silent mode of test mode
+ * CAN_TESTR_LBACK_Msk : Enable Loop Back Mode of test mode
+ * CAN_TESTR_TX0_Msk/CAN_TESTR_TX1_Msk: Control CAN_TX pin bit field
+ * @return None
+ * @details Switch the CAN into test mode. There are four test mode (BASIC/SILENT/LOOPBACK/
+ * LOOPBACK combined SILENT/CONTROL_TX_PIN)could be selected. After setting test mode,user
+ * must call CAN_LeaveInitMode() to let the setting take effect.
+ */
+void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask)
+{
+ tCAN->CON |= CAN_CON_TEST_Msk;
+ tCAN->TEST = u8TestMask;
+}
+
+
+/**
+ * @brief Leave the test mode
+ * @param[in] tCAN The base address of can module.
+ * @return None
+ * @details This function is used to Leave the test mode (switch into normal mode).
+ */
+void CAN_LeaveTestMode(CAN_T *tCAN)
+{
+ tCAN->CON |= CAN_CON_TEST_Msk;
+ tCAN->TEST &= ~(CAN_TEST_LBACK_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_BASIC_Msk);
+ tCAN->CON &= (~CAN_CON_TEST_Msk);
+}
+
+/**
+ * @brief Get the waiting status of a received message.
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
+ * @retval non-zero The corresponding message object has a new data bit is set.
+ * @retval 0 No message object has new data.
+ * @details This function is used to get the waiting status of a received message.
+ */
+uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj)
+{
+ return (u8MsgObj < 16 ? tCAN->NDAT1 & (1 << u8MsgObj) : tCAN->NDAT2 & (1 << (u8MsgObj-16)));
+}
+
+
+/**
+ * @brief Send CAN message in BASIC mode of test mode
+ * @param[in] tCAN The base address of can module.
+ * @param[in] pCanMsg Pointer to the message structure containing data to transmit.
+ * @return TRUE: Transmission OK
+ * FALSE: Check busy flag of interface 0 is timeout
+ * @details The function is used to send CAN message in BASIC mode of test mode. Before call the API,
+ * the user should be call CAN_EnterTestMode(CAN_TESTR_BASIC) and let CAN controller enter
+ * basic mode of test mode. Please notice IF1 Registers used as Tx Buffer in basic mode.
+ */
+int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg)
+{
+ uint32_t i=0;
+ while(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk);
+
+ tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk);
+
+ tCAN->IF[0].CMASK = CAN_IF_CMASK_WRRD_Msk;
+
+ if (pCanMsg->IdType == CAN_STD_ID) {
+ /* standard ID*/
+ tCAN->IF[0].ARB1 = 0;
+ tCAN->IF[0].ARB2 = (((pCanMsg->Id)&0x7FF)<<2) ;
+ } else {
+ /* extended ID*/
+ tCAN->IF[0].ARB1 = (pCanMsg->Id)&0xFFFF;
+ tCAN->IF[0].ARB2 = ((pCanMsg->Id)&0x1FFF0000)>>16 | CAN_IF_ARB2_XTD_Msk;
+
+ }
+
+ if(pCanMsg->FrameType)
+ tCAN->IF[0].ARB2 |= CAN_IF_ARB2_DIR_Msk;
+ else
+ tCAN->IF[0].ARB2 &= (~CAN_IF_ARB2_DIR_Msk);
+
+ tCAN->IF[0].MCON = (tCAN->IF[0].MCON & (~CAN_IF_MCON_DLC_Msk)) | pCanMsg->DLC;
+ tCAN->IF[0].DAT_A1 = ((uint16_t)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
+ tCAN->IF[0].DAT_A2 = ((uint16_t)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
+ tCAN->IF[0].DAT_B1 = ((uint16_t)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
+ tCAN->IF[0].DAT_B2 = ((uint16_t)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
+
+ /* request transmission*/
+ tCAN->IF[0].CREQ &= (~CAN_IF_CREQ_BUSY_Msk);
+ if(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) {
+ DEBUG_PRINTF("Cannot clear busy for sending ...\n");
+ return FALSE;
+ }
+
+ tCAN->IF[0].CREQ |= CAN_IF_CREQ_BUSY_Msk; // sending
+
+ for ( i=0; i<0xFFFFF; i++) {
+ if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) break;
+ }
+
+ if ( i >= 0xFFFFF ) {
+ DEBUG_PRINTF("Cannot send out...\n");
+ return FALSE;
+ }
+
+ return TRUE;
+}
+
+
+/**
+ * @brief Get a message information in BASIC mode.
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[out] pCanMsg Pointer to the message structure where received data is copied.
+ *
+ * @return FALSE No any message received. \n
+ * TRUE Receive a message success.
+ *
+ */
+int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg)
+{
+ if((tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) == 0) { /* In basic mode, receive data always save in IF2 */
+ return FALSE;
+ }
+
+ tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk);
+
+ tCAN->IF[1].CMASK = CAN_IF_CMASK_ARB_Msk
+ | CAN_IF_CMASK_CONTROL_Msk
+ | CAN_IF_CMASK_DATAA_Msk
+ | CAN_IF_CMASK_DATAB_Msk;
+
+ if((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) {
+ /* standard ID*/
+ pCanMsg->IdType = CAN_STD_ID;
+ pCanMsg->Id = (tCAN->IF[1].ARB2 >> 2) & 0x07FF;
+
+ } else {
+ /* extended ID*/
+ pCanMsg->IdType = CAN_EXT_ID;
+ pCanMsg->Id = (tCAN->IF[1].ARB2 & 0x1FFF)<<16;
+ pCanMsg->Id |= (uint32_t)tCAN->IF[1].ARB1;
+ }
+
+ pCanMsg->FrameType = !((tCAN->IF[1].ARB2 & CAN_IF_ARB2_DIR_Msk) >> CAN_IF_ARB2_DIR_Pos);
+
+ pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk;
+ pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk;
+ pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos;
+ pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk;
+ pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos;
+ pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk;
+ pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos;
+ pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk;
+ pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos;
+
+ return TRUE;
+}
+
+/**
+ * @brief Set Rx message object
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
+ * @param[in] u8idType Specifies the identifier type of the frames that will be transmitted
+ * This parameter can be one of the following values:
+ * CAN_STD_ID (standard ID, 11-bit)
+ * CAN_EXT_ID (extended ID, 29-bit)
+ * @param[in] u32id Specifies the identifier used for acceptance filtering.
+ * @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator.
+ * This parameter can be one of the following values:
+ * TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO.
+ * FALSE: for a FIFO receive object that is not the last one.
+ * @retval TRUE SUCCESS
+ * @retval FALSE No useful interface
+ * @details The function is used to configure a receive message object.
+ */
+int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast)
+{
+ uint8_t u8MsgIfNum=0;
+
+ if ((u8MsgIfNum = GetFreeIF(tCAN)) == 2) { /* Check Free Interface for configure */
+ return FALSE;
+ }
+ /* Command Setting */
+ tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk |
+ CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk;
+
+ if (u8idType == CAN_STD_ID) { /* According STD/EXT ID format,Configure Mask and Arbitration register */
+ tCAN->IF[u8MsgIfNum].ARB1 = 0;
+ tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FF)<< 2;
+ } else {
+ tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFF;
+ tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000)>>16;
+ }
+
+ tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk;
+ if(u8singleOrFifoLast)
+ tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk;
+ else
+ tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk);
+
+ tCAN->IF[u8MsgIfNum].DAT_A1 = 0;
+ tCAN->IF[u8MsgIfNum].DAT_A2 = 0;
+ tCAN->IF[u8MsgIfNum].DAT_B1 = 0;
+ tCAN->IF[u8MsgIfNum].DAT_B2 = 0;
+
+ tCAN->IF[u8MsgIfNum].CREQ = 1 + u8MsgObj;
+
+ return TRUE;
+}
+
+
+/**
+ * @brief Gets the message
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
+ * @param[in] u8Release Specifies the message release indicator.
+ * This parameter can be one of the following values:
+ * TRUE: the message object is released when getting the data.
+ * FALSE:the message object is not released.
+ * @param[out] pCanMsg Pointer to the message structure where received data is copied.
+ * @retval TRUE Success
+ * @retval FALSE No any message received
+ * @details Gets the message, if received.
+ */
+int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg)
+{
+ if (!CAN_IsNewDataReceived(tCAN, u8MsgObj)) {
+ return FALSE;
+ }
+
+ tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk);
+
+ /* read the message contents*/
+ tCAN->IF[1].CMASK = CAN_IF_CMASK_MASK_Msk
+ | CAN_IF_CMASK_ARB_Msk
+ | CAN_IF_CMASK_CONTROL_Msk
+ | CAN_IF_CMASK_CLRINTPND_Msk
+ | (u8Release ? CAN_IF_CMASK_TXRQSTNEWDAT_Msk : 0)
+ | CAN_IF_CMASK_DATAA_Msk
+ | CAN_IF_CMASK_DATAB_Msk;
+
+ tCAN->IF[1].CREQ = 1 + u8MsgObj;
+
+ while (tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) {
+ /*Wait*/
+ }
+
+ if ((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) {
+ /* standard ID*/
+ pCanMsg->IdType = CAN_STD_ID;
+ pCanMsg->Id = (tCAN->IF[1].ARB2 & CAN_IF_ARB2_ID_Msk) >> 2;
+ } else {
+ /* extended ID*/
+ pCanMsg->IdType = CAN_EXT_ID;
+ pCanMsg->Id = (((tCAN->IF[1].ARB2) & 0x1FFF)<<16) | tCAN->IF[1].ARB1;
+ }
+
+ pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk;
+ pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk;
+ pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos;
+ pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk;
+ pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos;
+ pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk;
+ pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos;
+ pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk;
+ pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos;
+
+ return TRUE;
+}
+
+/// @endcond HIDDEN_SYMBOLS
+
+
+/**
+ * @brief The function is used to set bus timing parameter according current clock and target baud-rate.
+ *
+ * @param[in] tCAN The base address of can module
+ * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz
+ *
+ * @return u32CurrentBitRate Real baud-rate value
+ */
+uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate)
+{
+ uint8_t u8Tseg1,u8Tseg2;
+ uint32_t u32Brp;
+ uint32_t u32Value;
+
+ CAN_EnterInitMode(tCAN);
+
+ SystemCoreClockUpdate();
+
+ u32Value = SystemCoreClock;
+
+ if(u32BaudRate * 8 < (u32Value/2)) {
+ u8Tseg1 = 2;
+ u8Tseg2 = 3;
+ } else {
+ u8Tseg1 = 2;
+ u8Tseg2 = 1;
+ }
+
+ u32Brp = SystemCoreClock/(u32BaudRate) / (u8Tseg1 + u8Tseg2 + 3) -1;
+
+ u32Value = ((uint32_t)u8Tseg2 << CAN_BTIME_TSEG2_Pos) | ((uint32_t)u8Tseg1 << CAN_BTIME_TSEG1_Pos) |
+ (u32Brp & CAN_BTIME_BRP_Msk) | (tCAN->BTIME & CAN_BTIME_SJW_Msk);
+ tCAN->BTIME = u32Value;
+ tCAN->BRPE = (u32Brp >> 6) & 0x0F;
+
+ CAN_LeaveInitMode(tCAN);
+
+ return (CAN_GetCANBitRate(tCAN));
+
+}
+
+/**
+ * @brief The function is used to disable all CAN interrupt.
+ *
+ * @param[in] tCAN The base address of can module
+ *
+ * @return None
+ */
+void CAN_Close(CAN_T *tCAN)
+{
+ CAN_DisableInt(tCAN, (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
+}
+
+/**
+ * @brief The function is sets bus timing parameter according current clock and target baud-rate. And set CAN operation mode.
+ *
+ * @param[in] tCAN The base address of can module
+ * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz
+ * @param[in] u32Mode The CAN operation mode. ( \ref CAN_NORMAL_MODE / \ref CAN_BASIC_MODE)
+ *
+ * @return u32CurrentBitRate Real baud-rate value
+ */
+uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode)
+{
+ uint32_t u32CurrentBitRate;
+
+ u32CurrentBitRate = CAN_SetBaudRate(tCAN, u32BaudRate);
+
+ if(u32Mode == CAN_BASIC_MODE)
+ CAN_EnterTestMode(tCAN, CAN_TEST_BASIC_Msk);
+
+ return u32CurrentBitRate;
+}
+
+/**
+ * @brief The function is used to configure a transmit object.
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
+ * @param[in] pCanMsg Pointer to the message structure where received data is copied.
+ *
+ * @return FALSE: No useful interface. \n
+ * TRUE : Config message object success.
+ *
+ */
+int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
+{
+ uint8_t u8MsgIfNum=0;
+ uint32_t i=0;
+
+ while((u8MsgIfNum = GetFreeIF(tCAN)) == 2) {
+ i++;
+ if(i > 0x10000000)
+ return FALSE;
+ }
+
+ /* update the contents needed for transmission*/
+ tCAN->IF[u8MsgIfNum].CMASK = 0xF3; /*CAN_CMASK_WRRD_Msk | CAN_CMASK_MASK_Msk | CAN_CMASK_ARB_Msk
+ | CAN_CMASK_CONTROL_Msk | CAN_CMASK_DATAA_Msk | CAN_CMASK_DATAB_Msk ; */
+
+ if (pCanMsg->IdType == CAN_STD_ID) {
+ /* standard ID*/
+ tCAN->IF[u8MsgIfNum].ARB1 = 0;
+ tCAN->IF[u8MsgIfNum].ARB2 = (((pCanMsg->Id)&0x7FF)<<2) | CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_MSGVAL_Msk;
+ } else {
+ /* extended ID*/
+ tCAN->IF[u8MsgIfNum].ARB1 = (pCanMsg->Id)&0xFFFF;
+ tCAN->IF[u8MsgIfNum].ARB2 = ((pCanMsg->Id)&0x1FFF0000)>>16 | CAN_IF_ARB2_DIR_Msk
+ | CAN_IF_ARB2_XTD_Msk | CAN_IF_ARB2_MSGVAL_Msk;
+ }
+
+ if(pCanMsg->FrameType)
+ tCAN->IF[u8MsgIfNum].ARB2 |= CAN_IF_ARB2_DIR_Msk;
+ else
+ tCAN->IF[u8MsgIfNum].ARB2 &= (~CAN_IF_ARB2_DIR_Msk);
+
+ tCAN->IF[u8MsgIfNum].DAT_A1 = ((uint16_t)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
+ tCAN->IF[u8MsgIfNum].DAT_A2 = ((uint16_t)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
+ tCAN->IF[u8MsgIfNum].DAT_B1 = ((uint16_t)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
+ tCAN->IF[u8MsgIfNum].DAT_B2 = ((uint16_t)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
+
+ tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_NEWDAT_Msk | pCanMsg->DLC |CAN_IF_MCON_TXIE_Msk | CAN_IF_MCON_EOB_Msk;
+ tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum;
+
+ return TRUE;
+}
+
+/**
+ * @brief Set transmit request bit
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31.
+ *
+ * @return TRUE: Start transmit message.
+ */
+int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum)
+{
+ STR_CANMSG_T rMsg;
+ CAN_ReadMsgObj(tCAN, u32MsgNum,TRUE, &rMsg);
+ tCAN->IF[0].CMASK = CAN_IF_CMASK_WRRD_Msk |CAN_IF_CMASK_TXRQSTNEWDAT_Msk;
+ tCAN->IF[0].CREQ = 1 + u32MsgNum;
+
+ return TRUE;
+}
+
+/**
+ * @brief Enable CAN interrupt
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32Mask Interrupt Mask. ( \ref CAN_CON_IE_Msk / \ref CAN_CON_SIE_Msk / \ref CAN_CON_EIE_Msk)
+ *
+ * @return None
+ */
+void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask)
+{
+ CAN_EnterInitMode(tCAN);
+
+ tCAN->CON = (tCAN->CON & 0xF1) | ((u32Mask & CAN_CON_IE_Msk )? CAN_CON_IE_Msk :0)
+ | ((u32Mask & CAN_CON_SIE_Msk )? CAN_CON_SIE_Msk:0)
+ | ((u32Mask & CAN_CON_EIE_Msk )? CAN_CON_EIE_Msk:0);
+
+
+ CAN_LeaveInitMode(tCAN);
+}
+
+/**
+ * @brief Disable CAN interrupt
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32Mask Interrupt Mask. ( \ref CAN_CON_IE_Msk / \ref CAN_CON_SIE_Msk / \ref CAN_CON_EIE_Msk)
+ *
+ * @return None
+ */
+void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask)
+{
+ CAN_EnterInitMode(tCAN);
+
+ tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | ((u32Mask & CAN_CON_SIE_Msk)?CAN_CON_SIE_Msk:0)
+ | ((u32Mask & CAN_CON_EIE_Msk)?CAN_CON_EIE_Msk:0));
+
+ CAN_LeaveInitMode(tCAN);
+}
+
+
+/**
+ * @brief The function is used to configure a receive message object
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
+ * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. ( \ref CAN_STD_ID / \ref CAN_EXT_ID)
+ * @param[in] u32ID Specifies the identifier used for acceptance filtering.
+ *
+ * @return FALSE: No useful interface \n
+ * TRUE : Configure a receive message object success.
+ *
+ */
+int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID)
+{
+ uint32_t u32TimeOutCount = 0;
+
+ while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, TRUE) == FALSE) {
+ u32TimeOutCount++;
+
+ if(u32TimeOutCount >= 0x10000000) return FALSE;
+ }
+
+ return TRUE;
+}
+
+/**
+ * @brief The function is used to configure several receive message objects
+ *
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum The starting MSG RAM number. (0 ~ 31)
+ * @param[in] u32MsgCount the number of MSG RAM of the FIFO.
+ * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. ( \ref CAN_STD_ID / \ref CAN_EXT_ID)
+ * @param[in] u32ID Specifies the identifier used for acceptance filtering.
+ *
+ * @return FALSE: No useful interface \n
+ * TRUE : Configure receive message objects success.
+ *
+ */
+int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID)
+{
+ uint32_t i = 0;
+ uint32_t u32TimeOutCount;
+ uint32_t u32EOB_Flag = 0;
+
+ for(i= 1; i < u32MsgCount; i++) {
+ u32TimeOutCount = 0;
+
+ u32MsgNum += (i - 1);
+
+ if(i == u32MsgCount) u32EOB_Flag = 1;
+
+ while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, u32EOB_Flag) == FALSE) {
+ u32TimeOutCount++;
+
+ if(u32TimeOutCount >= 0x10000000) return FALSE;
+ }
+ }
+
+ return TRUE;
+}
+
+
+/**
+ * @brief Send CAN message.
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
+ * @param[in] pCanMsg Pointer to the message structure where received data is copied.
+ *
+ * @return FALSE: When operation in basic mode: Transmit message time out, or when operation in normal mode: No useful interface. \n
+ * TRUE : Transmit Message success.
+ */
+int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
+{
+ if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) {
+ return (CAN_BasicSendMsg(tCAN, pCanMsg));
+ } else {
+ if(CAN_SetTxMsg(tCAN, u32MsgNum, pCanMsg) == FALSE)
+ return FALSE;
+ CAN_TriggerTxMsg(tCAN, u32MsgNum);
+ }
+
+ return TRUE;
+}
+
+
+/**
+ * @brief Gets the message, if received.
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
+ * @param[out] pCanMsg Pointer to the message structure where received data is copied.
+ *
+ * @return FALSE: No any message received. \n
+ * TRUE : Receive Message success.
+ */
+int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
+{
+ if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) {
+ return (CAN_BasicReceiveMsg(tCAN, pCanMsg));
+ } else {
+ return CAN_ReadMsgObj(tCAN, u32MsgNum, TRUE, pCanMsg);
+ }
+}
+
+/**
+ * @brief Clear interrupt pending bit.
+ * @param[in] tCAN The base address of can module.
+ * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
+ *
+ * @return None
+ *
+ */
+void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
+{
+ uint32_t u32MsgIfNum = 0;
+ uint32_t u32IFBusyCount = 0;
+
+ while(u32IFBusyCount < 0x10000000) {
+ if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) {
+ u32MsgIfNum = 0;
+ break;
+ } else if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) {
+ u32MsgIfNum = 1;
+ break;
+ }
+
+ u32IFBusyCount++;
+ }
+
+ tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk;
+ tCAN->IF[u32MsgIfNum].CREQ = 1 + u32MsgNum;
+
+}
+
+
+/*@}*/ /* end of group NUC472_442_CAN_EXPORTED_FUNCTIONS */
+
+/*@}*/ /* end of group NUC472_442_CAN_Driver */
+
+/*@}*/ /* end of group NUC472_442_Device_Driver */
+
+/*** (C) COPYRIGHT 2013 Nuvoton Technology Corp. ***/
+
+