Diff: targets/TARGET_NUVOTON/TARGET_M451/can_api.c

Revision:

153:9398a535854b

Parent:

152:9a67f0b066fc

diff -r 9a67f0b066fc -r 9398a535854b targets/TARGET_NUVOTON/TARGET_M451/can_api.c
--- a/targets/TARGET_NUVOTON/TARGET_M451/can_api.c	Thu Dec 15 11:48:27 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,303 +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 "m451_gpio.h"
- #include "m451_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         1
- 
- static uint32_t can_irq_ids[CAN_NUM] = {0};
- static can_irq_handler can0_irq_handler;
-
- 
- static const struct nu_modinit_s can_modinit_tab[] = {
-    {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_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);
-     
-    obj->index = 0;
-    
-    pinmap_pinout(td, PinMap_CAN_TD);
-    pinmap_pinout(rd, PinMap_CAN_RD);
-    
-    /* For M453 mbed Board Transmitter Setting (RS Pin) */
-    GPIO_SetMode(PA, BIT0| BIT1, GPIO_MODE_OUTPUT);    
-    PA0 = 0x00;
-    PA1 = 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*/
-            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*/
-            can0_irq_handler(can_irq_ids[id], IRQ_TX);
-        }
-
-        /**************************/
-        /* Error Status interrupt */
-        /**************************/
-        if(can->STATUS & CAN_STATUS_EWARN_Msk) {
-            can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
-        }
-
-        if(can->STATUS & CAN_STATUS_BOFF_Msk) {
-            can0_irq_handler(can_irq_ids[id], IRQ_BUS);
-        }
-    } else if (u8IIDRstatus!=0) {
-
-        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 */
-        can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
-    }
-}
-
-void CAN0_IRQHandler(void)
-{
-    can_irq(CAN_0, 0);
-}
-
-void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
-{
-    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;
-    
-    NVIC_DisableIRQ(CAN0_IRQn);    
-}
-
-void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
-{
-    
-    CAN_EnterInitMode((CAN_T*)obj->can, ((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);
-    
-    NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
-    NVIC_EnableIRQ(CAN0_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