mbed library sources. Supersedes mbed-src.
Fork of mbed-dev by
Diff: targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.c
- Revision:
- 153:9398a535854b
- Parent:
- 152:9a67f0b066fc
diff -r 9a67f0b066fc -r 9398a535854b targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.c --- a/targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.c Thu Dec 15 11:48:27 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1004 +0,0 @@ -/**************************************************************************//** - * @file can.c - * @version V2.00 - * $Revision: 8 $ - * $Date: 15/08/11 10:26a $ - * @brief M451 series CAN driver source file - * - * @note - * Copyright (C) 2014~2015 Nuvoton Technology Corp. All rights reserved. -*****************************************************************************/ -#include "M451Series.h" - -/** @addtogroup Standard_Driver Standard Driver - @{ -*/ - -/** @addtogroup CAN_Driver CAN Driver - @{ -*/ - -/** @addtogroup CAN_EXPORTED_FUNCTIONS CAN Exported Functions - @{ -*/ - -/// @cond HIDDEN_SYMBOLS - -#if defined(CAN1) -static uint8_t gu8LockCanIf[2][2] = {0}; // The chip has two CANs. -#elif defined(CAN0) || defined(CAN) -static uint8_t gu8LockCanIf[1][2] = {0}; // The chip only has one CAN. -#endif - -#define RETRY_COUNTS (0x10000000) - -//#define DEBUG_PRINTF printf -#define DEBUG_PRINTF(...) - -/** - * @brief Check if any interface is available then lock it for usage. - * @param[in] tCAN The pointer to CAN module base address. - * @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. If a interface is - * available, set a flag to lock the interface. - */ -static uint32_t LockIF(CAN_T *tCAN) -{ - uint32_t u32CanNo; - uint32_t u32FreeIfNo; - uint32_t u32IntMask; - -#if defined(CAN1) - u32CanNo = (tCAN == CAN1) ? 1 : 0; -#else // defined(CAN0) || defined(CAN) - u32CanNo = 0; -#endif - - u32FreeIfNo = 2; - - /* Disable CAN interrupt */ - u32IntMask = tCAN->CON & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); - tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); - - /* Check interface 1 is available or not */ - if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) - { - if(gu8LockCanIf[u32CanNo][0] == FALSE) - { - gu8LockCanIf[u32CanNo][0] = TRUE; - u32FreeIfNo = 0; - } - } - - /* Or check interface 2 is available or not */ - if(u32FreeIfNo == 2 && (tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) - { - if(gu8LockCanIf[u32CanNo][1] == FALSE) - { - gu8LockCanIf[u32CanNo][1] = TRUE; - u32FreeIfNo = 1; - } - } - - /* Enable CAN interrupt */ - tCAN->CON |= u32IntMask; - - return u32FreeIfNo; -} - -/** - * @brief Check if any interface is available in a time limitation then lock it for usage. - * @param[in] tCAN The pointer to CAN module base address. - * @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. If no interface is - * it will try again until time out. If a interface is available, set a flag to - * lock the interface. - */ -static uint32_t LockIF_TL(CAN_T *tCAN) -{ - uint32_t u32Count; - uint32_t u32FreeIfNo; - - for(u32Count = 0; u32Count < RETRY_COUNTS; u32Count++) - { - if((u32FreeIfNo = LockIF(tCAN)) != 2) - return u32FreeIfNo; - } - - return u32FreeIfNo; -} - -/** - * @brief Release locked interface. - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] u32Info The interface number, 0 or 1. - * @return none - * @details Release the locked interface. - */ -static void ReleaseIF(CAN_T *tCAN, uint32_t u32IfNo) -{ - uint32_t u32IntMask; - uint32_t u32CanNo; - - if(u32IfNo >= 2) - return; - -#if defined(CAN1) - u32CanNo = (tCAN == CAN1) ? 1 : 0; -#else // defined(CAN0) || defined(CAN) - u32CanNo = 0; -#endif - - /* Disable CAN interrupt */ - u32IntMask = tCAN->CON & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); - tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); - - gu8LockCanIf[u32CanNo][u32IfNo] = FALSE; - - /* Enable CAN interrupt */ - tCAN->CON |= u32IntMask; -} - -/** - * @brief Enter initialization mode - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] Following values can be used. - * \ref CAN_CON_DAR_Msk Disable automatic retransmission. - * \ref CAN_CON_EIE_Msk Enable error interrupt. - * \ref CAN_CON_SIE_Msk Enable status interrupt. - * \ref CAN_CON_IE_Msk CAN interrupt. - * @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, uint8_t u8Mask) -{ - tCAN->CON = u8Mask | (CAN_CON_INIT_Msk | CAN_CON_CCE_Msk); -} - - -/** - * @brief Leave initialization mode - * @param[in] tCAN The pointer to CAN module base address. - * @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 pointer to CAN module base address. - * @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 pointer to CAN module base address. - * @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 pointer to CAN module base address. - * @param[in] u8TestMask Specifies the configuration in test modes - * \ref CAN_TEST_BASIC_Msk Enable basic mode of test mode - * \ref CAN_TEST_SILENT_Msk Enable silent mode of test mode - * \ref CAN_TEST_LBACK_Msk Enable Loop Back Mode of test mode - * \ref CAN_TEST_TX0_Msk / \ref CAN_TEST_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 pointer to CAN module base address. - * @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 pointer to CAN module base address. - * @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 pointer to CAN module base address. - * @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_TEST_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); - - 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 pointer to CAN module base address. - * @param[in] pCanMsg Pointer to the message structure where received data is copied. - * - * @return FALSE No any message received. - * 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, include ID mask. - * @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: - * \ref CAN_STD_ID (standard ID, 11-bit) - * \ref 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_SetRxMsgObjAndMsk(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint32_t u32idmask, uint8_t u8singleOrFifoLast) -{ - uint8_t u8MsgIfNum; - - /* Get and lock a free interface */ - if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) - 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].MASK1 = (u32idmask & 0xFFFF); - tCAN->IF[u8MsgIfNum].MASK2 = (u32idmask >> 16) & 0xFFFF; - - //tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; - 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; - ReleaseIF(tCAN, u8MsgIfNum); - - return TRUE; -} - -/** - * @brief Set Rx message object - * @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: - * \ref CAN_STD_ID (standard ID, 11-bit) - * \ref 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; - - /* Get and lock a free interface */ - if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) - 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; - 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; - ReleaseIF(tCAN, u8MsgIfNum); - - return TRUE; -} - -/** - * @brief Gets the message - * @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[in] 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) -{ - uint8_t u8MsgIfNum; - - if(!CAN_IsNewDataReceived(tCAN, u8MsgObj)) - return FALSE; - - /* Get and lock a free interface */ - if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) - return FALSE; - - tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk); - - /* read the message contents*/ - tCAN->IF[u8MsgIfNum].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[u8MsgIfNum].CREQ = 1 + u8MsgObj; - - while(tCAN->IF[u8MsgIfNum].CREQ & CAN_IF_CREQ_BUSY_Msk) - { - /*Wait*/ - } - - if((tCAN->IF[u8MsgIfNum].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) - { - /* standard ID*/ - pCanMsg->IdType = CAN_STD_ID; - pCanMsg->Id = (tCAN->IF[u8MsgIfNum].ARB2 & CAN_IF_ARB2_ID_Msk) >> 2; - } - else - { - /* extended ID*/ - pCanMsg->IdType = CAN_EXT_ID; - pCanMsg->Id = (((tCAN->IF[u8MsgIfNum].ARB2) & 0x1FFF) << 16) | tCAN->IF[u8MsgIfNum].ARB1; - } - - pCanMsg->DLC = tCAN->IF[u8MsgIfNum].MCON & CAN_IF_MCON_DLC_Msk; - pCanMsg->Data[0] = tCAN->IF[u8MsgIfNum].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk; - pCanMsg->Data[1] = (tCAN->IF[u8MsgIfNum].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos; - pCanMsg->Data[2] = tCAN->IF[u8MsgIfNum].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk; - pCanMsg->Data[3] = (tCAN->IF[u8MsgIfNum].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos; - pCanMsg->Data[4] = tCAN->IF[u8MsgIfNum].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk; - pCanMsg->Data[5] = (tCAN->IF[u8MsgIfNum].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos; - pCanMsg->Data[6] = tCAN->IF[u8MsgIfNum].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk; - pCanMsg->Data[7] = (tCAN->IF[u8MsgIfNum].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos; - - ReleaseIF(tCAN, u8MsgIfNum); - return TRUE; -} - -/// @endcond HIDDEN_SYMBOLS - - -/** - * @brief Set bus baud-rate. - * - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz. - * - * @return u32CurrentBitRate Real baud-rate value. - * - * @details The function is used to set bus timing parameter according current clock and target baud-rate. - */ -uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate) -{ - uint8_t u8Tseg1, u8Tseg2; - uint32_t u32Brp; - uint32_t u32Value; - - CAN_EnterInitMode(tCAN, 0); - SystemCoreClockUpdate(); - u32Value = SystemCoreClock / u32BaudRate; - -#if 0 - u8Tseg1 = 2; - u8Tseg2 = 1; - while(1) - { - if(((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0)) - break; - if(u8Tseg1 < 7) - u8Tseg2++; - - if((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) - break; - if(u8Tseg1 < 15) - u8Tseg1++; - else - { - u8Tseg1 = 2; - u8Tseg2 = 1; - break; - } - } -#else - - /* Fix for most standard baud rates, include 125K */ - - u8Tseg1 = 3; - u8Tseg2 = 2; - while(1) - { - if(((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) | (u8Tseg1 >= 15)) - break; - - u8Tseg1++; - - if((u32Value % (u8Tseg1 + u8Tseg2 + 3)) == 0) - break; - - if(u8Tseg2 < 7) - u8Tseg2++; - } -#endif - 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 pointer to CAN module base address. - * - * @return None - * - * @details No Status Change Interrupt and Error Status Interrupt will be generated. - */ -void CAN_Close(CAN_T *tCAN) -{ - CAN_DisableInt(tCAN, (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)); -} - -/** - * @brief Set CAN operation mode and target baud-rate. - * - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz. - * @param[in] u32Mode The CAN operation mode. Valid values are: - * - \ref CAN_NORMAL_MODE Normal operation. - * - \ref CAN_BASIC_MODE Basic mode. - * @return u32CurrentBitRate Real baud-rate value. - * - * @details Set bus timing parameter according current clock and target baud-rate. - * In Basic mode, IF1 Registers used as Tx Buffer, IF2 Registers used as Rx Buffer. - */ -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 pointer to CAN module base address. - * @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. - * - * @retval FALSE No useful interface. - * @retval TRUE Config message object success. - * - * @details The two sets of interface registers (IF1 and IF2) control the software access to the Message RAM. - * They buffer the data to be transferred to and from the RAM, avoiding conflicts between software accesses and message reception/transmission. - */ -int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg) -{ - uint8_t u8MsgIfNum; - - if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) - return FALSE; - - /* update the contents needed for transmission*/ - 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(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; - - ReleaseIF(tCAN, u8MsgIfNum); - return TRUE; -} - -/** - * @brief Set transmit request bit. - * - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. - * - * @return TRUE: Start transmit message. - * - * @details If a transmission is requested by programming bit TxRqst/NewDat (IFn_CMASK[2]), the TxRqst (IFn_MCON[8]) will be ignored. - */ -int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum) -{ - uint8_t u8MsgIfNum; - - if((u8MsgIfNum = LockIF_TL(tCAN)) == 2) - return FALSE; - - tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk); - - /* read the message contents*/ - tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk - | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; - - tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum; - - while(tCAN->IF[u8MsgIfNum].CREQ & CAN_IF_CREQ_BUSY_Msk) - { - /*Wait*/ - } - tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; - tCAN->IF[u8MsgIfNum].CREQ = 1 + u32MsgNum; - - ReleaseIF(tCAN, u8MsgIfNum); - return TRUE; -} - -/** - * @brief Enable CAN interrupt. - * - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] u32Mask Interrupt Mask. Valid values are: - * - \ref CAN_CON_IE_Msk Module interrupt enable. - * - \ref CAN_CON_SIE_Msk Status change interrupt enable. - * - \ref CAN_CON_EIE_Msk Error interrupt enable. - * - * @return None - * - * @details The application software has two possibilities to follow the source of a message interrupt. - * First, it can follow the IntId in the Interrupt Register and second it can poll the Interrupt Pending Register. - */ -void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask) -{ - tCAN->CON = (tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)) | - (u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)); -} - -/** - * @brief Disable CAN interrupt. - * - * @param[in] tCAN The pointer to CAN module base address. - * @param[in] u32Mask Interrupt Mask. (CAN_CON_IE_Msk / CAN_CON_SIE_Msk / CAN_CON_EIE_Msk). - * - * @return None - * - * @details The interrupt remains active until the Interrupt Register is back to value zero (the cause of the interrupt is reset) or until IE is reset. - */ -void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask) -{ - tCAN->CON = tCAN->CON & ~((u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk))); -} - - -/** - * @brief The function is used to configure a receive message object. - * - * @param[in] tCAN The pointer to CAN module base address. - * @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. Valid values are: - * - \ref CAN_STD_ID The 11-bit identifier. - * - \ref CAN_EXT_ID The 29-bit identifier. - * @param[in] u32ID Specifies the identifier used for acceptance filtering. - * - * @retval FALSE No useful interface. - * @retval TRUE Configure a receive message object success. - * - * @details If the RxIE bit (CAN_IFn_MCON[10]) is set, the IntPnd bit (CAN_IFn_MCON[13]) - * will be set when a received Data Frame is accepted and stored in the Message Object. - */ -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) - { - if(++u32TimeOutCount >= RETRY_COUNTS) return FALSE; - } - - return TRUE; -} - -/** - * @brief The function is used to configure a receive message object. - * - * @param[in] tCAN The pointer to CAN module base address. - * @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. Valid values are: - * - \ref CAN_STD_ID The 11-bit identifier. - * - \ref CAN_EXT_ID The 29-bit identifier. - * @param[in] u32ID Specifies the identifier used for acceptance filtering. - * @param[in] u32IDMask Specifies the identifier mask used for acceptance filtering. - * - * @retval FALSE No useful interface. - * @retval TRUE Configure a receive message object success. - * - * @details If the RxIE bit (CAN_IFn_MCON[10]) is set, the IntPnd bit (CAN_IFn_MCON[13]) - * will be set when a received Data Frame is accepted and stored in the Message Object. - */ -int32_t CAN_SetRxMsgAndMsk(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID, uint32_t u32IDMask) -{ - uint32_t u32TimeOutCount = 0; - - while(CAN_SetRxMsgObjAndMsk(tCAN, u32MsgNum, u32IDType, u32ID, u32IDMask, TRUE) == FALSE) - { - if(++u32TimeOutCount >= RETRY_COUNTS) return FALSE; - } - - return TRUE; -} - -/** - * @brief The function is used to configure several receive message objects. - * - * @param[in] tCAN The pointer to CAN module base address. - * @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. Valid values are: - * - \ref CAN_STD_ID The 11-bit identifier. - * - \ref CAN_EXT_ID The 29-bit identifier. - * @param[in] u32ID Specifies the identifier used for acceptance filtering. - * - * @retval FALSE No useful interface. - * @retval TRUE Configure receive message objects success. - * - * @details The Interface Registers avoid conflict between the CPU accesses to the Message RAM and CAN message reception - * and transmission by buffering the data to be transferred. - */ -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) - { - if(++u32TimeOutCount >= RETRY_COUNTS) return FALSE; - } - } - - return TRUE; -} - - -/** - * @brief Send CAN message. - * @param[in] tCAN The pointer to CAN module base address. - * @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. - * - * @retval FALSE 1. When operation in basic mode: Transmit message time out. \n - * 2. When operation in normal mode: No useful interface. \n - * @retval TRUE Transmit Message success. - * - * @details The receive/transmit priority for the Message Objects is attached to the message number. - * Message Object 1 has the highest priority, while Message Object 32 has the lowest priority. - */ -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 pointer to CAN module base address. - * @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. - * - * @retval FALSE No any message received. - * @retval TRUE Receive Message success. - * - * @details The Interface Registers avoid conflict between the CPU accesses to the Message RAM and CAN message reception - * and transmission by buffering the data to be transferred. - */ -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 pointer to CAN module base address. - * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. - * - * @return None - * - * @details An interrupt remains pending until the application software has cleared it. - */ -void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum) -{ - uint32_t u32MsgIfNum; - - if((u32MsgIfNum = LockIF_TL(tCAN)) == 2) - u32MsgIfNum = 0; - - tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; - tCAN->IF[u32MsgIfNum].CREQ = 1 + u32MsgNum; - - ReleaseIF(tCAN, u32MsgIfNum); -} - - -/*@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */ - -/*@}*/ /* end of group CAN_Driver */ - -/*@}*/ /* end of group Standard_Driver */ - -/*** (C) COPYRIGHT 2014~2015 Nuvoton Technology Corp. ***/ -