Igor Skochinsky
NXP's driver library for LPC17xx, ported to mbed's online compiler. Not tested! I had to fix a lot of warings and found a couple of pretty obvious bugs, so the chances are there are more. Original: http://ics.nxp.com/support/documents/microcontrollers/zip/lpc17xx.cmsis.driver.library.zip
Diff: source/lpc17xx_can.c
- Revision:
- 0:1063a091a062
diff -r 000000000000 -r 1063a091a062 source/lpc17xx_can.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/source/lpc17xx_can.c Wed Feb 17 16:22:39 2010 +0000
@@ -0,0 +1,1921 @@
+/**
+ * @file : lpc17xx_can.c
+ * @brief : Contains all functions support for CAN firmware library on LPC17xx
+ * @version : 1.0
+ * @date : 1.June.2009
+ * @author : NguyenCao
+ **************************************************************************
+ * Software that is described herein is for illustrative purposes only
+ * which provides customers with programming information regarding the
+ * products. This software is supplied "AS IS" without any warranties.
+ * NXP Semiconductors assumes no responsibility or liability for the
+ * use of the software, conveys no license or title under any patent,
+ * copyright, or mask work right to the product. NXP Semiconductors
+ * reserves the right to make changes in the software without
+ * notification. NXP Semiconductors also make no representation or
+ * warranty that such application will be suitable for the specified
+ * use without further testing or modification.
+ **********************************************************************/
+
+/* Peripheral group ----------------------------------------------------------- */
+/** @addtogroup CAN
+ * @{
+ */
+
+/* Includes ------------------------------------------------------------------- */
+#include "lpc17xx_can.h"
+#include "lpc17xx_clkpwr.h"
+
+/* If this source file built with example, the LPC17xx FW library configuration
+ * file in each example directory ("lpc17xx_libcfg.h") must be included,
+ * otherwise the default FW library configuration file must be included instead
+ */
+#ifdef __BUILD_WITH_EXAMPLE__
+#include "lpc17xx_libcfg.h"
+#else
+#include "lpc17xx_libcfg_default.h"
+#endif /* __BUILD_WITH_EXAMPLE__ */
+
+
+#ifdef _CAN
+
+/* Private Variables ---------------------------------------------------------- */
+/** @defgroup CAN_Private_Variables
+ * @{
+ */
+
+FunctionalState FULLCAN_ENABLE;
+
+//use for debugging
+LPC_CAN_TypeDef *CAN1x = LPC_CAN1;
+LPC_CAN_TypeDef *CAN2x = LPC_CAN2;
+LPC_CANAF_RAM_TypeDef *CANAFRAMx = LPC_CANAF_RAM;
+LPC_CANAF_TypeDef *CANAFx = LPC_CANAF;
+
+/* Values of bit time register for different baudrates
+ NT = Nominal bit time = TSEG1 + TSEG2 + 3
+ SP = Sample point = ((TSEG2 +1) / (TSEG1 + TSEG2 + 3)) * 100%
+ SAM, SJW, TSEG1, TSEG2, NT, SP */
+const uint32_t CAN_BIT_TIME[] ={0, /* not used */
+0, /* not used */
+0, /* not used */
+0, /* not used */
+0x0001C000, /* 0+1, 3+1, 1+1, 0+1, 4, 75% */
+0, /* not used */
+0x0012C000, /* 0+1, 3+1, 2+1, 1+1, 6, 67% */
+0, /* not used */
+0x0023C000, /* 0+1, 3+1, 3+1, 2+1, 8, 63% */
+0, /* not used */
+0x0025C000, /* 0+1, 3+1, 5+1, 2+1, 10, 70% */
+0, /* not used */
+0x0036C000, /* 0+1, 3+1, 6+1, 3+1, 12, 67% */
+0, /* not used */
+0, /* not used */
+0x0048C000, /* 0+1, 3+1, 8+1, 4+1, 15, 67% */
+0x0049C000, /* 0+1, 3+1, 9+1, 4+1, 16, 69% */
+};
+
+/* Counts number of filters (CAN message objects) used */
+uint16_t CANAF_FullCAN_cnt = 0;
+uint16_t CANAF_std_cnt = 0;
+uint16_t CANAF_gstd_cnt = 0;
+uint16_t CANAF_ext_cnt = 0;
+uint16_t CANAF_gext_cnt = 0;
+
+static fnCANCbs_Type* _apfnCANCbs[12]={
+ NULL, //CAN Recieve Call-back funtion pointer
+ NULL, //CAN Transmit1 Call-back funtion pointer
+ NULL, //CAN Error Warning Call-back function pointer
+ NULL, //CAN Data Overrun Call-back function pointer
+ NULL, //CAN Wake-up Call-back funtion pointer
+ NULL, //CAN Error Passive Call-back function pointer
+ NULL, //CAN Arbitration Lost Call-back function pointer
+ NULL, //CAN Bus Error Call-back function pointer
+ NULL, //CAN ID Ready Call-back function pointer
+ NULL, //CAN Transmit2 Call-back function pointer
+ NULL, //CAN Transmit3 Call-back function pointer
+ NULL //FullCAN Receive Call-back function pointer
+};
+
+/**
+ * @}
+ */
+
+
+/* Public Functions ----------------------------------------------------------- */
+/** @addtogroup CAN_Public_Functions
+ * @{
+ */
+
+
+/*********************************************************************//**
+ * @brief Setting CAN baud rate (bps)
+ * @param[in] CANx point to LPC_CAN_TypeDef object, should be:
+ * - CAN1
+ * - CAN2
+ * @param[in] baudrate is the baud rate value will be set
+ * @return None
+ ***********************************************************************/
+void CAN_SetBaudRate (LPC_CAN_TypeDef *CANx, uint32_t baudrate)
+{
+ uint32_t nominal_time;
+ uint32_t result = 0;
+ uint32_t CANPclk = 0;
+
+ CHECK_PARAM(PARAM_CANx(CANx));
+
+ if (CANx == LPC_CAN1)
+ {
+ CANPclk = CLKPWR_GetPCLK (CLKPWR_PCONP_PCAN1);
+ }
+ else
+ {
+ CANPclk = CLKPWR_GetPCLK (CLKPWR_PCONP_PCAN2);
+ }
+ /* Determine which nominal time to use for PCLK and baudrate */
+ if (baudrate <= 500000)
+ {
+ nominal_time = 12;
+ }
+ else if (((CANPclk / 1000000) % 15) == 0)
+ {
+ nominal_time = 15;
+ }
+ else if (((CANPclk / 1000000) % 16) == 0)
+ {
+ nominal_time = 16;
+ }
+ else
+ {
+ nominal_time = 10;
+ }
+
+ /* Prepare value appropriate for bit time register */
+ result = (CANPclk / nominal_time) / baudrate - 1;
+ result &= 0x000003FF;
+ result |= CAN_BIT_TIME[nominal_time];
+
+ /* Enter reset mode */
+ CANx->MOD = 0x01;
+ /* Set bit timing */
+ CANx->BTR = result;
+
+ /* Return to normal operating */
+ CANx->MOD = 0;
+}
+
+/********************************************************************//**
+ * @brief Initialize CAN peripheral with given baudrate
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] baudrate: the value of CAN baudrate will be set (bps)
+ * @return void
+ *********************************************************************/
+void CAN_Init(LPC_CAN_TypeDef *CANx, uint32_t baudrate)
+{
+ uint32_t temp;
+ uint16_t i;
+ CHECK_PARAM(PARAM_CANx(CANx));
+
+ if(CANx == LPC_CAN1)
+ {
+ /* Turn on power and clock for CAN1 */
+ CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, ENABLE);
+ /* Set clock divide for CAN1 */
+ CLKPWR_SetPCLKDiv (CLKPWR_PCONP_PCAN1, CLKPWR_PCLKSEL_CCLK_DIV_4);
+ }
+ else
+ {
+ /* Turn on power and clock for CAN1 */
+ CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, ENABLE);
+ /* Set clock divide for CAN2 */
+ CLKPWR_SetPCLKDiv (CLKPWR_PCONP_PCAN2, CLKPWR_PCLKSEL_CCLK_DIV_4);
+ }
+
+ CANx->MOD = 1; // Enter Reset Mode
+ CANx->IER = 0; // Disable All CAN Interrupts
+ CANx->GSR = 0;
+ /* Request command to release Rx, Tx buffer and clear data overrun */
+ //CANx->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO;
+ CANx->CMR = (1<<1)|(1<<2)|(1<<3);
+ /* Read to clear interrupt pending in interrupt capture register */
+ temp = CANx->ICR;
+ // shut up the compiler
+ (void)temp;
+ CANx->MOD = 0;// Return Normal operating
+
+ //Reset CANAF value
+ LPC_CANAF->AFMR = 0x01;
+
+ //clear ALUT RAM
+ for (i = 0; i < 512; i++) {
+ LPC_CANAF_RAM->mask[i] = 0x00;
+ }
+
+ LPC_CANAF->SFF_sa = 0x00;
+ LPC_CANAF->SFF_GRP_sa = 0x00;
+ LPC_CANAF->EFF_sa = 0x00;
+ LPC_CANAF->EFF_GRP_sa = 0x00;
+ LPC_CANAF->ENDofTable = 0x00;
+
+ LPC_CANAF->AFMR = 0x00;
+ /* Set baudrate */
+ CAN_SetBaudRate (CANx, baudrate);
+}
+/********************************************************************//**
+ * @brief CAN deInit
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @return void
+ *********************************************************************/
+void CAN_DeInit(LPC_CAN_TypeDef *CANx)
+{
+ CHECK_PARAM(PARAM_CANx(CANx));
+
+ if(CANx == LPC_CAN1)
+ {
+ /* Turn on power and clock for CAN1 */
+ CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, DISABLE);
+ }
+ else
+ {
+ /* Turn on power and clock for CAN1 */
+ CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, DISABLE);
+ }
+}
+/********************************************************************//**
+ * @brief Setup Acceptance Filter Look-Up Table
+ * @param[in] CANAFx pointer to LPC_CANAF_TypeDef, should be: CANAF
+ * @param[in] AFSection the pointer to AF_SectionDef struct
+ * It contain information about 5 sections will be install in AFLUT
+ * @return CAN Error could be:
+ * - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
+ * - CAN_AF_ENTRY_ERROR: table error-violation of ascending numerical order
+ * - CAN_OK: ID is added into table successfully
+ *********************************************************************/
+CAN_ERROR CAN_SetupAFLUT(LPC_CANAF_TypeDef* CANAFx, AF_SectionDef* AFSection)
+{
+ uint8_t ctrl1,ctrl2;
+ uint8_t dis1, dis2;
+ uint16_t SID, SID_temp,i, count = 0;
+ uint32_t EID, EID_temp, entry, buf;
+ uint16_t lowerSID, upperSID;
+ uint32_t lowerEID, upperEID;
+
+ CHECK_PARAM(PARAM_CANAFx(CANAFx));
+ CANAFx->AFMR = 0x01;
+
+/***** setup FullCAN Table *****/
+ if(AFSection->FullCAN_Sec == NULL)
+ {
+ FULLCAN_ENABLE = DISABLE;
+ }
+ else
+ {
+ FULLCAN_ENABLE = ENABLE;
+ for(i=0;i<(AFSection->FC_NumEntry);i++)
+ {
+ if(count + 1 > 64)
+ {
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ ctrl1 = AFSection->FullCAN_Sec->controller;
+ SID = AFSection->FullCAN_Sec->id_11;
+ dis1 = AFSection->FullCAN_Sec->disable;
+
+ CHECK_PARAM(PARAM_CTRL(ctrl1));
+ CHECK_PARAM(PARAM_ID_11(SID));
+ CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
+ entry = 0x00; //reset entry value
+ if((CANAF_FullCAN_cnt & 0x00000001)==0)
+ {
+ if(count!=0x00)
+ {
+ buf = LPC_CANAF_RAM->mask[count-1];
+ SID_temp = (buf & 0x000003FF);
+ if(SID_temp > SID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ }
+ entry = (ctrl1<<29)|(dis1<<28)|(SID<<16)|(1<<27);
+ LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
+ LPC_CANAF_RAM->mask[count] |= entry;
+ CANAF_FullCAN_cnt++;
+ }
+ else
+ {
+ buf = LPC_CANAF_RAM->mask[count];
+ SID_temp = (buf & 0x03FF0000)>>16;
+ if(SID_temp > SID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ entry = (ctrl1<<13)|(dis1<<12)|(SID<<0)|(1<<11);
+ LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
+ LPC_CANAF_RAM->mask[count]|= entry;
+ count++;
+ CANAF_FullCAN_cnt++;
+ }
+ AFSection->FullCAN_Sec = (FullCAN_Entry *)((uint32_t)(AFSection->FullCAN_Sec)+ sizeof(FullCAN_Entry));
+ }
+ }
+
+/***** Setup Explicit Standard Frame Format Section *****/
+ if(AFSection->SFF_Sec != NULL)
+ {
+ for(i=0;i<(AFSection->SFF_NumEntry);i++)
+ {
+ if(count + 1 > 512)
+ {
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ ctrl1 = AFSection->SFF_Sec->controller;
+ SID = AFSection->SFF_Sec->id_11;
+ dis1 = AFSection->SFF_Sec->disable;
+
+ //check parameter
+ CHECK_PARAM(PARAM_CTRL(ctrl1));
+ CHECK_PARAM(PARAM_ID_11(SID));
+ CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
+
+ entry = 0x00; //reset entry value
+ if((CANAF_std_cnt & 0x00000001)==0)
+ {
+ if(CANAF_std_cnt !=0 )
+ {
+ buf = LPC_CANAF_RAM->mask[count-1];
+ SID_temp = (buf & 0x00000FFF);
+ if(SID_temp > SID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ }
+ entry = (ctrl1<<29)|(dis1<<28)|(SID<<16);
+ LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
+ LPC_CANAF_RAM->mask[count] |= entry;
+ CANAF_std_cnt++;
+ }
+ else
+ {
+ buf = LPC_CANAF_RAM->mask[count];
+ SID_temp = (buf & 0x0FFF0000)>>16;
+ if(SID_temp > SID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ entry = (ctrl1<<13)|(dis1<<12)|(SID<<0);
+ LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
+ LPC_CANAF_RAM->mask[count] |= entry;
+ count++;
+ CANAF_std_cnt++;
+ }
+ AFSection->SFF_Sec = (SFF_Entry *)((uint32_t)(AFSection->SFF_Sec)+ sizeof(SFF_Entry));
+ }
+ }
+
+/***** Setup Group of Standard Frame Format Identifier Section *****/
+ if(AFSection->SFF_GPR_Sec != NULL)
+ {
+ for(i=0;i<(AFSection->SFF_GPR_NumEntry);i++)
+ {
+ if(count + 1 > 512)
+ {
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ ctrl1 = AFSection->SFF_GPR_Sec->controller1;
+ ctrl2 = AFSection->SFF_GPR_Sec->controller2;
+ dis1 = AFSection->SFF_GPR_Sec->disable1;
+ dis2 = AFSection->SFF_GPR_Sec->disable2;
+ lowerSID = AFSection->SFF_GPR_Sec->lowerID;
+ upperSID = AFSection->SFF_GPR_Sec->upperID;
+
+ /* check parameter */
+ CHECK_PARAM(PARAM_CTRL(ctrl1));
+ CHECK_PARAM(PARAM_CTRL(ctrl2));
+ CHECK_PARAM(PARAM_MSG_DISABLE(dis1));
+ CHECK_PARAM(PARAM_MSG_DISABLE(dis2));
+ CHECK_PARAM(PARAM_ID_11(lowerSID));
+ CHECK_PARAM(PARAM_ID_11(upperSID));
+
+ entry = 0x00;
+ if(CANAF_gstd_cnt!=0)
+ {
+ buf = LPC_CANAF_RAM->mask[count-1];
+ SID_temp = buf & 0x00000FFF;
+ if(SID_temp > lowerSID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ }
+ entry = (ctrl1 << 29)|(dis1 << 28)|(lowerSID << 16)| \
+ (ctrl2 << 13)|(dis2 << 12)|(upperSID << 0);
+ LPC_CANAF_RAM->mask[count] = entry;
+ CANAF_gstd_cnt++;
+ count++;
+ AFSection->SFF_GPR_Sec = (SFF_GPR_Entry *)((uint32_t)(AFSection->SFF_GPR_Sec)+ sizeof(SFF_GPR_Entry));
+ }
+ }
+
+/***** Setup Explicit Extend Frame Format Identifier Section *****/
+ if(AFSection->EFF_Sec != NULL)
+ {
+ for(i=0;i<(AFSection->EFF_NumEntry);i++)
+ {
+ if(count + 1 > 512)
+ {
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ EID = AFSection->EFF_Sec->ID_29;
+ ctrl1 = AFSection->EFF_Sec->controller;
+
+ // check parameter
+ CHECK_PARAM(PARAM_ID_29(EID));
+ CHECK_PARAM(PARAM_CTRL(ctrl1));
+
+ entry = 0x00; //reset entry value
+ if(CANAF_ext_cnt != 0)
+ {
+ buf = LPC_CANAF_RAM->mask[count-1];
+ EID_temp = buf & 0x0FFFFFFF;
+ if(EID_temp > EID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ }
+ entry = (ctrl1 << 29)|(EID << 0);
+ LPC_CANAF_RAM->mask[count] = entry;
+ CANAF_ext_cnt ++;
+ count++;
+ AFSection->EFF_Sec = (EFF_Entry *)((uint32_t)(AFSection->EFF_Sec)+ sizeof(EFF_Entry));
+ }
+ }
+
+/***** Setup Group of Extended Frame Format Identifier Section *****/
+ if(AFSection->EFF_GPR_Sec != NULL)
+ {
+ for(i=0;i<(AFSection->EFF_GPR_NumEntry);i++)
+ {
+ if(count + 2 > 512)
+ {
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ ctrl1 = AFSection->EFF_GPR_Sec->controller1;
+ ctrl2 = AFSection->EFF_GPR_Sec->controller2;
+ lowerEID = AFSection->EFF_GPR_Sec->lowerEID;
+ upperEID = AFSection->EFF_GPR_Sec->upperEID;
+
+ //check parameter
+ CHECK_PARAM(PARAM_CTRL(ctrl1));
+ CHECK_PARAM(PARAM_CTRL(ctrl2));
+ CHECK_PARAM(PARAM_ID_29(lowerEID));
+ CHECK_PARAM(PARAM_ID_29(upperEID));
+
+ entry = 0x00;
+ if(CANAF_gext_cnt != 0)
+ {
+ buf = LPC_CANAF_RAM->mask[count-1];
+ EID_temp = buf & 0x0FFFFFFF;
+ if(EID_temp > lowerEID)
+ {
+ return CAN_AF_ENTRY_ERROR;
+ }
+ }
+ entry = (ctrl1 << 29)|(lowerEID << 0);
+ LPC_CANAF_RAM->mask[count++] = entry;
+ entry = (ctrl2 << 29)|(upperEID << 0);
+ LPC_CANAF_RAM->mask[count++] = entry;
+ CANAF_gext_cnt++;
+ AFSection->EFF_GPR_Sec = (EFF_GPR_Entry *)((uint32_t)(AFSection->EFF_GPR_Sec)+ sizeof(EFF_GPR_Entry));
+ }
+ }
+ //update address values
+ LPC_CANAF->SFF_sa = ((CANAF_FullCAN_cnt + 1)>>1)<<2;
+ LPC_CANAF->SFF_GRP_sa = LPC_CANAF->SFF_sa + (((CANAF_std_cnt+1)>>1)<< 2);
+ LPC_CANAF->EFF_sa = LPC_CANAF->SFF_GRP_sa + (CANAF_gstd_cnt << 2);
+ LPC_CANAF->EFF_GRP_sa = LPC_CANAF->EFF_sa + (CANAF_ext_cnt << 2);
+ LPC_CANAF->ENDofTable = LPC_CANAF->EFF_GRP_sa + (CANAF_gext_cnt << 3);
+
+ if(FULLCAN_ENABLE == DISABLE)
+ {
+ LPC_CANAF->AFMR = 0x00; // Normal mode
+ }
+ else
+ {
+ LPC_CANAF->AFMR = 0x04;
+ }
+ return CAN_OK;
+}
+/********************************************************************//**
+ * @brief Add Explicit ID into AF Look-Up Table dynamically.
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] id: The ID of entry will be added
+ * @param[in] format: is the type of ID Frame Format, should be:
+ * - STD_ID_FORMAT: 11-bit ID value
+ * - EXT_ID_FORMAT: 29-bit ID value
+ * @return CAN Error, could be:
+ * - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
+ * - CAN_ID_EXIT_ERROR: ID exited in table
+ * - CAN_OK: ID is added into table successfully
+ *********************************************************************/
+CAN_ERROR CAN_LoadExplicitEntry(LPC_CAN_TypeDef* CANx, uint32_t id, CAN_ID_FORMAT_Type format)
+{
+ uint32_t tmp0 = 0;
+ uint32_t buf0=0, buf1=0;
+ int16_t cnt1=0, cnt2=0, bound1=0, total=0;
+
+
+ CHECK_PARAM(PARAM_CANx(CANx));
+ CHECK_PARAM(PARAM_ID_FORMAT(format));
+
+ if (CANx == LPC_CAN1)
+ {
+ tmp0 = 0;
+ }
+ else if (CANx == LPC_CAN2)
+ {
+ tmp0 = 1;
+ }
+
+ /* Acceptance Filter Memory full - return */
+ total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
+ if (total >= 512){ //don't have enough space
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+
+ /* Setup Acceptance Filter Configuration
+ Acceptance Filter Mode Register = Off */
+ LPC_CANAF->AFMR = 0x00000001;
+
+/*********** Add Explicit Standard Identifier Frame Format entry *********/
+ if(format == STD_ID_FORMAT)
+ {
+ id &= 0x07FF;
+ id |= (tmp0 << 13); /* Add controller number */
+ /* Move all remaining sections one place up
+ if new entry will increase FullCAN list */
+ if ((CANAF_std_cnt & 0x0001) == 0)
+ {
+ cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1);
+ bound1 = total - cnt1;
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ while(bound1--)
+ {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ buf0 = buf1;
+ }
+ }
+ if (CANAF_std_cnt == 0)
+ {
+ cnt2 = (CANAF_FullCAN_cnt + 1)>>1;
+ /* For entering first ID */
+ LPC_CANAF_RAM->mask[cnt2] = 0x0000FFFF | (id << 16);
+ }
+ else if (CANAF_std_cnt == 1)
+ {
+ cnt2 = (CANAF_FullCAN_cnt + 1)>>1;
+ /* For entering second ID */
+ if ((LPC_CANAF_RAM->mask[cnt2] >> 16) > id)
+ {
+ LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] >> 16) | (id << 16);
+ }
+ else
+ {
+ LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] & 0xFFFF0000) | id;
+ }
+ }
+ else
+ {
+ /* Find where to insert new ID */
+ cnt1 = (CANAF_FullCAN_cnt+1)>>1;
+ cnt2 = CANAF_std_cnt;
+ bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1);
+ while (cnt1 < bound1)
+ {
+ /* Loop through standard existing IDs */
+ if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id)
+ {
+ cnt2 = cnt1 * 2;
+ break;
+ }
+
+ if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id)
+ {
+ cnt2 = cnt1 * 2 + 1;
+ break;
+ }
+
+ cnt1++;
+ }
+ /* cnt1 = U32 where to insert new ID */
+ /* cnt2 = U16 where to insert new ID */
+
+ if (cnt1 == bound1)
+ {
+ /* Adding ID as last entry */
+ /* Even number of IDs exists */
+ if ((CANAF_std_cnt & 0x0001) == 0)
+ {
+ LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
+ }
+ /* Odd number of IDs exists */
+ else
+ {
+ LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
+ }
+ }
+ else
+ {
+ buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
+ if ((cnt2 & 0x0001) == 0)
+ {
+ /* Insert new mask to even address*/
+ buf1 = (id << 16) | (buf0 >> 16);
+ }
+ else
+ {
+ /* Insert new mask to odd address */
+ buf1 = (buf0 & 0xFFFF0000) | id;
+ }
+ LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */
+ bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1)-1;
+ /* Move all remaining standard mask entries one place up */
+ while (cnt1 < bound1)
+ {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
+ buf0 = buf1;
+ }
+
+ if ((CANAF_std_cnt & 0x0001) == 0)
+ {
+ /* Even number of IDs exists */
+ LPC_CANAF_RAM->mask[cnt1+1] = (buf0 <<16) |(0x0000FFFF);
+ }
+ }
+ }
+ CANAF_std_cnt++;
+ //update address values
+ LPC_CANAF->SFF_GRP_sa +=0x04 ;
+ LPC_CANAF->EFF_sa +=0x04 ;
+ LPC_CANAF->EFF_GRP_sa +=0x04;
+ LPC_CANAF->ENDofTable +=0x04;
+ }
+
+/*********** Add Explicit Extended Identifier Frame Format entry *********/
+ else
+ {
+ /* Add controller number */
+ id |= (tmp0) << 29;
+
+ cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+(((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt);
+ cnt2 = 0;
+ while (cnt2 < CANAF_ext_cnt)
+ {
+ /* Loop through extended existing masks*/
+ if (LPC_CANAF_RAM->mask[cnt1] > id)
+ {
+ break;
+ }
+ cnt1++;/* cnt1 = U32 where to insert new mask */
+ cnt2++;
+ }
+
+ buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
+ LPC_CANAF_RAM->mask[cnt1] = id; /* Insert mask */
+
+ CANAF_ext_cnt++;
+
+ bound1 = total;
+ /* Move all remaining extended mask entries one place up*/
+ while (cnt2 < bound1)
+ {
+ cnt1++;
+ cnt2++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ buf0 = buf1;
+ }
+ /* update address values */
+ LPC_CANAF->EFF_GRP_sa += 4;
+ LPC_CANAF->ENDofTable += 4;
+ }
+ if(CANAF_FullCAN_cnt == 0) //not use FullCAN mode
+ {
+ LPC_CANAF->AFMR = 0x00;//not use FullCAN mode
+ }
+ else
+ {
+ LPC_CANAF->AFMR = 0x04;
+ }
+
+ return CAN_OK;
+}
+
+/********************************************************************//**
+ * @brief Load FullCAN entry into AFLUT
+ * @param[in] CANx: CAN peripheral selected, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] id: identifier of entry that will be added
+ * @return CAN_ERROR, could be:
+ * - CAN_OK: loading is successful
+ * - CAN_ID_EXIT_ERROR: ID exited in FullCAN Section
+ * - CAN_OBJECTS_FULL_ERROR: no more space available
+ *********************************************************************/
+CAN_ERROR CAN_LoadFullCANEntry (LPC_CAN_TypeDef* CANx, uint16_t id)
+{
+ uint32_t ctrl0 = 0;
+ uint32_t buf0=0, buf1=0, buf2=0;
+ uint32_t tmp0=0, tmp1=0, tmp2=0;
+ int16_t cnt1=0, cnt2=0, bound1=0, total=0;
+
+ CHECK_PARAM(PARAM_CANx(CANx));
+
+ if (CANx == LPC_CAN1)
+ {
+ ctrl0 = 0;
+ }
+ else if (CANx == LPC_CAN2)
+ {
+ ctrl0 = 1;
+ }
+
+ /* Acceptance Filter Memory full - return */
+ total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
+ //don't have enough space for this fullCAN Entry and its Object(3*32 bytes)
+ if ((total >=508)||(CANAF_FullCAN_cnt>=64)){
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ /* Setup Acceptance Filter Configuration
+ Acceptance Filter Mode Register = Off */
+ LPC_CANAF->AFMR = 0x00000001;
+
+ /* Add mask for standard identifiers */
+ id &= 0x07FF;
+ id |= (ctrl0 << 13) | (1 << 11); /* Add controller number */
+// total = ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
+ /* Move all remaining sections one place up
+ if new entry will increase FullCAN list */
+ if (((CANAF_FullCAN_cnt & 0x0001) == 0)&&(total!=0))
+ {
+ //then remove remaining section
+ cnt1 = (CANAF_FullCAN_cnt >> 1);
+ bound1 = total;
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+
+ while (bound1--)
+ {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ buf0 = buf1;
+ }
+ }
+ if (CANAF_FullCAN_cnt == 0)
+ {
+ /* For entering first ID */
+ LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
+ }
+ else if (CANAF_FullCAN_cnt == 1)
+ {
+ /* For entering second ID */
+ if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
+ {
+ LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
+ }
+ else
+ {
+ LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
+ }
+ }
+ else
+ {
+ /* Find where to insert new ID */
+ cnt1 = 0;
+ cnt2 = CANAF_FullCAN_cnt;
+ bound1 = (CANAF_FullCAN_cnt - 1) >> 1;
+ while (cnt1 <= bound1)
+ {
+ /* Loop through standard existing IDs */
+ if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id)
+ {
+ cnt2 = cnt1 * 2;
+ break;
+ }
+
+ if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id)
+ {
+ cnt2 = cnt1 * 2 + 1;
+ break;
+ }
+
+ cnt1++;
+ }
+ /* cnt1 = U32 where to insert new ID */
+ /* cnt2 = U16 where to insert new ID */
+
+ if (cnt1 > bound1)
+ {
+ /* Adding ID as last entry */
+ /* Even number of IDs exists */
+ if ((CANAF_FullCAN_cnt & 0x0001) == 0)
+ {
+ LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
+ }
+ /* Odd number of IDs exists */
+ else
+ {
+ LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
+ }
+ }
+ else
+ {
+ buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
+ if ((cnt2 & 0x0001) == 0)
+ {
+ /* Insert new mask to even address*/
+ buf1 = (id << 16) | (buf0 >> 16);
+ }
+ else
+ {
+ /* Insert new mask to odd address */
+ buf1 = (buf0 & 0xFFFF0000) | id;
+ }
+ LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */
+ bound1 = CANAF_FullCAN_cnt >> 1;
+ /* Move all remaining standard mask entries one place up */
+ while (cnt1 < bound1)
+ {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
+ buf0 = buf1;
+ }
+
+ if ((CANAF_FullCAN_cnt & 0x0001) == 0)
+ {
+ /* Even number of IDs exists */
+ LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000)
+ | (0x0000FFFF);
+ }
+ }
+ }
+ //restruct FulCAN Object Section
+ bound1 = CANAF_FullCAN_cnt - cnt2;
+ cnt1 = total - (CANAF_FullCAN_cnt)*3 + cnt2*3 + 1;
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ buf1 = LPC_CANAF_RAM->mask[cnt1+1];
+ buf2 = LPC_CANAF_RAM->mask[cnt1+2];
+ LPC_CANAF_RAM->mask[cnt1]=LPC_CANAF_RAM->mask[cnt1+1]= LPC_CANAF_RAM->mask[cnt1+2]=0x00;
+ cnt1+=3;
+ while(bound1--)
+ {
+ tmp0 = LPC_CANAF_RAM->mask[cnt1];
+ tmp1 = LPC_CANAF_RAM->mask[cnt1+1];
+ tmp2 = LPC_CANAF_RAM->mask[cnt1+2];
+ LPC_CANAF_RAM->mask[cnt1]= buf0;
+ LPC_CANAF_RAM->mask[cnt1+1]= buf1;
+ LPC_CANAF_RAM->mask[cnt1+2]= buf2;
+ buf0 = tmp0;
+ buf1 = tmp1;
+ buf2 = tmp2;
+ cnt1+=3;
+ }
+ CANAF_FullCAN_cnt++;
+ //update address values
+ LPC_CANAF->SFF_sa +=0x04;
+ LPC_CANAF->SFF_GRP_sa +=0x04 ;
+ LPC_CANAF->EFF_sa +=0x04 ;
+ LPC_CANAF->EFF_GRP_sa +=0x04;
+ LPC_CANAF->ENDofTable +=0x04;
+
+ LPC_CANAF->AFMR = 0x04;
+ return CAN_OK;
+}
+
+/********************************************************************//**
+ * @brief Load Group entry into AFLUT
+ * @param[in] CANx: CAN peripheral selected, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] lowerID, upperID: lower and upper identifier of entry
+ * @param[in] format: type of ID format, should be:
+ * - STD_ID_FORMAT: Standard ID format (11-bit value)
+ * - EXT_ID_FORMAT: Extended ID format (29-bit value)
+ * @return CAN_ERROR, could be:
+ * - CAN_OK: loading is successful
+ * - CAN_CONFLICT_ID_ERROR: Conflict ID occurs
+ * - CAN_OBJECTS_FULL_ERROR: no more space available
+ *********************************************************************/
+CAN_ERROR CAN_LoadGroupEntry(LPC_CAN_TypeDef* CANx, uint32_t lowerID, \
+ uint32_t upperID, CAN_ID_FORMAT_Type format)
+{
+ uint16_t tmp = 0;
+ uint32_t buf0=0, buf1=0, entry1, entry2, LID,UID;
+ int16_t cnt1, bound1, total;
+
+ CHECK_PARAM(PARAM_CANx(CANx));
+ CHECK_PARAM(PARAM_ID_FORMAT(format));
+
+ if(lowerID > upperID) return CAN_CONFLICT_ID_ERROR;
+ if(CANx == LPC_CAN1)
+ {
+ tmp = 0;
+ }
+ else
+ {
+ tmp = 1;
+ }
+
+ total =((CANAF_FullCAN_cnt+1)>>1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1)+ \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
+
+ /* Setup Acceptance Filter Configuration
+ Acceptance Filter Mode Register = Off */
+ LPC_CANAF->AFMR = 0x00000001;
+
+/*********Add Group of Standard Identifier Frame Format************/
+ if(format == STD_ID_FORMAT)
+ {
+ if ((total >= 512)){//don't have enough space
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ lowerID &=0x7FF; //mask ID
+ upperID &=0x7FF;
+ entry1 = (tmp << 29)|(lowerID << 16)|(tmp << 13)|(upperID << 0);
+ cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1);
+
+ //if this is the first Group standard ID entry
+ if(CANAF_gstd_cnt == 0)
+ {
+ LPC_CANAF_RAM->mask[cnt1] = entry1;
+ }
+ else
+ {
+ //find the position to add new Group entry
+ bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt;
+ while(cnt1 < bound1)
+ {
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ LID = (buf0 >> 16)&0x7FF;
+ UID = buf0 & 0x7FF;
+ if (upperID <= LID)
+ {
+ //add new entry before this entry
+ LPC_CANAF_RAM->mask[cnt1] = entry1;
+ break;
+ }
+ else if (lowerID >= UID)
+ {
+ //load next entry to compare
+ cnt1 ++;
+ }
+ else
+ return CAN_CONFLICT_ID_ERROR;
+ }
+ if(cnt1 >= bound1)
+ {
+ //add new entry at the last position in this list
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = entry1;
+ }
+
+ //remove all remaining entry of this section one place up
+ bound1 = total - cnt1;
+ while(bound1--)
+ {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ buf0 = buf1;
+ }
+ }
+ CANAF_gstd_cnt++;
+ //update address values
+ LPC_CANAF->EFF_sa +=0x04 ;
+ LPC_CANAF->EFF_GRP_sa +=0x04;
+ LPC_CANAF->ENDofTable +=0x04;
+ }
+
+
+/*********Add Group of Extended Identifier Frame Format************/
+ else
+ {
+ if ((total >= 511)){//don't have enough space
+ return CAN_OBJECTS_FULL_ERROR;
+ }
+ lowerID &= 0x1FFFFFFF; //mask ID
+ upperID &= 0x1FFFFFFF;
+ entry1 = (tmp << 29)|(lowerID << 0);
+ entry2 = (tmp << 29)|(upperID << 0);
+
+ cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt + CANAF_ext_cnt;
+ //if this is the first Group standard ID entry
+ if(CANAF_gext_cnt == 0)
+ {
+ LPC_CANAF_RAM->mask[cnt1] = entry1;
+ LPC_CANAF_RAM->mask[cnt1+1] = entry2;
+ }
+ else
+ {
+ //find the position to add new Group entry
+ bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt \
+ + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
+ while(cnt1 < bound1)
+ {
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ buf1 = LPC_CANAF_RAM->mask[cnt1+1];
+ LID = buf0 & 0x1FFFFFFF; //mask ID
+ UID = buf1 & 0x1FFFFFFF;
+ if (upperID <= LID)
+ {
+ //add new entry before this entry
+ LPC_CANAF_RAM->mask[cnt1] = entry1;
+ LPC_CANAF_RAM->mask[++cnt1] = entry2;
+ break;
+ }
+ else if (lowerID >= UID)
+ {
+ //load next entry to compare
+ cnt1 +=2;
+ }
+ else
+ return CAN_CONFLICT_ID_ERROR;
+ }
+ if(cnt1 >= bound1)
+ {
+ //add new entry at the last position in this list
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ buf1 = LPC_CANAF_RAM->mask[cnt1+1];
+ LPC_CANAF_RAM->mask[cnt1] = entry1;
+ LPC_CANAF_RAM->mask[++cnt1] = entry2;
+ }
+ //remove all remaining entry of this section two place up
+ bound1 = total - cnt1 + 1;
+ cnt1++;
+ while(bound1>0)
+ {
+ entry1 = LPC_CANAF_RAM->mask[cnt1];
+ entry2 = LPC_CANAF_RAM->mask[cnt1+1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ LPC_CANAF_RAM->mask[cnt1+1] = buf1;
+ buf0 = entry1;
+ buf1 = entry2;
+ cnt1 +=2;
+ bound1 -=2;
+ }
+ }
+ CANAF_gext_cnt++;
+ //update address values
+ LPC_CANAF->ENDofTable +=0x08;
+ }
+ LPC_CANAF->AFMR = 0x04;
+ return CAN_OK;
+}
+
+/********************************************************************//**
+ * @brief Remove AFLUT entry (FullCAN entry and Explicit Standard entry)
+ * @param[in] EntryType: the type of entry that want to remove, should be:
+ * - FULLCAN_ENTRY
+ * - EXPLICIT_STANDARD_ENTRY
+ * - GROUP_STANDARD_ENTRY
+ * - EXPLICIT_EXTEND_ENTRY
+ * - GROUP_EXTEND_ENTRY
+ * @param[in] position: the position of this entry in its section
+ * Note: the first position is 0
+ * @return CAN_ERROR, could be:
+ * - CAN_OK: removing is successful
+ * - CAN_ENTRY_NOT_EXIT_ERROR: entry want to remove is not exit
+ *********************************************************************/
+CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position)
+{
+ uint16_t cnt, bound, total;
+ uint32_t buf0, buf1;
+ CHECK_PARAM(PARAM_AFLUT_ENTRY_TYPE(EntryType));
+ CHECK_PARAM(PARAM_POSITION(position));
+
+ /* Setup Acceptance Filter Configuration
+ Acceptance Filter Mode Register = Off */
+ LPC_CANAF->AFMR = 0x00000001;
+ total = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt + 1) >> 1) + \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
+
+
+/************** Remove FullCAN Entry *************/
+ if(EntryType == FULLCAN_ENTRY)
+ {
+ if((CANAF_FullCAN_cnt==0)||(position >= CANAF_FullCAN_cnt))
+ {
+ return CAN_ENTRY_NOT_EXIT_ERROR;
+ }
+ else
+ {
+ cnt = position >> 1;
+ buf0 = LPC_CANAF_RAM->mask[cnt];
+ bound = (CANAF_FullCAN_cnt - position -1)>>1;
+ if((position & 0x0001) == 0) //event position
+ {
+ while(bound--)
+ {
+ //remove all remaining FullCAN entry one place down
+ buf1 = LPC_CANAF_RAM->mask[cnt+1];
+ LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
+ buf0 = buf1;
+ cnt++;
+ }
+ }
+ else //odd position
+ {
+ while(bound--)
+ {
+ //remove all remaining FullCAN entry one place down
+ buf1 = LPC_CANAF_RAM->mask[cnt+1];
+ LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
+ LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
+ buf0 = buf1<<16;
+ cnt++;
+ }
+ }
+ if((CANAF_FullCAN_cnt & 0x0001) == 0)
+ {
+ if((position & 0x0001)==0)
+ LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
+ else
+ LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
+ }
+ else
+ {
+ //remove all remaining section one place down
+ cnt = (CANAF_FullCAN_cnt + 1)>>1;
+ bound = total + CANAF_FullCAN_cnt * 3;
+ while(bound>cnt)
+ {
+ LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
+ cnt++;
+ }
+ LPC_CANAF_RAM->mask[cnt-1]=0x00;
+ //update address values
+ LPC_CANAF->SFF_sa -=0x04;
+ LPC_CANAF->SFF_GRP_sa -=0x04 ;
+ LPC_CANAF->EFF_sa -=0x04 ;
+ LPC_CANAF->EFF_GRP_sa -=0x04;
+ LPC_CANAF->ENDofTable -=0x04;
+ }
+ CANAF_FullCAN_cnt--;
+
+ //delete its FullCAN Object in the FullCAN Object section
+ //remove all remaining FullCAN Object three place down
+ cnt = total + position * 3;
+ bound = (CANAF_FullCAN_cnt - position + 1) * 3;
+
+ while(bound)
+ {
+ LPC_CANAF_RAM->mask[cnt]=LPC_CANAF_RAM->mask[cnt+3];;
+ LPC_CANAF_RAM->mask[cnt+1]=LPC_CANAF_RAM->mask[cnt+4];
+ LPC_CANAF_RAM->mask[cnt+2]=LPC_CANAF_RAM->mask[cnt+5];
+ bound -=3;
+ cnt +=3;
+ }
+ }
+ }
+
+/************** Remove Explicit Standard ID Entry *************/
+ else if(EntryType == EXPLICIT_STANDARD_ENTRY)
+ {
+ if((CANAF_std_cnt==0)||(position >= CANAF_std_cnt))
+ {
+ return CAN_ENTRY_NOT_EXIT_ERROR;
+ }
+ else
+ {
+ cnt = ((CANAF_FullCAN_cnt+1)>>1)+ (position >> 1);
+ buf0 = LPC_CANAF_RAM->mask[cnt];
+ bound = (CANAF_std_cnt - position - 1)>>1;
+ if((position & 0x0001) == 0) //event position
+ {
+ while(bound--)
+ {
+ //remove all remaining FullCAN entry one place down
+ buf1 = LPC_CANAF_RAM->mask[cnt+1];
+ LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
+ buf0 = buf1;
+ cnt++;
+ }
+ }
+ else //odd position
+ {
+ while(bound--)
+ {
+ //remove all remaining FullCAN entry one place down
+ buf1 = LPC_CANAF_RAM->mask[cnt+1];
+ LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
+ LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
+ buf0 = buf1<<16;
+ cnt++;
+ }
+ }
+ if((CANAF_std_cnt & 0x0001) == 0)
+ {
+ if((position & 0x0001)==0)
+ LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
+ else
+ LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
+ }
+ else
+ {
+ //remove all remaining section one place down
+ cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1);
+ bound = total + CANAF_FullCAN_cnt * 3;
+ while(bound>cnt)
+ {
+ LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
+ cnt++;
+ }
+ LPC_CANAF_RAM->mask[cnt-1]=0x00;
+ //update address value
+ LPC_CANAF->SFF_GRP_sa -=0x04 ;
+ LPC_CANAF->EFF_sa -=0x04 ;
+ LPC_CANAF->EFF_GRP_sa -=0x04;
+ LPC_CANAF->ENDofTable -=0x04;
+ }
+ CANAF_std_cnt--;
+ }
+ }
+
+/************** Remove Group of Standard ID Entry *************/
+ else if(EntryType == GROUP_STANDARD_ENTRY)
+ {
+ if((CANAF_gstd_cnt==0)||(position >= CANAF_gstd_cnt))
+ {
+ return CAN_ENTRY_NOT_EXIT_ERROR;
+ }
+ else
+ {
+ cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ position + 1;
+ bound = total + CANAF_FullCAN_cnt * 3;
+ while (cnt<bound)
+ {
+ LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
+ cnt++;
+ }
+ LPC_CANAF_RAM->mask[cnt-1]=0x00;
+ }
+ CANAF_gstd_cnt--;
+ //update address value
+ LPC_CANAF->EFF_sa -=0x04;
+ LPC_CANAF->EFF_GRP_sa -=0x04;
+ LPC_CANAF->ENDofTable -=0x04;
+ }
+
+/************** Remove Explicit Extended ID Entry *************/
+ else if(EntryType == EXPLICIT_EXTEND_ENTRY)
+ {
+ if((CANAF_ext_cnt==0)||(position >= CANAF_ext_cnt))
+ {
+ return CAN_ENTRY_NOT_EXIT_ERROR;
+ }
+ else
+ {
+ cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + position + 1;
+ bound = total + CANAF_FullCAN_cnt * 3;
+ while (cnt<bound)
+ {
+ LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
+ cnt++;
+ }
+ LPC_CANAF_RAM->mask[cnt-1]=0x00;
+ }
+ CANAF_ext_cnt--;
+ LPC_CANAF->EFF_GRP_sa -=0x04;
+ LPC_CANAF->ENDofTable -=0x04;
+ }
+
+/************** Remove Group of Extended ID Entry *************/
+ else
+ {
+ if((CANAF_gext_cnt==0)||(position >= CANAF_gext_cnt))
+ {
+ return CAN_ENTRY_NOT_EXIT_ERROR;
+ }
+ else
+ {
+ cnt = total - (CANAF_gext_cnt<<1) + (position<<1);
+ bound = total + CANAF_FullCAN_cnt * 3;
+ while (cnt<bound)
+ {
+ //remove all remaining entry two place up
+ LPC_CANAF_RAM->mask[cnt] = LPC_CANAF_RAM->mask[cnt+2];
+ LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+3];
+ cnt+=2;
+ }
+ }
+ CANAF_gext_cnt--;
+ LPC_CANAF->ENDofTable -=0x08;
+ }
+ LPC_CANAF->AFMR = 0x04;
+ return CAN_OK;
+}
+
+/********************************************************************//**
+ * @brief Send message data
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] CAN_Msg point to the CAN_MSG_Type Structure, it contains message
+ * information such as: ID, DLC, RTR, ID Format
+ * @return Status:
+ * - SUCCESS: send message successfully
+ * - ERROR: send message unsuccessfully
+ *********************************************************************/
+Status CAN_SendMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg)
+{
+ uint32_t data;
+ CHECK_PARAM(PARAM_CANx(CANx));
+ CHECK_PARAM(PARAM_ID_FORMAT(CAN_Msg->format));
+ if(CAN_Msg->format==STD_ID_FORMAT)
+ {
+ CHECK_PARAM(PARAM_ID_11(CAN_Msg->id));
+ }
+ else
+ {
+ CHECK_PARAM(PARAM_ID_29(CAN_Msg->id));
+ }
+ CHECK_PARAM(PARAM_DLC(CAN_Msg->len));
+ CHECK_PARAM(PARAM_FRAME_TYPE(CAN_Msg->type));
+
+ //Check status of Transmit Buffer 1
+ if ((CANx->SR & 0x00000004)>>2)
+ {
+ /* Transmit Channel 1 is available */
+ /* Write frame informations and frame data into its CANxTFI1,
+ * CANxTID1, CANxTDA1, CANxTDB1 register */
+ CANx->TFI1 &= ~0x000F000;
+ CANx->TFI1 |= (CAN_Msg->len)<<16;
+ if(CAN_Msg->type == REMOTE_FRAME)
+ {
+ CANx->TFI1 |= (1<<30); //set bit RTR
+ }
+ else
+ {
+ CANx->TFI1 &= ~(1<<30);
+ }
+ if(CAN_Msg->format == EXT_ID_FORMAT)
+ {
+ CANx->TFI1 |= (1UL<<31); //set bit FF
+ }
+ else
+ {
+ CANx->TFI1 &= ~(1UL<<31);
+ }
+
+ /* Write CAN ID*/
+ CANx->TID1 = CAN_Msg->id;
+
+ /*Write first 4 data bytes*/
+ data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
+// CANx->TDA1 = *((uint32_t *) &(CAN_Msg->dataA));
+ CANx->TDA1 = data;
+
+ /*Write second 4 data bytes*/
+ data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
+// CANx->TDB1 = *((uint32_t *) &(CAN_Msg->dataB));
+ CANx->TDB1 = data;
+
+ /*Write transmission request*/
+ CANx->CMR = 0x21;
+ return SUCCESS;
+ }
+ //check status of Transmit Buffer 2
+ else if((CANx->SR & 0x00000004)>>10)
+ {
+ /* Transmit Channel 2 is available */
+ /* Write frame informations and frame data into its CANxTFI2,
+ * CANxTID2, CANxTDA2, CANxTDB2 register */
+ CANx->TFI2 &= ~0x000F000;
+ CANx->TFI2 |= (CAN_Msg->len)<<16;
+ if(CAN_Msg->type == REMOTE_FRAME)
+ {
+ CANx->TFI2 |= (1<<30); //set bit RTR
+ }
+ else
+ {
+ CANx->TFI2 &= ~(1<<30);
+ }
+ if(CAN_Msg->format == EXT_ID_FORMAT)
+ {
+ CANx->TFI2 |= (1UL<<31); //set bit FF
+ }
+ else
+ {
+ CANx->TFI2 &= ~(1UL<<31);
+ }
+
+ /* Write CAN ID*/
+ CANx->TID2 = CAN_Msg->id;
+
+ /*Write first 4 data bytes*/
+ data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
+// CANx->TDA2 = *((uint32_t *) &(CAN_Msg->dataA));
+ CANx->TDA2 = data;
+
+ /*Write second 4 data bytes*/
+ data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
+// CANx->TDB2 = *((uint32_t *) &(CAN_Msg->dataB));
+ CANx->TDB2 = data;
+
+ /*Write transmission request*/
+ CANx->CMR = 0x41;
+ return SUCCESS;
+ }
+ //check status of Transmit Buffer 3
+ else if ((CANx->SR & 0x00000004)>>18)
+ {
+ /* Transmit Channel 3 is available */
+ /* Write frame informations and frame data into its CANxTFI3,
+ * CANxTID3, CANxTDA3, CANxTDB3 register */
+ CANx->TFI3 &= ~0x000F000;
+ CANx->TFI3 |= (CAN_Msg->len)<<16;
+ if(CAN_Msg->type == REMOTE_FRAME)
+ {
+ CANx->TFI3 |= (1<<30); //set bit RTR
+ }
+ else
+ {
+ CANx->TFI3 &= ~(1<<30);
+ }
+ if(CAN_Msg->format == EXT_ID_FORMAT)
+ {
+ CANx->TFI3 |= (1UL<<31); //set bit FF
+ }
+ else
+ {
+ CANx->TFI3 &= ~(1UL<<31);
+ }
+
+ /* Write CAN ID*/
+ CANx->TID3 = CAN_Msg->id;
+
+ /*Write first 4 data bytes*/
+ data = (CAN_Msg->dataA[0])|(((CAN_Msg->dataA[1]))<<8)|((CAN_Msg->dataA[2])<<16)|((CAN_Msg->dataA[3])<<24);
+// CANx->TDA3 = *((uint32_t *) &(CAN_Msg->dataA));
+ CANx->TDA3 = data;
+
+ /*Write second 4 data bytes*/
+ data = (CAN_Msg->dataB[0])|(((CAN_Msg->dataB[1]))<<8)|((CAN_Msg->dataB[2])<<16)|((CAN_Msg->dataB[3])<<24);
+// CANx->TDB3 = *((uint32_t *) &(CAN_Msg->dataB));
+ CANx->TDB3 = data;
+
+ /*Write transmission request*/
+ CANx->CMR = 0x81;
+ return SUCCESS;
+ }
+ else
+ {
+ return ERROR;
+ }
+}
+
+/********************************************************************//**
+ * @brief Receive message data
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received
+ * message information such as: ID, DLC, RTR, ID Format
+ * @return Status:
+ * - SUCCESS: receive message successfully
+ * - ERROR: receive message unsuccessfully
+ *********************************************************************/
+Status CAN_ReceiveMsg (LPC_CAN_TypeDef *CANx, CAN_MSG_Type *CAN_Msg)
+{
+ uint32_t data;
+
+ CHECK_PARAM(PARAM_CANx(CANx));
+
+ //check status of Receive Buffer
+ if((CANx->SR &0x00000001))
+ {
+ /* Receive message is available */
+ /* Read frame informations */
+ CAN_Msg->format = (uint8_t)(((CANx->RFS) & 0x80000000)>>31);
+ CAN_Msg->type = (uint8_t)(((CANx->RFS) & 0x40000000)>>30);
+ CAN_Msg->len = (uint8_t)(((CANx->RFS) & 0x000F0000)>>16);
+
+
+ /* Read CAN message identifier */
+ CAN_Msg->id = CANx->RID;
+
+ /* Read the data if received message was DATA FRAME */
+ if (CAN_Msg->type == DATA_FRAME)
+ {
+ /* Read first 4 data bytes */
+// *((uint32_t *) &CAN_Msg->dataA) = CANx->RDA;
+ data = CANx->RDA;
+ *((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF;
+ *((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00)>>8;;
+ *((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000)>>16;
+ *((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000)>>24;
+
+ /* Read second 4 data bytes */
+// *((uint32_t *) &CAN_Msg->dataB) = CANx->RDB;
+ data = CANx->RDB;
+ *((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF;
+ *((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00)>>8;
+ *((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000)>>16;
+ *((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000)>>24;
+
+ /*release receive buffer*/
+ CANx->CMR = 0x04;
+ }
+ else
+ {
+ /* Received Frame is a Remote Frame, not have data, we just receive
+ * message information only */
+ return SUCCESS;
+ }
+ }
+ else
+ {
+ // no receive message available
+ return ERROR;
+ }
+ return SUCCESS;
+}
+
+/********************************************************************//**
+ * @brief Receive FullCAN Object
+ * @param[in] CANAFx: CAN Acceptance Filter register, should be LPC_CANAF
+ * @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received
+ * message information such as: ID, DLC, RTR, ID Format
+ * @return CAN_ERROR, could be:
+ * - CAN_FULL_OBJ_NOT_RCV: FullCAN Object is not be received
+ * - CAN_OK: Received FullCAN Object successful
+ *
+ *********************************************************************/
+CAN_ERROR FCAN_ReadObj (LPC_CANAF_TypeDef* CANAFx, CAN_MSG_Type *CAN_Msg)
+{
+ uint32_t *pSrc, data;
+ uint32_t interrut_word, msg_idx, test_bit, head_idx, tail_idx;
+
+ CHECK_PARAM(PARAM_CANAFx(CANAFx));
+
+ interrut_word = 0;
+
+ if (LPC_CANAF->FCANIC0 != 0)
+ {
+ interrut_word = LPC_CANAF->FCANIC0;
+ head_idx = 0;
+ tail_idx = 31;
+ }
+ else if (LPC_CANAF->FCANIC1 != 0)
+ {
+ interrut_word = LPC_CANAF->FCANIC1;
+ head_idx = 32;
+ tail_idx = 63;
+ }
+
+ if (interrut_word != 0)
+ {
+ /* Detect for interrupt pending */
+ msg_idx = 0;
+ for (msg_idx = head_idx; msg_idx <= tail_idx; msg_idx++)
+ {
+ test_bit = interrut_word & 0x1;
+ interrut_word = interrut_word >> 1;
+
+ if (test_bit)
+ {
+ pSrc = (uint32_t *) (LPC_CANAF->ENDofTable + LPC_CANAF_RAM_BASE + msg_idx * 12);
+
+ /* Has been finished updating the content */
+ if ((*pSrc & 0x03000000L) == 0x03000000L)
+ {
+ /*clear semaphore*/
+ *pSrc &= 0xFCFFFFFF;
+
+ /*Set to DatA*/
+ pSrc++;
+ /* Copy to dest buf */
+// *((uint32_t *) &CAN_Msg->dataA) = *pSrc;
+ data = *pSrc;
+ *((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF;
+ *((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00)>>8;
+ *((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000)>>16;
+ *((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000)>>24;
+
+ /*Set to DatB*/
+ pSrc++;
+ /* Copy to dest buf */
+// *((uint32_t *) &CAN_Msg->dataB) = *pSrc;
+ data = *pSrc;
+ *((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF;
+ *((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00)>>8;
+ *((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000)>>16;
+ *((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000)>>24;
+ /*Back to Dat1*/
+ pSrc -= 2;
+
+ CAN_Msg->id = *pSrc & 0x7FF;
+ CAN_Msg->len = (uint8_t) (*pSrc >> 16) & 0x0F;
+ CAN_Msg->format = 0; //FullCAN Object ID always is 11-bit value
+ CAN_Msg->type = (uint8_t)(*pSrc >> 30) &0x01;
+ /*Re-read semaphore*/
+ if ((*pSrc & 0x03000000L) == 0)
+ {
+ return CAN_OK;
+ }
+ }
+ }
+ }
+ }
+ return CAN_FULL_OBJ_NOT_RCV;
+}
+/********************************************************************//**
+ * @brief Get CAN Control Status
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] arg: type of CAN status to get from CAN status register
+ * Should be:
+ * - CANCTRL_GLOBAL_STS: CAN Global Status
+ * - CANCTRL_INT_CAP: CAN Interrupt and Capture
+ * - CANCTRL_ERR_WRN: CAN Error Warning Limit
+ * - CANCTRL_STS: CAN Control Status
+ * @return Current Control Status that you want to get value
+ *********************************************************************/
+uint32_t CAN_GetCTRLStatus (LPC_CAN_TypeDef* CANx, CAN_CTRL_STS_Type arg)
+{
+ CHECK_PARAM(PARAM_CANx(CANx));
+ CHECK_PARAM(PARAM_CTRL_STS_TYPE(arg));
+
+ switch (arg)
+ {
+ case CANCTRL_GLOBAL_STS:
+ return CANx->GSR;
+
+ case CANCTRL_INT_CAP:
+ return CANx->ICR;
+
+ case CANCTRL_ERR_WRN:
+ return CANx->EWL;
+
+ default: // CANCTRL_STS
+ return CANx->SR;
+ }
+}
+/********************************************************************//**
+ * @brief Get CAN Central Status
+ * @param[in] CANCRx point to LPC_CANCR_TypeDef
+ * @param[in] arg: type of CAN status to get from CAN Central status register
+ * Should be:
+ * - CANCR_TX_STS: Central CAN Tx Status
+ * - CANCR_RX_STS: Central CAN Rx Status
+ * - CANCR_MS: Central CAN Miscellaneous Status
+ * @return Current Central Status that you want to get value
+ *********************************************************************/
+uint32_t CAN_GetCRStatus (LPC_CANCR_TypeDef* CANCRx, CAN_CR_STS_Type arg)
+{
+ CHECK_PARAM(PARAM_CANCRx(CANCRx));
+ CHECK_PARAM(PARAM_CR_STS_TYPE(arg));
+
+ switch (arg)
+ {
+ case CANCR_TX_STS:
+ return CANCRx->CANTxSR;
+
+ case CANCR_RX_STS:
+ return CANCRx->CANRxSR;
+
+ default: // CANCR_MS
+ return CANCRx->CANMSR;
+ }
+}
+/********************************************************************//**
+ * @brief Enable/Disable CAN Interrupt
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] arg: type of CAN interrupt that you want to enable/disable
+ * Should be:
+ * - CANINT_RIE: CAN Receiver Interrupt Enable
+ * - CANINT_TIE1: CAN Transmit Interrupt Enable
+ * - CANINT_EIE: CAN Error Warning Interrupt Enable
+ * - CANINT_DOIE: CAN Data Overrun Interrupt Enable
+ * - CANINT_WUIE: CAN Wake-Up Interrupt Enable
+ * - CANINT_EPIE: CAN Error Passive Interrupt Enable
+ * - CANINT_ALIE: CAN Arbitration Lost Interrupt Enable
+ * - CANINT_BEIE: CAN Bus Error Interrupt Enable
+ * - CANINT_IDIE: CAN ID Ready Interrupt Enable
+ * - CANINT_TIE2: CAN Transmit Interrupt Enable for Buffer2
+ * - CANINT_TIE3: CAN Transmit Interrupt Enable for Buffer3
+ * - CANINT_FCE: FullCAN Interrupt Enable
+ * @param[in] NewState: New state of this function, should be:
+ * - ENABLE
+ * - DISABLE
+ * @return none
+ *********************************************************************/
+void CAN_IRQCmd (LPC_CAN_TypeDef* CANx, CAN_INT_EN_Type arg, FunctionalState NewState)
+{
+ CHECK_PARAM(PARAM_CANx(CANx));
+ CHECK_PARAM(PARAM_INT_EN_TYPE(arg));
+ CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState));
+
+ if(NewState == ENABLE)
+ {
+ if(arg==CANINT_FCE)
+ {
+ LPC_CANAF->AFMR = 0x01;
+ LPC_CANAF->FCANIE = 0x01;
+ LPC_CANAF->AFMR = 0x04;
+ }
+ else
+ CANx->IER |= (1 << arg);
+ }
+ else
+ {
+ if(arg==CANINT_FCE){
+ LPC_CANAF->AFMR = 0x01;
+ LPC_CANAF->FCANIE = 0x01;
+ LPC_CANAF->AFMR = 0x00;
+ }
+ else
+ CANx->IER &= ~(1 << arg);
+ }
+}
+/*********************************************************************//**
+ * @brief Install interrupt call-back function
+ * @param[in] arg: CAN interrupt type, should be:
+ * - CANINT_RIE: CAN Receiver Interrupt Enable
+ * - CANINT_TIE1: CAN Transmit Interrupt Enable
+ * - CANINT_EIE: CAN Error Warning Interrupt Enable
+ * - CANINT_DOIE: CAN Data Overrun Interrupt Enable
+ * - CANINT_WUIE: CAN Wake-Up Interrupt Enable
+ * - CANINT_EPIE: CAN Error Passive Interrupt Enable
+ * - CANINT_ALIE: CAN Arbitration Lost Interrupt Enable
+ * - CANINT_BEIE: CAN Bus Error Interrupt Enable
+ * - CANINT_IDIE: CAN ID Ready Interrupt Enable
+ * - CANINT_TIE2: CAN Transmit Interrupt Enable for Buffer2
+ * - CANINT_TIE3: CAN Transmit Interrupt Enable for Buffer3
+ * - CANINT_FCE: FullCAN Interrupt Enable
+ * @param[in] pnCANCbs: pointer point to call-back function
+ * @return None
+ **********************************************************************/
+void CAN_SetupCBS(CAN_INT_EN_Type arg,fnCANCbs_Type* pnCANCbs)
+{
+ CHECK_PARAM(PARAM_INT_EN_TYPE(arg));
+ _apfnCANCbs[arg] = pnCANCbs;
+}
+/********************************************************************//**
+ * @brief Setting Acceptance Filter mode
+ * @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: CANAF
+ * @param[in] AFMode: type of AF mode that you want to set, should be:
+ * - CAN_Normal: Normal mode
+ * - CAN_AccOff: Acceptance Filter Off Mode
+ * - CAN_AccBP: Acceptance Fileter Bypass Mode
+ * - CAN_eFCAN: FullCAN Mode Enhancement
+ * @return none
+ *********************************************************************/
+void CAN_SetAFMode (LPC_CANAF_TypeDef* CANAFx, CAN_AFMODE_Type AFMode)
+{
+ CHECK_PARAM(PARAM_CANAFx(CANAFx));
+ CHECK_PARAM(PARAM_AFMODE_TYPE(AFMode));
+
+ switch(AFMode)
+ {
+ case CAN_Normal:
+ CANAFx->AFMR = 0x00;
+ break;
+ case CAN_AccOff:
+ CANAFx->AFMR = 0x01;
+ break;
+ case CAN_AccBP:
+ CANAFx->AFMR = 0x02;
+ break;
+ case CAN_eFCAN:
+ CANAFx->AFMR = 0x04;
+ break;
+ }
+}
+
+/********************************************************************//**
+ * @brief Enable/Disable CAN Mode
+ * @param[in] CANx pointer to LPC_CAN_TypeDef, should be:
+ * - CAN1: CAN 1
+ * - CAN2: CAN 2
+ * @param[in] mode: type of CAN mode that you want to enable/disable, should be:
+ * - CAN_OPERATING_MODE: Normal Operating Mode
+ * - CAN_RESET_MODE: Reset Mode
+ * - CAN_LISTENONLY_MODE: Listen Only Mode
+ * - CAN_SELFTEST_MODE: Self Test Mode
+ * - CAN_TXPRIORITY_MODE: Transmit Priority Mode
+ * - CAN_SLEEP_MODE: Sleep Mode
+ * - CAN_RXPOLARITY_MODE: Receive Polarity Mode
+ * - CAN_TEST_MODE: Test Mode
+ * @param[in] NewState: New State of this function, should be:
+ * - ENABLE
+ * - DISABLE
+ * @return none
+ *********************************************************************/
+void CAN_ModeConfig(LPC_CAN_TypeDef* CANx, CAN_MODE_Type mode, FunctionalState NewState)
+{
+ CHECK_PARAM(PARAM_CANx(CANx));
+ CHECK_PARAM(PARAM_MODE_TYPE(mode));
+ CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState));
+
+ switch(mode)
+ {
+ case CAN_OPERATING_MODE:
+ CANx->MOD = 0x00;
+ break;
+ case CAN_RESET_MODE:
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_RM;
+ else
+ CANx->MOD &= ~CAN_MOD_RM;
+ break;
+ case CAN_LISTENONLY_MODE:
+ CANx->MOD |=CAN_MOD_RM;
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_LOM;
+ else
+ CANx->MOD &=~CAN_MOD_LOM;
+ break;
+ case CAN_SELFTEST_MODE:
+ CANx->MOD |=CAN_MOD_RM;
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_STM;
+ else
+ CANx->MOD &=~CAN_MOD_STM;
+ break;
+ case CAN_TXPRIORITY_MODE:
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_TPM;
+ else
+ CANx->MOD &=~CAN_MOD_TPM;
+ break;
+ case CAN_SLEEP_MODE:
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_SM;
+ else
+ CANx->MOD &=~CAN_MOD_SM;
+ break;
+ case CAN_RXPOLARITY_MODE:
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_RPM;
+ else
+ CANx->MOD &=~CAN_MOD_RPM;
+ break;
+ case CAN_TEST_MODE:
+ if(NewState == ENABLE)
+ CANx->MOD |=CAN_MOD_TM;
+ else
+ CANx->MOD &=~CAN_MOD_TM;
+ break;
+ }
+}
+/*********************************************************************//**
+ * @brief Standard CAN interrupt handler, this function will check
+ * all interrupt status of CAN channels, then execute the call
+ * back function if they're already installed
+ * @param[in] CANx point to CAN peripheral selected, should be: CAN1 or CAN2
+ * @return None
+ **********************************************************************/
+void CAN_IntHandler(LPC_CAN_TypeDef* CANx)
+{
+ uint8_t t;
+ //scan interrupt pending
+ if(LPC_CANAF->FCANIE)
+ {
+ _apfnCANCbs[11]();
+ }
+ //scan interrupt channels
+ for(t=0;t<11;t++)
+ {
+ if(((CANx->ICR)>>t)&0x01)
+ {
+ _apfnCANCbs[t]();
+ }
+ }
+}
+
+/**
+ * @}
+ */
+
+#endif /* _CAN */
+
+/**
+ * @}
+ */
+
+/* --------------------------------- End Of File ------------------------------ */