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Dependents:   STM32_F103-C8T6basecanblink_led

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targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c@186:9c2029bfadbe, 2018-04-20 (annotated)

Committer:
Anna Bridge
Date:
Fri Apr 20 11:31:35 2018 +0100
Revision:
186:9c2029bfadbe
Parent:
167:e84263d55307 
Update to latest version of mbed lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 150:02e0a0aed4ec 1 /* mbed Microcontroller Library
<> 150:02e0a0aed4ec 2 * Copyright (c) 2015-2016 Nuvoton
<> 150:02e0a0aed4ec 3 *
<> 150:02e0a0aed4ec 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 150:02e0a0aed4ec 5 * you may not use this file except in compliance with the License.
<> 150:02e0a0aed4ec 6 * You may obtain a copy of the License at
<> 150:02e0a0aed4ec 7 *
<> 150:02e0a0aed4ec 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 150:02e0a0aed4ec 9 *
<> 150:02e0a0aed4ec 10 * Unless required by applicable law or agreed to in writing, software
<> 150:02e0a0aed4ec 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 150:02e0a0aed4ec 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 150:02e0a0aed4ec 13 * See the License for the specific language governing permissions and
<> 150:02e0a0aed4ec 14 * limitations under the License.
<> 150:02e0a0aed4ec 15 */
<> 150:02e0a0aed4ec 16
<> 150:02e0a0aed4ec 17 #include "can_api.h"
<> 150:02e0a0aed4ec 18 #include "nuc472_gpio.h"
<> 150:02e0a0aed4ec 19 #include "nuc472_can.h"
<> 150:02e0a0aed4ec 20
<> 150:02e0a0aed4ec 21 #if DEVICE_CAN
<> 150:02e0a0aed4ec 22 #include <string.h>
<> 150:02e0a0aed4ec 23 #include "cmsis.h"
<> 150:02e0a0aed4ec 24 #include "pinmap.h"
<> 150:02e0a0aed4ec 25 #include "PeripheralPins.h"
<> 150:02e0a0aed4ec 26 #include "nu_modutil.h"
<> 150:02e0a0aed4ec 27 #include "nu_miscutil.h"
<> 150:02e0a0aed4ec 28 #include "nu_bitutil.h"
<> 160:d5399cc887bb 29 #include "mbed_critical.h"
<> 150:02e0a0aed4ec 30
<> 150:02e0a0aed4ec 31 #define NU_CAN_DEBUG 0
<> 150:02e0a0aed4ec 32 #define CAN_NUM 2
<> 150:02e0a0aed4ec 33
<> 150:02e0a0aed4ec 34 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 150:02e0a0aed4ec 35 static can_irq_handler can0_irq_handler;
<> 150:02e0a0aed4ec 36 static can_irq_handler can1_irq_handler;
<> 150:02e0a0aed4ec 37
<> 150:02e0a0aed4ec 38
<> 150:02e0a0aed4ec 39 static const struct nu_modinit_s can_modinit_tab[] = {
<> 150:02e0a0aed4ec 40 {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
<> 150:02e0a0aed4ec 41 {CAN_1, CAN1_MODULE, 0, 0, CAN1_RST, CAN1_IRQn, NULL},
<> 150:02e0a0aed4ec 42
<> 150:02e0a0aed4ec 43 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
<> 150:02e0a0aed4ec 44 };
<> 150:02e0a0aed4ec 45
AnnaBridge 167:e84263d55307 46
AnnaBridge 167:e84263d55307 47 void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
<> 150:02e0a0aed4ec 48 {
<> 150:02e0a0aed4ec 49 uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
<> 150:02e0a0aed4ec 50 uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 150:02e0a0aed4ec 51 obj->can = (CANName)pinmap_merge(can_td, can_rd);
<> 150:02e0a0aed4ec 52 MBED_ASSERT((int)obj->can != NC);
<> 150:02e0a0aed4ec 53
<> 150:02e0a0aed4ec 54 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 55 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 56 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 57
<> 150:02e0a0aed4ec 58 // Reset this module
<> 150:02e0a0aed4ec 59 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 60
<> 150:02e0a0aed4ec 61 // Enable IP clock
<> 150:02e0a0aed4ec 62 CLK_EnableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 63
<> 150:02e0a0aed4ec 64 if(obj->can == CAN_1) {
<> 150:02e0a0aed4ec 65 obj->index = 1;
<> 150:02e0a0aed4ec 66 }
<> 150:02e0a0aed4ec 67 else
<> 150:02e0a0aed4ec 68 obj->index = 0;
<> 150:02e0a0aed4ec 69
<> 150:02e0a0aed4ec 70 pinmap_pinout(td, PinMap_CAN_TD);
<> 150:02e0a0aed4ec 71 pinmap_pinout(rd, PinMap_CAN_RD);
<> 150:02e0a0aed4ec 72
<> 150:02e0a0aed4ec 73 /* For NCU 472 mbed Board Transmitter Setting (RS Pin) */
<> 150:02e0a0aed4ec 74 GPIO_SetMode(PA, BIT2| BIT3, GPIO_MODE_OUTPUT);
<> 150:02e0a0aed4ec 75 PA2 = 0x00;
<> 150:02e0a0aed4ec 76 PA3 = 0x00;
<> 150:02e0a0aed4ec 77
AnnaBridge 167:e84263d55307 78 CAN_Open((CAN_T *)NU_MODBASE(obj->can), hz, CAN_NORMAL_MODE);
<> 150:02e0a0aed4ec 79
<> 150:02e0a0aed4ec 80 can_filter(obj, 0, 0, CANStandard, 0);
<> 150:02e0a0aed4ec 81 }
AnnaBridge 167:e84263d55307 82
AnnaBridge 167:e84263d55307 83
AnnaBridge 167:e84263d55307 84 void can_init(can_t *obj, PinName rd, PinName td)
AnnaBridge 167:e84263d55307 85 {
AnnaBridge 167:e84263d55307 86 can_init_freq(obj, rd, td, 500000);
AnnaBridge 167:e84263d55307 87 }
AnnaBridge 167:e84263d55307 88
AnnaBridge 167:e84263d55307 89
<> 150:02e0a0aed4ec 90 void can_free(can_t *obj)
<> 150:02e0a0aed4ec 91 {
<> 150:02e0a0aed4ec 92
<> 150:02e0a0aed4ec 93 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 94
<> 150:02e0a0aed4ec 95 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 96 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 97
<> 150:02e0a0aed4ec 98 // Reset this module
<> 150:02e0a0aed4ec 99 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 100
<> 150:02e0a0aed4ec 101 CLK_DisableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 102 }
<> 150:02e0a0aed4ec 103
<> 150:02e0a0aed4ec 104 int can_frequency(can_t *obj, int hz)
<> 150:02e0a0aed4ec 105 {
<> 161:2cc1468da177 106 CAN_SetBaudRate((CAN_T *)NU_MODBASE(obj->can), hz);
<> 150:02e0a0aed4ec 107
<> 161:2cc1468da177 108 return CAN_GetCANBitRate((CAN_T *)NU_MODBASE(obj->can));
<> 150:02e0a0aed4ec 109 }
<> 150:02e0a0aed4ec 110
<> 150:02e0a0aed4ec 111 static void can_irq(CANName name, int id)
<> 150:02e0a0aed4ec 112 {
<> 150:02e0a0aed4ec 113
<> 150:02e0a0aed4ec 114 CAN_T *can = (CAN_T *)NU_MODBASE(name);
<> 150:02e0a0aed4ec 115 uint32_t u8IIDRstatus;
<> 150:02e0a0aed4ec 116
<> 150:02e0a0aed4ec 117 u8IIDRstatus = can->IIDR;
<> 150:02e0a0aed4ec 118
<> 150:02e0a0aed4ec 119 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
<> 150:02e0a0aed4ec 120 /**************************/
<> 150:02e0a0aed4ec 121 /* Status Change interrupt*/
<> 150:02e0a0aed4ec 122 /**************************/
<> 150:02e0a0aed4ec 123 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
<> 150:02e0a0aed4ec 124 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
<> 150:02e0a0aed4ec 125 if(id)
<> 150:02e0a0aed4ec 126 can1_irq_handler(can_irq_ids[id] , IRQ_RX);
<> 150:02e0a0aed4ec 127 else
<> 150:02e0a0aed4ec 128 can0_irq_handler(can_irq_ids[id], IRQ_RX);
<> 150:02e0a0aed4ec 129 }
<> 150:02e0a0aed4ec 130
<> 150:02e0a0aed4ec 131 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
<> 150:02e0a0aed4ec 132 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
<> 150:02e0a0aed4ec 133 if(id)
<> 150:02e0a0aed4ec 134 can1_irq_handler(can_irq_ids[id] , IRQ_TX);
<> 150:02e0a0aed4ec 135 else
<> 150:02e0a0aed4ec 136 can0_irq_handler(can_irq_ids[id], IRQ_TX);
<> 150:02e0a0aed4ec 137
<> 150:02e0a0aed4ec 138 }
<> 150:02e0a0aed4ec 139
<> 150:02e0a0aed4ec 140 /**************************/
<> 150:02e0a0aed4ec 141 /* Error Status interrupt */
<> 150:02e0a0aed4ec 142 /**************************/
<> 150:02e0a0aed4ec 143 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
<> 150:02e0a0aed4ec 144 if(id)
<> 150:02e0a0aed4ec 145 can1_irq_handler(can_irq_ids[id] , IRQ_ERROR);
<> 150:02e0a0aed4ec 146 else
<> 150:02e0a0aed4ec 147 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 150:02e0a0aed4ec 148 }
<> 150:02e0a0aed4ec 149
<> 150:02e0a0aed4ec 150 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
<> 150:02e0a0aed4ec 151 if(id)
<> 150:02e0a0aed4ec 152 can1_irq_handler(can_irq_ids[id] , IRQ_BUS);
<> 150:02e0a0aed4ec 153 else
<> 150:02e0a0aed4ec 154 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
<> 150:02e0a0aed4ec 155 }
<> 150:02e0a0aed4ec 156 } else if (u8IIDRstatus!=0) {
<> 150:02e0a0aed4ec 157
<> 150:02e0a0aed4ec 158 if(id)
<> 150:02e0a0aed4ec 159 can1_irq_handler(can_irq_ids[id] , IRQ_OVERRUN);
<> 150:02e0a0aed4ec 160 else
<> 150:02e0a0aed4ec 161 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
<> 150:02e0a0aed4ec 162
<> 150:02e0a0aed4ec 163 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
<> 150:02e0a0aed4ec 164
<> 150:02e0a0aed4ec 165 } else if(can->WU_STATUS == 1) {
<> 150:02e0a0aed4ec 166
<> 150:02e0a0aed4ec 167 can->WU_STATUS = 0; /* Write '0' to clear */
<> 150:02e0a0aed4ec 168 if(id)
<> 150:02e0a0aed4ec 169 can1_irq_handler(can_irq_ids[id] , IRQ_WAKEUP);
<> 150:02e0a0aed4ec 170 else
<> 150:02e0a0aed4ec 171 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
<> 150:02e0a0aed4ec 172 }
<> 150:02e0a0aed4ec 173 }
<> 150:02e0a0aed4ec 174
<> 150:02e0a0aed4ec 175 void CAN0_IRQHandler(void)
<> 150:02e0a0aed4ec 176 {
<> 150:02e0a0aed4ec 177 can_irq(CAN_0, 0);
<> 150:02e0a0aed4ec 178 }
<> 150:02e0a0aed4ec 179
<> 150:02e0a0aed4ec 180 void CAN1_IRQHandler(void)
<> 150:02e0a0aed4ec 181 {
<> 150:02e0a0aed4ec 182 can_irq(CAN_1, 1);
<> 150:02e0a0aed4ec 183 }
<> 150:02e0a0aed4ec 184
<> 150:02e0a0aed4ec 185 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 150:02e0a0aed4ec 186 {
<> 150:02e0a0aed4ec 187 if(obj->index)
<> 150:02e0a0aed4ec 188 can1_irq_handler = handler;
<> 150:02e0a0aed4ec 189 else
<> 150:02e0a0aed4ec 190 can0_irq_handler = handler;
<> 150:02e0a0aed4ec 191 can_irq_ids[obj->index] = id;
<> 150:02e0a0aed4ec 192
<> 150:02e0a0aed4ec 193 }
<> 150:02e0a0aed4ec 194
<> 150:02e0a0aed4ec 195 void can_irq_free(can_t *obj)
<> 150:02e0a0aed4ec 196 {
<> 161:2cc1468da177 197 CAN_DisableInt((CAN_T *)NU_MODBASE(obj->can), (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
<> 150:02e0a0aed4ec 198
<> 150:02e0a0aed4ec 199 can_irq_ids[obj->index] = 0;
<> 150:02e0a0aed4ec 200
<> 150:02e0a0aed4ec 201 if(!obj->index)
<> 150:02e0a0aed4ec 202 NVIC_DisableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 203 else
<> 150:02e0a0aed4ec 204 NVIC_DisableIRQ(CAN1_IRQn);
<> 150:02e0a0aed4ec 205
<> 150:02e0a0aed4ec 206
<> 150:02e0a0aed4ec 207 }
<> 150:02e0a0aed4ec 208
<> 150:02e0a0aed4ec 209 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
<> 150:02e0a0aed4ec 210 {
<> 161:2cc1468da177 211 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 212
<> 161:2cc1468da177 213 CAN_EnterInitMode((CAN_T*)can_base);
<> 150:02e0a0aed4ec 214
<> 161:2cc1468da177 215 ((CAN_T *)can_base)->CON = (((CAN_T *)can_base)->CON ) | ((enable != 0 )? CAN_CON_IE_Msk :0);
<> 150:02e0a0aed4ec 216
<> 150:02e0a0aed4ec 217 switch (irq)
<> 150:02e0a0aed4ec 218 {
<> 150:02e0a0aed4ec 219 case IRQ_ERROR:
<> 150:02e0a0aed4ec 220 case IRQ_BUS:
<> 150:02e0a0aed4ec 221 case IRQ_PASSIVE:
<> 161:2cc1468da177 222 can_base->CON = can_base->CON |CAN_CON_EIE_Msk;
<> 161:2cc1468da177 223 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 224 break;
<> 150:02e0a0aed4ec 225
<> 150:02e0a0aed4ec 226 case IRQ_RX:
<> 150:02e0a0aed4ec 227 case IRQ_TX:
<> 150:02e0a0aed4ec 228 case IRQ_OVERRUN:
<> 150:02e0a0aed4ec 229 case IRQ_WAKEUP:
<> 161:2cc1468da177 230 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 231 break;
<> 150:02e0a0aed4ec 232
<> 150:02e0a0aed4ec 233 default:
<> 150:02e0a0aed4ec 234 break;
<> 150:02e0a0aed4ec 235
<> 150:02e0a0aed4ec 236 }
<> 150:02e0a0aed4ec 237
<> 161:2cc1468da177 238 CAN_LeaveInitMode(can_base);
<> 150:02e0a0aed4ec 239
<> 150:02e0a0aed4ec 240 if(!obj->index)
<> 150:02e0a0aed4ec 241 {
<> 150:02e0a0aed4ec 242 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
<> 150:02e0a0aed4ec 243 NVIC_EnableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 244 }
<> 150:02e0a0aed4ec 245 else
<> 150:02e0a0aed4ec 246 {
<> 150:02e0a0aed4ec 247 NVIC_SetVector(CAN1_IRQn, (uint32_t)&CAN1_IRQHandler);
<> 150:02e0a0aed4ec 248 NVIC_EnableIRQ(CAN1_IRQn);
<> 150:02e0a0aed4ec 249 }
<> 150:02e0a0aed4ec 250
<> 150:02e0a0aed4ec 251 }
<> 150:02e0a0aed4ec 252
<> 150:02e0a0aed4ec 253 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 150:02e0a0aed4ec 254 {
<> 150:02e0a0aed4ec 255 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 256
<> 150:02e0a0aed4ec 257 CMsg.IdType = (uint32_t)msg.format;
<> 150:02e0a0aed4ec 258 CMsg.FrameType = (uint32_t)!msg.type;
<> 150:02e0a0aed4ec 259 CMsg.Id = msg.id;
<> 150:02e0a0aed4ec 260 CMsg.DLC = msg.len;
<> 150:02e0a0aed4ec 261 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
<> 150:02e0a0aed4ec 262
<> 161:2cc1468da177 263 return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), cc, &CMsg);
<> 150:02e0a0aed4ec 264 }
<> 150:02e0a0aed4ec 265
<> 150:02e0a0aed4ec 266 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 150:02e0a0aed4ec 267 {
<> 150:02e0a0aed4ec 268 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 269
<> 161:2cc1468da177 270 if(!CAN_Receive((CAN_T *)NU_MODBASE(obj->can), handle, &CMsg))
<> 150:02e0a0aed4ec 271 return 0;
<> 150:02e0a0aed4ec 272
<> 150:02e0a0aed4ec 273 msg->format = (CANFormat)CMsg.IdType;
<> 150:02e0a0aed4ec 274 msg->type = (CANType)!CMsg.FrameType;
<> 150:02e0a0aed4ec 275 msg->id = CMsg.Id;
<> 150:02e0a0aed4ec 276 msg->len = CMsg.DLC;
<> 150:02e0a0aed4ec 277 memcpy(&msg->data[0], &CMsg.Data[0], 8);
<> 150:02e0a0aed4ec 278
<> 150:02e0a0aed4ec 279 return 1;
<> 150:02e0a0aed4ec 280 }
<> 150:02e0a0aed4ec 281
<> 150:02e0a0aed4ec 282 int can_mode(can_t *obj, CanMode mode)
<> 150:02e0a0aed4ec 283 {
<> 161:2cc1468da177 284 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
<> 161:2cc1468da177 285
<> 150:02e0a0aed4ec 286 int success = 0;
<> 150:02e0a0aed4ec 287 switch (mode)
<> 150:02e0a0aed4ec 288 {
<> 150:02e0a0aed4ec 289 case MODE_RESET:
<> 161:2cc1468da177 290 CAN_LeaveTestMode(can_base);
<> 150:02e0a0aed4ec 291 success = 1;
<> 150:02e0a0aed4ec 292 break;
<> 150:02e0a0aed4ec 293
<> 150:02e0a0aed4ec 294 case MODE_NORMAL:
<> 161:2cc1468da177 295 CAN_EnterTestMode(can_base, CAN_TEST_BASIC_Msk);
<> 150:02e0a0aed4ec 296 success = 1;
<> 150:02e0a0aed4ec 297 break;
<> 150:02e0a0aed4ec 298
<> 150:02e0a0aed4ec 299 case MODE_SILENT:
<> 161:2cc1468da177 300 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 301 success = 1;
<> 150:02e0a0aed4ec 302 break;
<> 150:02e0a0aed4ec 303
<> 150:02e0a0aed4ec 304 case MODE_TEST_LOCAL:
<> 150:02e0a0aed4ec 305 case MODE_TEST_GLOBAL:
<> 161:2cc1468da177 306 CAN_EnterTestMode(can_base, CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 307 success = 1;
<> 150:02e0a0aed4ec 308 break;
<> 150:02e0a0aed4ec 309
<> 150:02e0a0aed4ec 310 case MODE_TEST_SILENT:
<> 161:2cc1468da177 311 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 312 success = 1;
<> 150:02e0a0aed4ec 313 break;
<> 150:02e0a0aed4ec 314
<> 150:02e0a0aed4ec 315 default:
<> 150:02e0a0aed4ec 316 success = 0;
<> 150:02e0a0aed4ec 317 break;
<> 150:02e0a0aed4ec 318
<> 150:02e0a0aed4ec 319 }
<> 150:02e0a0aed4ec 320
<> 150:02e0a0aed4ec 321
<> 150:02e0a0aed4ec 322 return success;
<> 150:02e0a0aed4ec 323 }
<> 150:02e0a0aed4ec 324
<> 150:02e0a0aed4ec 325 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 150:02e0a0aed4ec 326 {
<> 161:2cc1468da177 327 return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle , (uint32_t)format, id);
<> 150:02e0a0aed4ec 328 }
<> 150:02e0a0aed4ec 329
<> 150:02e0a0aed4ec 330
<> 150:02e0a0aed4ec 331 void can_reset(can_t *obj)
<> 150:02e0a0aed4ec 332 {
<> 150:02e0a0aed4ec 333 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 334
<> 150:02e0a0aed4ec 335 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 336 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 337
<> 150:02e0a0aed4ec 338 // Reset this module
<> 150:02e0a0aed4ec 339 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 340
<> 150:02e0a0aed4ec 341 }
<> 150:02e0a0aed4ec 342
<> 150:02e0a0aed4ec 343 unsigned char can_rderror(can_t *obj)
<> 150:02e0a0aed4ec 344 {
<> 161:2cc1468da177 345 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 346 return ((can->ERR>>8)&0xFF);
<> 150:02e0a0aed4ec 347 }
<> 150:02e0a0aed4ec 348
<> 150:02e0a0aed4ec 349 unsigned char can_tderror(can_t *obj)
<> 150:02e0a0aed4ec 350 {
<> 161:2cc1468da177 351 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 352 return ((can->ERR)&0xFF);
<> 150:02e0a0aed4ec 353 }
<> 150:02e0a0aed4ec 354
<> 150:02e0a0aed4ec 355 void can_monitor(can_t *obj, int silent)
<> 150:02e0a0aed4ec 356 {
<> 161:2cc1468da177 357 CAN_EnterTestMode((CAN_T *)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 358 }
<> 150:02e0a0aed4ec 359
<> 150:02e0a0aed4ec 360 #endif // DEVICE_CAN