www.pudn.com > Micrium-ST-uCOS-II-LCD-STM32-SK.rar > stm32f10x_can.c
/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name : stm32f10x_can.c
* Author : MCD Application Team
* Date First Issued : 09/29/2006
* Description : This file provides all the CAN firmware functions.
********************************************************************************
* History:
* 05/21/2007: V0.3
* 04/02/2007: V0.2
* 02/05/2007: V0.1
* 09/29/2006: V0.01
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_can.h"
#include "stm32f10x_rcc.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* CAN Master Control Register bits */
#define CAN_MCR_INRQ ((u32)0x00000001) /* Initialization request */
#define CAN_MCR_SLEEP ((u32)0x00000002) /* Sleep mode request */
#define CAN_MCR_TXFP ((u32)0x00000004) /* Transmit FIFO priority */
#define CAN_MCR_RFLM ((u32)0x00000008) /* Receive FIFO locked mode */
#define CAN_MCR_NART ((u32)0x00000010) /* No automatic retransmission */
#define CAN_MCR_AWUM ((u32)0x00000020) /* Automatic wake up mode */
#define CAN_MCR_ABOM ((u32)0x00000040) /* Automatic bus-off management */
#define CAN_MCR_TTCM ((u32)0x00000080) /* time triggered communication */
/* CAN Master Status Register bits */
#define CAN_MSR_INAK ((u32)0x00000001) /* Initialization acknowledge */
#define CAN_MSR_WKUI ((u32)0x00000008) /* Wake-up interrupt */
#define CAN_MSR_SLAKI ((u32)0x00000010) /* Sleep acknowledge interrupt */
/* CAN Transmit Status Register bits */
#define CAN_TSR_RQCP0 ((u32)0x00000001) /* Request completed mailbox0 */
#define CAN_TSR_TXOK0 ((u32)0x00000002) /* Transmission OK of mailbox0 */
#define CAN_TSR_ABRQ0 ((u32)0x00000080) /* Abort request for mailbox0 */
#define CAN_TSR_RQCP1 ((u32)0x00000100) /* Request completed mailbox1 */
#define CAN_TSR_TXOK1 ((u32)0x00000200) /* Transmission OK of mailbox1 */
#define CAN_TSR_ABRQ1 ((u32)0x00008000) /* Abort request for mailbox1 */
#define CAN_TSR_RQCP2 ((u32)0x00010000) /* Request completed mailbox2 */
#define CAN_TSR_TXOK2 ((u32)0x00020000) /* Transmission OK of mailbox2 */
#define CAN_TSR_ABRQ2 ((u32)0x00800000) /* Abort request for mailbox2 */
#define CAN_TSR_TME0 ((u32)0x04000000) /* Transmit mailbox 0 empty */
#define CAN_TSR_TME1 ((u32)0x08000000) /* Transmit mailbox 1 empty */
#define CAN_TSR_TME2 ((u32)0x10000000) /* Transmit mailbox 2 empty */
/* CAN Receive FIFO 0 Register bits */
#define CAN_RF0R_FULL0 ((u32)0x00000008) /* FIFO 0 full */
#define CAN_RF0R_FOVR0 ((u32)0x00000010) /* FIFO 0 overrun */
#define CAN_RF0R_RFOM0 ((u32)0x00000020) /* Release FIFO 0 output mailbox */
/* CAN Receive FIFO 1 Register bits */
#define CAN_RF1R_FULL1 ((u32)0x00000008) /* FIFO 1 full */
#define CAN_RF1R_FOVR1 ((u32)0x00000010) /* FIFO 1 overrun */
#define CAN_RF1R_RFOM1 ((u32)0x00000020) /* Release FIFO 1 output mailbox */
/* CAN Error Status Register bits */
#define CAN_ESR_EWGF ((u32)0x00000001) /* Error warning flag */
#define CAN_ESR_EPVF ((u32)0x00000002) /* Error passive flag */
#define CAN_ESR_BOFF ((u32)0x00000004) /* Bus-off flag */
/* CAN Mailbox Transmit Request */
#define CAN_TMIDxR_TXRQ ((u32)0x00000001) /* Transmit mailbox request */
/* CAN Filter Master Register bits */
#define CAN_FMR_FINIT ((u32)0x00000001) /* Filter init mode */
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit);
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
* Function Name : CAN_DeInit
* Description : Deinitializes the CAN peripheral registers to their default
* reset values.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_DeInit(void)
{
/* Enable CAN reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE);
/* Release CAN from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, DISABLE);
}
/*******************************************************************************
* Function Name : CAN_Init
* Description : Initializes the CAN peripheral according to the specified
* parameters in the CAN_InitStruct.
* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
contains the configuration information for the CAN peripheral.
* Output : None.
* Return : Constant indicates initialization succeed which will be
* CANINITFAILED or CANINITOK.
*******************************************************************************/
u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
{
u8 InitStatus = 0;
/* Check the parameters */
assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
assert(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
assert(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
assert(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
assert(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
assert(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
assert(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
/* Request initialisation */
CAN->MCR = CAN_MCR_INRQ;
/* ...and check acknowledged */
if ((CAN->MSR & CAN_MSR_INAK) == 0)
{
InitStatus = CANINITFAILED;
}
else
{
/* Set the time triggered communication mode */
if (CAN_InitStruct->CAN_TTCM == ENABLE)
{
CAN->MCR |= CAN_MCR_TTCM;
}
else
{
CAN->MCR &= ~CAN_MCR_TTCM;
}
/* Set the automatic bus-off management */
if (CAN_InitStruct->CAN_ABOM == ENABLE)
{
CAN->MCR |= CAN_MCR_ABOM;
}
else
{
CAN->MCR &= ~CAN_MCR_ABOM;
}
/* Set the automatic wake-up mode */
if (CAN_InitStruct->CAN_AWUM == ENABLE)
{
CAN->MCR |= CAN_MCR_AWUM;
}
else
{
CAN->MCR &= ~CAN_MCR_AWUM;
}
/* Set the no automatic retransmission */
if (CAN_InitStruct->CAN_NART == ENABLE)
{
CAN->MCR |= CAN_MCR_NART;
}
else
{
CAN->MCR &= ~CAN_MCR_NART;
}
/* Set the receive FIFO locked mode */
if (CAN_InitStruct->CAN_RFLM == ENABLE)
{
CAN->MCR |= CAN_MCR_RFLM;
}
else
{
CAN->MCR &= ~CAN_MCR_RFLM;
}
/* Set the transmit FIFO priority */
if (CAN_InitStruct->CAN_TXFP == ENABLE)
{
CAN->MCR |= CAN_MCR_TXFP;
}
else
{
CAN->MCR &= ~CAN_MCR_TXFP;
}
/* Set the bit timing register */
CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
((u32)CAN_InitStruct->CAN_Prescaler - 1);
InitStatus = CANINITOK;
/* Request leave initialisation */
CAN->MCR &= ~CAN_MCR_INRQ;
/* ...and check acknowledged */
if ((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
{
InitStatus = CANINITFAILED;
}
}
/* At this step, return the status of initialization */
return InitStatus;
}
/*******************************************************************************
* Function Name : CAN_FilterInit
* Description : Initializes the CAN peripheral according to the specified
* parameters in the CAN_FilterInitStruct.
* Input : CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
* structure that contains the configuration information.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
{
u16 FilterNumber_BitPos = 0;
/* Check the parameters */
assert(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
assert(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
assert(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
assert(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
assert(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
FilterNumber_BitPos =
(u16)((u16)0x0001 << ((u16)CAN_FilterInitStruct->CAN_FilterNumber));
/* Initialisation mode for the filter */
CAN->FMR |= CAN_FMR_FINIT;
/* Filter Deactivation */
CAN->FA0R &= ~(u32)FilterNumber_BitPos;
/* Filter Scale */
if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
{
/* 16-bit scale for the filter */
CAN->FS0R &= ~(u32)FilterNumber_BitPos;
/* First 16-bit identifier and First 16-bit mask */
/* Or First 16-bit identifier and Second 16-bit identifier */
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR0 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
/* Second 16-bit identifier and Second 16-bit mask */
/* Or Third 16-bit identifier and Fourth 16-bit identifier */
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
}
if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
{
/* 32-bit scale for the filter */
CAN->FS0R |= FilterNumber_BitPos;
/* 32-bit identifier or First 32-bit identifier */
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR0 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
/* 32-bit mask or Second 32-bit identifier */
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
}
/* Filter Mode */
if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
{
/*Id/Mask mode for the filter*/
CAN->FM0R &= ~(u32)FilterNumber_BitPos;
}
else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
{
/*Identifier list mode for the filter*/
CAN->FM0R |= (u32)FilterNumber_BitPos;
}
/* Filter FIFO assignment */
if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
{
/* FIFO 0 assignation for the filter */
CAN->FFA0R &= ~(u32)FilterNumber_BitPos;
}
if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
{
/* FIFO 1 assignation for the filter */
CAN->FFA0R |= (u32)FilterNumber_BitPos;
}
/* Filter activation */
if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
{
CAN->FA0R |= FilterNumber_BitPos;
}
/* Leave the initialisation mode for the filter */
CAN->FMR &= ~CAN_FMR_FINIT;
}
/*******************************************************************************
* Function Name : CAN_StructInit
* Description : Fills each CAN_InitStruct member with its default value.
* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
* will be initialized.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
{
/* Reset CAN init structure parameters values */
/* Initialize the time triggered communication mode */
CAN_InitStruct->CAN_TTCM = DISABLE;
/* Initialize the automatic bus-off management */
CAN_InitStruct->CAN_ABOM = DISABLE;
/* Initialize the automatic wake-up mode */
CAN_InitStruct->CAN_AWUM = DISABLE;
/* Initialize the no automatic retransmission */
CAN_InitStruct->CAN_NART = DISABLE;
/* Initialize the receive FIFO locked mode */
CAN_InitStruct->CAN_RFLM = DISABLE;
/* Initialize the transmit FIFO priority */
CAN_InitStruct->CAN_TXFP = DISABLE;
/* Initialize the CAN_Mode member */
CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
/* Initialize the CAN_SJW member */
CAN_InitStruct->CAN_SJW = CAN_SJW_0tq;
/* Initialize the CAN_BS1 member */
CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
/* Initialize the CAN_BS2 member */
CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
/* Initialize the CAN_Prescaler member */
CAN_InitStruct->CAN_Prescaler = 1;
}
/*******************************************************************************
* Function Name : CAN_ITConfig
* Description : Enables or disables the specified CAN interrupts.
* Input : - CAN_IT: specifies the CAN interrupt sources to be enabled or
* disabled.
* This parameter can be: CAN_IT_TME, CAN_IT_FMP0, CAN_IT_FF0,
* CAN_IT_FOV0, CAN_IT_FMP1, CAN_IT_FF1,
* CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
* CAN_IT_LEC, CAN_IT_ERR, CAN_IT_WKU or
* CAN_IT_SLK.
* - NewState: new state of the CAN interrupts.
* This parameter can be: ENABLE or DISABLE.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_ITConfig(u32 CAN_IT, FunctionalState NewState)
{
/* Check the parameters */
assert(IS_CAN_ITConfig(CAN_IT));
assert(IS_FUNCTIONAL_STATE(NewState));
if (NewState != DISABLE)
{
/* Enable the selected CAN interrupt */
CAN->IER |= CAN_IT;
}
else
{
/* Disable the selected CAN interrupt */
CAN->IER &= ~CAN_IT;
}
}
/*******************************************************************************
* Function Name : CAN_Transmit
* Description : Initiates the transmission of a message.
* Input : TxMessage: pointer to a structure which contains CAN Id, CAN
* DLC and CAN datas.
* Output : None.
* Return : The number of the mailbox that is used for transmission
* or CAN_NO_MB if there is no empty mailbox.
*******************************************************************************/
u8 CAN_Transmit(CanTxMsg* TxMessage)
{
u8 TransmitMailbox = 0;
/* Check the parameters */
assert(IS_CAN_STDID(TxMessage->StdId));
assert(IS_CAN_EXTID(TxMessage->StdId));
assert(IS_CAN_IDTYPE(TxMessage->IDE));
assert(IS_CAN_RTR(TxMessage->RTR));
assert(IS_CAN_DLC(TxMessage->DLC));
/* Select one empty transmit mailbox */
if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
{
TransmitMailbox = 0;
}
else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
{
TransmitMailbox = 1;
}
else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
{
TransmitMailbox = 2;
}
else
{
TransmitMailbox = CAN_NO_MB;
}
if (TransmitMailbox != CAN_NO_MB)
{
/* Set up the Id */
TxMessage->StdId &= (u32)0x000007FF;
TxMessage->StdId = TxMessage->StdId << 21;
TxMessage->ExtId &= (u32)0x0003FFFF;
TxMessage->ExtId <<= 3;
CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ;
CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->ExtId |
TxMessage->IDE | TxMessage->RTR);
/* Set up the DLC */
TxMessage->DLC &= (u8)0x0000000F;
CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;
/* Set up the data field */
CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) |
((u32)TxMessage->Data[2] << 16) |
((u32)TxMessage->Data[1] << 8) |
((u32)TxMessage->Data[0]));
CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) |
((u32)TxMessage->Data[6] << 16) |
((u32)TxMessage->Data[5] << 8) |
((u32)TxMessage->Data[4]));
/* Request transmission */
CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
}
return TransmitMailbox;
}
/*******************************************************************************
* Function Name : CAN_TransmitStatus
* Description : Checks the transmission of a message.
* Input : TransmitMailbox: the number of the mailbox that is used for
* transmission.
* Output : None.
* Return : CANTXOK if the CAN driver transmits the message, CANTXFAILED
* in an other case.
*******************************************************************************/
u8 CAN_TransmitStatus(u8 TransmitMailbox)
{
/* RQCP, TXOK and TME bits */
u32 State = 0;
/* Check the parameters */
assert(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
switch (TransmitMailbox)
{
case (0): State |= ((CAN->TSR & CAN_TSR_RQCP0) << 2);
State |= ((CAN->TSR & CAN_TSR_TXOK0) >> 0);
State |= ((CAN->TSR & CAN_TSR_TME0) >> 26);
break;
case (1): State |= ((CAN->TSR & CAN_TSR_RQCP1) >> 6);
State |= ((CAN->TSR & CAN_TSR_TXOK1) >> 8);
State |= ((CAN->TSR & CAN_TSR_TME1) >> 27);
break;
case (2): State |= ((CAN->TSR & CAN_TSR_RQCP2) >> 14);
State |= ((CAN->TSR & CAN_TSR_TXOK2) >> 16);
State |= ((CAN->TSR & CAN_TSR_TME2) >> 28);
break;
default:
State = CANTXFAILED;
break;
}
switch (State)
{
/* transmit pending */
case (0x0): State = CANTXPENDING;
break;
/* transmit failed */
case (0x5): State = CANTXFAILED;
break;
/* transmit succedeed */
case (0x7): State = CANTXOK;
break;
default:
State = CANTXFAILED;
break;
}
return State;
}
/*******************************************************************************
* Function Name : CAN_CancelTransmit
* Description : Cancels a transmit request.
* Input : Mailbox number.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_CancelTransmit(u8 Mailbox)
{
/* Check the parameters */
assert(IS_CAN_TRANSMITMAILBOX(Mailbox));
/* abort transmission */
switch (Mailbox)
{
case (0): CAN->TSR |= CAN_TSR_ABRQ0;
break;
case (1): CAN->TSR |= CAN_TSR_ABRQ1;
break;
case (2): CAN->TSR |= CAN_TSR_ABRQ2;
break;
default:
break;
}
}
/*******************************************************************************
* Function Name : CAN_FIFORelease
* Description : Releases a FIFO.
* Input : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_FIFORelease(u8 FIFONumber)
{
/* Check the parameters */
assert(IS_CAN_FIFO(FIFONumber));
/* Release FIFO0 */
if (FIFONumber == CAN_FIFO0)
{
CAN->RF0R = CAN_RF0R_RFOM0;
}
/* Release FIFO1 */
else /* FIFONumber == CAN_FIFO1 */
{
CAN->RF1R = CAN_RF1R_RFOM1;
}
}
/*******************************************************************************
* Function Name : CAN_MessagePending
* Description : Returns the number of pending messages.
* Input : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* Output : None.
* Return : NbMessage which is the number of pending message.
*******************************************************************************/
u8 CAN_MessagePending(u8 FIFONumber)
{
u8 MessagePending=0;
/* Check the parameters */
assert(IS_CAN_FIFO(FIFONumber));
if (FIFONumber == CAN_FIFO0)
{
MessagePending = (u8)(CAN->RF0R&(u32)0x03);
}
else if (FIFONumber == CAN_FIFO1)
{
MessagePending = (u8)(CAN->RF1R&(u32)0x03);
}
else
{
MessagePending = 0;
}
return MessagePending;
}
/*******************************************************************************
* Function Name : CAN_Receive
* Description : Receives a message.
* Input : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* Output : RxMessage: pointer to a structure which contains CAN Id,
* CAN DLC, CAN datas and FMI number.
* Return : None.
*******************************************************************************/
void CAN_Receive(u8 FIFONumber, CanRxMsg* RxMessage)
{
/* Check the parameters */
assert(IS_CAN_FIFO(FIFONumber));
/* Get the Id */
RxMessage->StdId = (u32)0x000007FF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 21);
RxMessage->ExtId = (u32)0x0003FFFF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 3);
RxMessage->IDE = (u32)0x00000004 & CAN->sFIFOMailBox[FIFONumber].RIR;
RxMessage->RTR = (u32)0x00000002 & CAN->sFIFOMailBox[FIFONumber].RIR;
/* Get the DLC */
RxMessage->DLC = (u32)0x0000000F & CAN->sFIFOMailBox[FIFONumber].RDTR;
/* Get the FMI */
RxMessage->FMI = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDTR >> 8);
/* Get the data field */
RxMessage->Data[0] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDLR;
RxMessage->Data[1] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 8);
RxMessage->Data[2] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 16);
RxMessage->Data[3] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 24);
RxMessage->Data[4] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDHR;
RxMessage->Data[5] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 8);
RxMessage->Data[6] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 16);
RxMessage->Data[7] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 24);
/* Release the FIFO */
CAN_FIFORelease(FIFONumber);
}
/*******************************************************************************
* Function Name : CAN_Sleep
* Description : Enters the low power mode.
* Input : None.
* Output : None.
* Return : CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
*******************************************************************************/
u8 CAN_Sleep(void)
{
u8 SleepStatus = 0;
/* Sleep mode entering request */
CAN->MCR |= CAN_MCR_SLEEP;
SleepStatus = CANSLEEPOK;
/* Sleep mode status */
if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
{
/* Sleep mode not entered */
SleepStatus = CANSLEEPFAILED;
}
/* At this step, sleep mode status */
return SleepStatus;
}
/*******************************************************************************
* Function Name : CAN_WakeUp
* Description : Wakes the CAN up.
* Input : None.
* Output : None.
* Return : CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other
* case.
*******************************************************************************/
u8 CAN_WakeUp(void)
{
u8 WakeUpStatus = 0;
/* Wake up request */
CAN->MCR &= ~CAN_MCR_SLEEP;
WakeUpStatus = CANWAKEUPFAILED;
/* Sleep mode status */
if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
{
/* Sleep mode exited */
WakeUpStatus = CANWAKEUPOK;
}
/* At this step, sleep mode status */
return WakeUpStatus;
}
/*******************************************************************************
* Function Name : CAN_GetFlagStatus
* Description : Checks whether the specified CAN flag is set or not.
* Input : CAN_FLAG: specifies the flag to check.
* This parameter can be: CAN_FLAG_EWG, CAN_FLAG_EPV or
* CAN_FLAG_BOF.
* Output : None.
* Return : The new state of CAN_FLAG (SET or RESET).
*******************************************************************************/
FlagStatus CAN_GetFlagStatus(u32 CAN_FLAG)
{
FlagStatus bitstatus = RESET;
/* Check the parameters */
assert(IS_CAN_FLAG(CAN_FLAG));
/* Check the status of the specified CAN flag */
if ((CAN->ESR & CAN_FLAG) != (u32)RESET)
{
/* CAN_FLAG is set */
bitstatus = SET;
}
else
{
/* CAN_FLAG is reset */
bitstatus = RESET;
}
/* Return the CAN_FLAG status */
return bitstatus;
}
/*******************************************************************************
* Function Name : CAN_ClearFlag
* Description : Clears the CAN's pending flags.
* Input : CAN_FLAG: specifies the flag to clear.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_ClearFlag(u32 CAN_FLAG)
{
/* Check the parameters */
assert(IS_CAN_FLAG(CAN_FLAG));
/* Clear the selected CAN flags */
CAN->ESR &= ~CAN_FLAG;
}
/*******************************************************************************
* Function Name : CAN_GetITStatus
* Description : Checks whether the specified CAN interrupt has occurred or
* not.
* Input : CAN_IT: specifies the CAN interrupt source to check.
* This parameter can be: CAN_IT_RQCP0, CAN_IT_RQCP1, CAN_IT_RQCP2,
* CAN_IT_FF0, CAN_IT_FOV0, CAN_IT_FF1,
* CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
* CAN_IT_BOF, CAN_IT_WKU or CAN_IT_SLK.
* Output : None.
* Return : The new state of CAN_IT (SET or RESET).
*******************************************************************************/
ITStatus CAN_GetITStatus(u32 CAN_IT)
{
ITStatus pendingbitstatus = RESET;
/* Check the parameters */
assert(IS_CAN_ITStatus(CAN_IT));
switch (CAN_IT)
{
case CAN_IT_RQCP0:
pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP0);
break;
case CAN_IT_RQCP1:
pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP1);
break;
case CAN_IT_RQCP2:
pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP2);
break;
case CAN_IT_FF0:
pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FULL0);
break;
case CAN_IT_FOV0:
pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FOVR0);
break;
case CAN_IT_FF1:
pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FULL1);
break;
case CAN_IT_FOV1:
pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FOVR1);
break;
case CAN_IT_EWG:
pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EWGF);
break;
case CAN_IT_EPV:
pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EPVF);
break;
case CAN_IT_BOF:
pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_BOFF);
break;
case CAN_IT_SLK:
pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_SLAKI);
break;
case CAN_IT_WKU:
pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_WKUI);
break;
default :
pendingbitstatus = RESET;
break;
}
/* Return the CAN_IT status */
return pendingbitstatus;
}
/*******************************************************************************
* Function Name : CAN_ClearITPendingBit
* Description : Clears the CAN’s interrupt pending bits.
* Input : CAN_IT: specifies the interrupt pending bit to clear.
* Output : None.
* Return : None.
*******************************************************************************/
void CAN_ClearITPendingBit(u32 CAN_IT)
{
/* Check the parameters */
assert(IS_CAN_ITStatus(CAN_IT));
switch (CAN_IT)
{
case CAN_IT_RQCP0:
CAN->TSR = CAN_TSR_RQCP0; /* rc_w1*/
break;
case CAN_IT_RQCP1:
CAN->TSR = CAN_TSR_RQCP1; /* rc_w1*/
break;
case CAN_IT_RQCP2:
CAN->TSR = CAN_TSR_RQCP2; /* rc_w1*/
break;
case CAN_IT_FF0:
CAN->RF0R = CAN_RF0R_FULL0; /* rc_w1*/
break;
case CAN_IT_FOV0:
CAN->RF0R = CAN_RF0R_FOVR0; /* rc_w1*/
break;
case CAN_IT_FF1:
CAN->RF1R = CAN_RF1R_FULL1; /* rc_w1*/
break;
case CAN_IT_FOV1:
CAN->RF1R = CAN_RF1R_FOVR1; /* rc_w1*/
break;
case CAN_IT_EWG:
CAN->ESR &= ~ CAN_ESR_EWGF; /* rw */
break;
case CAN_IT_EPV:
CAN->ESR &= ~ CAN_ESR_EPVF; /* rw */
break;
case CAN_IT_BOF:
CAN->ESR &= ~ CAN_ESR_BOFF; /* rw */
break;
case CAN_IT_WKU:
CAN->MSR = CAN_MSR_WKUI; /* rc_w1*/
break;
case CAN_IT_SLK:
CAN->MSR = CAN_MSR_SLAKI; /* rc_w1*/
break;
default :
break;
}
}
/*******************************************************************************
* Function Name : CheckITStatus
* Description : Checks whether the CAN interrupt has occurred or not.
* Input : CAN_Reg: specifies the CAN interrupt register to check.
* It_Bit: specifies the interrupt source bit to check.
* Output : None.
* Return : The new state of the CAN Interrupt (SET or RESET).
*******************************************************************************/
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit)
{
ITStatus pendingbitstatus = RESET;
if ((CAN_Reg & It_Bit) != (u32)RESET)
{
/* CAN_IT is set */
pendingbitstatus = SET;
}
else
{
/* CAN_IT is reset */
pendingbitstatus = RESET;
}
return pendingbitstatus;
}
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/