+++ /dev/null
-/**
- ******************************************************************************
- * @file stm32f30x_can.c
- * @author MCD Application Team
- * @version V1.1.0
- * @date 27-February-2014
- * @brief This file provides firmware functions to manage the following
- * functionalities of the Controller area network (CAN) peripheral:
- * + Initialization and Configuration
- * + CAN Frames Transmission
- * + CAN Frames Reception
- * + Operation modes switch
- * + Error management
- * + Interrupts and flags
- *
- @verbatim
-
- ===============================================================================
- ##### How to use this driver #####
- ===============================================================================
- [..]
- (#) Enable the CAN controller interface clock using
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
- (#) CAN pins configuration:
- (++) Enable the clock for the CAN GPIOs using the following function:
- RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOx, ENABLE);
- (++) Connect the involved CAN pins to AF9 using the following function
- GPIO_PinAFConfig(GPIOx, GPIO_PinSourcex, GPIO_AF_CANx);
- (++) Configure these CAN pins in alternate function mode by calling
- the function GPIO_Init();
- (#) Initialise and configure the CAN using CAN_Init() and
- CAN_FilterInit() functions.
- (#) Transmit the desired CAN frame using CAN_Transmit() function.
- (#) Check the transmission of a CAN frame using CAN_TransmitStatus() function.
- (#) Cancel the transmission of a CAN frame using CAN_CancelTransmit() function.
- (#) Receive a CAN frame using CAN_Recieve() function.
- (#) Release the receive FIFOs using CAN_FIFORelease() function.
- (#) Return the number of pending received frames using CAN_MessagePending() function.
- (#) To control CAN events you can use one of the following two methods:
- (++) Check on CAN flags using the CAN_GetFlagStatus() function.
- (++) Use CAN interrupts through the function CAN_ITConfig() at initialization
- phase and CAN_GetITStatus() function into interrupt routines to check
- if the event has occurred or not.
- After checking on a flag you should clear it using CAN_ClearFlag()
- function. And after checking on an interrupt event you should clear it
- using CAN_ClearITPendingBit() function.
-
- @endverbatim
- *
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f30x_can.h"
-#include "stm32f30x_rcc.h"
-
-/** @addtogroup STM32F30x_StdPeriph_Driver
- * @{
- */
-
-/** @defgroup CAN
- * @brief CAN driver modules
- * @{
- */
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-
-/* CAN Master Control Register bits */
-#define MCR_DBF ((uint32_t)0x00010000) /* software master reset */
-
-/* CAN Mailbox Transmit Request */
-#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */
-
-/* CAN Filter Master Register bits */
-#define FMR_FINIT ((uint32_t)0x00000001) /* Filter init mode */
-
-/* Time out for INAK bit */
-#define INAK_TIMEOUT ((uint32_t)0x00FFFFFF)
-/* Time out for SLAK bit */
-#define SLAK_TIMEOUT ((uint32_t)0x00FFFFFF)
-
-/* Flags in TSR register */
-#define CAN_FLAGS_TSR ((uint32_t)0x08000000)
-/* Flags in RF1R register */
-#define CAN_FLAGS_RF1R ((uint32_t)0x04000000)
-/* Flags in RF0R register */
-#define CAN_FLAGS_RF0R ((uint32_t)0x02000000)
-/* Flags in MSR register */
-#define CAN_FLAGS_MSR ((uint32_t)0x01000000)
-/* Flags in ESR register */
-#define CAN_FLAGS_ESR ((uint32_t)0x00F00000)
-
-/* Mailboxes definition */
-#define CAN_TXMAILBOX_0 ((uint8_t)0x00)
-#define CAN_TXMAILBOX_1 ((uint8_t)0x01)
-#define CAN_TXMAILBOX_2 ((uint8_t)0x02)
-
-#define CAN_MODE_MASK ((uint32_t) 0x00000003)
-
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit);
-
-/** @defgroup CAN_Private_Functions
- * @{
- */
-
-/** @defgroup CAN_Group1 Initialization and Configuration functions
- * @brief Initialization and Configuration functions
- *
-@verbatim
- ===============================================================================
- ##### Initialization and Configuration functions #####
- ===============================================================================
- [..] This section provides functions allowing to:
- (+) Initialize the CAN peripherals : Prescaler, operating mode, the maximum
- number of time quanta to perform resynchronization, the number of time
- quanta in Bit Segment 1 and 2 and many other modes.
- (+) Configure the CAN reception filter.
- (+) Select the start bank filter for slave CAN.
- (+) Enable or disable the Debug Freeze mode for CAN.
- (+) Enable or disable the CAN Time Trigger Operation communication mode.
-
-@endverbatim
- * @{
- */
-
-/**
- * @brief Deinitializes the CAN peripheral registers to their default reset values.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @retval None.
- */
-void CAN_DeInit(CAN_TypeDef* CANx)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
-
- /* Enable CAN1 reset state */
- RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, ENABLE);
- /* Release CAN1 from reset state */
- RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, DISABLE);
-}
-
-/**
- * @brief Initializes the CAN peripheral according to the specified
- * parameters in the CAN_InitStruct.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure that contains
- * the configuration information for the CAN peripheral.
- * @retval Constant indicates initialization succeed which will be
- * CAN_InitStatus_Failed or CAN_InitStatus_Success.
- */
-uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
-{
- uint8_t InitStatus = CAN_InitStatus_Failed;
- __IO uint32_t wait_ack = 0x00000000;
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
- assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
- assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
- assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
- assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
- assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
- assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
-
- /* Exit from sleep mode */
- CANx->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
-
- /* Request initialisation */
- CANx->MCR |= CAN_MCR_INRQ ;
-
- /* Wait the acknowledge */
- while (((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
- {
- wait_ack++;
- }
-
- /* Check acknowledge */
- if ((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
- {
- InitStatus = CAN_InitStatus_Failed;
- }
- else
- {
- /* Set the time triggered communication mode */
- if (CAN_InitStruct->CAN_TTCM == ENABLE)
- {
- CANx->MCR |= CAN_MCR_TTCM;
- }
- else
- {
- CANx->MCR &= ~(uint32_t)CAN_MCR_TTCM;
- }
-
- /* Set the automatic bus-off management */
- if (CAN_InitStruct->CAN_ABOM == ENABLE)
- {
- CANx->MCR |= CAN_MCR_ABOM;
- }
- else
- {
- CANx->MCR &= ~(uint32_t)CAN_MCR_ABOM;
- }
-
- /* Set the automatic wake-up mode */
- if (CAN_InitStruct->CAN_AWUM == ENABLE)
- {
- CANx->MCR |= CAN_MCR_AWUM;
- }
- else
- {
- CANx->MCR &= ~(uint32_t)CAN_MCR_AWUM;
- }
-
- /* Set the no automatic retransmission */
- if (CAN_InitStruct->CAN_NART == ENABLE)
- {
- CANx->MCR |= CAN_MCR_NART;
- }
- else
- {
- CANx->MCR &= ~(uint32_t)CAN_MCR_NART;
- }
-
- /* Set the receive FIFO locked mode */
- if (CAN_InitStruct->CAN_RFLM == ENABLE)
- {
- CANx->MCR |= CAN_MCR_RFLM;
- }
- else
- {
- CANx->MCR &= ~(uint32_t)CAN_MCR_RFLM;
- }
-
- /* Set the transmit FIFO priority */
- if (CAN_InitStruct->CAN_TXFP == ENABLE)
- {
- CANx->MCR |= CAN_MCR_TXFP;
- }
- else
- {
- CANx->MCR &= ~(uint32_t)CAN_MCR_TXFP;
- }
-
- /* Set the bit timing register */
- CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | \
- ((uint32_t)CAN_InitStruct->CAN_SJW << 24) | \
- ((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | \
- ((uint32_t)CAN_InitStruct->CAN_BS2 << 20) | \
- ((uint32_t)CAN_InitStruct->CAN_Prescaler - 1);
-
- /* Request leave initialisation */
- CANx->MCR &= ~(uint32_t)CAN_MCR_INRQ;
-
- /* Wait the acknowledge */
- wait_ack = 0;
-
- while (((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
- {
- wait_ack++;
- }
-
- /* ...and check acknowledged */
- if ((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
- {
- InitStatus = CAN_InitStatus_Failed;
- }
- else
- {
- InitStatus = CAN_InitStatus_Success ;
- }
- }
-
- /* At this step, return the status of initialization */
- return InitStatus;
-}
-
-/**
- * @brief Configures the CAN reception filter according to the specified
- * parameters in the CAN_FilterInitStruct.
- * @param CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef structure that
- * contains the configuration information.
- * @retval None
- */
-void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
-{
- uint32_t filter_number_bit_pos = 0;
- /* Check the parameters */
- assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
- assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
- assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
- assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
- assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
-
- filter_number_bit_pos = ((uint32_t)1) << CAN_FilterInitStruct->CAN_FilterNumber;
-
- /* Initialisation mode for the filter */
- CAN1->FMR |= FMR_FINIT;
-
- /* Filter Deactivation */
- CAN1->FA1R &= ~(uint32_t)filter_number_bit_pos;
-
- /* Filter Scale */
- if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
- {
- /* 16-bit scale for the filter */
- CAN1->FS1R &= ~(uint32_t)filter_number_bit_pos;
-
- /* First 16-bit identifier and First 16-bit mask */
- /* Or First 16-bit identifier and Second 16-bit identifier */
- CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
- ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
- (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow);
-
- /* Second 16-bit identifier and Second 16-bit mask */
- /* Or Third 16-bit identifier and Fourth 16-bit identifier */
- CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
- ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
- (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh);
- }
-
- if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
- {
- /* 32-bit scale for the filter */
- CAN1->FS1R |= filter_number_bit_pos;
- /* 32-bit identifier or First 32-bit identifier */
- CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
- ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
- (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow);
- /* 32-bit mask or Second 32-bit identifier */
- CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
- ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
- (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow);
- }
-
- /* Filter Mode */
- if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
- {
- /*Id/Mask mode for the filter*/
- CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos;
- }
- else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
- {
- /*Identifier list mode for the filter*/
- CAN1->FM1R |= (uint32_t)filter_number_bit_pos;
- }
-
- /* Filter FIFO assignment */
- if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO0)
- {
- /* FIFO 0 assignation for the filter */
- CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos;
- }
-
- if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO1)
- {
- /* FIFO 1 assignation for the filter */
- CAN1->FFA1R |= (uint32_t)filter_number_bit_pos;
- }
-
- /* Filter activation */
- if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
- {
- CAN1->FA1R |= filter_number_bit_pos;
- }
-
- /* Leave the initialisation mode for the filter */
- CAN1->FMR &= ~FMR_FINIT;
-}
-
-/**
- * @brief Fills each CAN_InitStruct member with its default value.
- * @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure which ill be initialized.
- * @retval 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_1tq;
-
- /* 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;
-}
-
-/**
- * @brief Select the start bank filter for slave CAN.
- * @param CAN_BankNumber: Select the start slave bank filter from 1..27.
- * @retval None
- */
-void CAN_SlaveStartBank(uint8_t CAN_BankNumber)
-{
- /* Check the parameters */
- assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber));
-
- /* Enter Initialisation mode for the filter */
- CAN1->FMR |= FMR_FINIT;
-
- /* Select the start slave bank */
- CAN1->FMR &= (uint32_t)0xFFFFC0F1 ;
- CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8;
-
- /* Leave Initialisation mode for the filter */
- CAN1->FMR &= ~FMR_FINIT;
-}
-
-/**
- * @brief Enables or disables the DBG Freeze for CAN.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param NewState: new state of the CAN peripheral.
- * This parameter can be: ENABLE (CAN reception/transmission is frozen
- * during debug. Reception FIFOs can still be accessed/controlled normally)
- * or DISABLE (CAN is working during debug).
- * @retval None
- */
-void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_FUNCTIONAL_STATE(NewState));
-
- if (NewState != DISABLE)
- {
- /* Enable Debug Freeze */
- CANx->MCR |= MCR_DBF;
- }
- else
- {
- /* Disable Debug Freeze */
- CANx->MCR &= ~MCR_DBF;
- }
-}
-
-/**
- * @brief Enables or disables the CAN Time TriggerOperation communication mode.
- * @note DLC must be programmed as 8 in order Time Stamp (2 bytes) to be
- * sent over the CAN bus.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param NewState: Mode new state. This parameter can be: ENABLE or DISABLE.
- * When enabled, Time stamp (TIME[15:0]) value is sent in the last two
- * data bytes of the 8-byte message: TIME[7:0] in data byte 6 and TIME[15:8]
- * in data byte 7.
- * @retval None
- */
-void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_FUNCTIONAL_STATE(NewState));
- if (NewState != DISABLE)
- {
- /* Enable the TTCM mode */
- CANx->MCR |= CAN_MCR_TTCM;
-
- /* Set TGT bits */
- CANx->sTxMailBox[0].TDTR |= ((uint32_t)CAN_TDT0R_TGT);
- CANx->sTxMailBox[1].TDTR |= ((uint32_t)CAN_TDT1R_TGT);
- CANx->sTxMailBox[2].TDTR |= ((uint32_t)CAN_TDT2R_TGT);
- }
- else
- {
- /* Disable the TTCM mode */
- CANx->MCR &= (uint32_t)(~(uint32_t)CAN_MCR_TTCM);
-
- /* Reset TGT bits */
- CANx->sTxMailBox[0].TDTR &= ((uint32_t)~CAN_TDT0R_TGT);
- CANx->sTxMailBox[1].TDTR &= ((uint32_t)~CAN_TDT1R_TGT);
- CANx->sTxMailBox[2].TDTR &= ((uint32_t)~CAN_TDT2R_TGT);
- }
-}
-/**
- * @}
- */
-
-
-/** @defgroup CAN_Group2 CAN Frames Transmission functions
- * @brief CAN Frames Transmission functions
- *
-@verbatim
- ===============================================================================
- ##### CAN Frames Transmission functions #####
- ===============================================================================
- [..] This section provides functions allowing to
- (+) Initiate and transmit a CAN frame message (if there is an empty mailbox).
- (+) Check the transmission status of a CAN Frame.
- (+) Cancel a transmit request.
-
-@endverbatim
- * @{
- */
-
-/**
- * @brief Initiates and transmits a CAN frame message.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param TxMessage: pointer to a structure which contains CAN Id, CAN DLC and CAN data.
- * @retval The number of the mailbox that is used for transmission or
- * CAN_TxStatus_NoMailBox if there is no empty mailbox.
- */
-uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage)
-{
- uint8_t transmit_mailbox = 0;
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
- assert_param(IS_CAN_RTR(TxMessage->RTR));
- assert_param(IS_CAN_DLC(TxMessage->DLC));
-
- /* Select one empty transmit mailbox */
- if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
- {
- transmit_mailbox = 0;
- }
- else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
- {
- transmit_mailbox = 1;
- }
- else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
- {
- transmit_mailbox = 2;
- }
- else
- {
- transmit_mailbox = CAN_TxStatus_NoMailBox;
- }
-
- if (transmit_mailbox != CAN_TxStatus_NoMailBox)
- {
- /* Set up the Id */
- CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ;
- if (TxMessage->IDE == CAN_Id_Standard)
- {
- assert_param(IS_CAN_STDID(TxMessage->StdId));
- CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \
- TxMessage->RTR);
- }
- else
- {
- assert_param(IS_CAN_EXTID(TxMessage->ExtId));
- CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \
- TxMessage->IDE | \
- TxMessage->RTR);
- }
-
- /* Set up the DLC */
- TxMessage->DLC &= (uint8_t)0x0000000F;
- CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0;
- CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC;
-
- /* Set up the data field */
- CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) |
- ((uint32_t)TxMessage->Data[2] << 16) |
- ((uint32_t)TxMessage->Data[1] << 8) |
- ((uint32_t)TxMessage->Data[0]));
- CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) |
- ((uint32_t)TxMessage->Data[6] << 16) |
- ((uint32_t)TxMessage->Data[5] << 8) |
- ((uint32_t)TxMessage->Data[4]));
- /* Request transmission */
- CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ;
- }
- return transmit_mailbox;
-}
-
-/**
- * @brief Checks the transmission status of a CAN Frame.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @param TransmitMailbox: the number of the mailbox that is used for transmission.
- * @retval CAN_TxStatus_Ok if the CAN driver transmits the message,
- * CAN_TxStatus_Failed in an other case.
- */
-uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox)
-{
- uint32_t state = 0;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
-
- switch (TransmitMailbox)
- {
- case (CAN_TXMAILBOX_0):
- state = CANx->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
- break;
- case (CAN_TXMAILBOX_1):
- state = CANx->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
- break;
- case (CAN_TXMAILBOX_2):
- state = CANx->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
- break;
- default:
- state = CAN_TxStatus_Failed;
- break;
- }
- switch (state)
- {
- /* transmit pending */
- case (0x0): state = CAN_TxStatus_Pending;
- break;
- /* transmit failed */
- case (CAN_TSR_RQCP0 | CAN_TSR_TME0): state = CAN_TxStatus_Failed;
- break;
- case (CAN_TSR_RQCP1 | CAN_TSR_TME1): state = CAN_TxStatus_Failed;
- break;
- case (CAN_TSR_RQCP2 | CAN_TSR_TME2): state = CAN_TxStatus_Failed;
- break;
- /* transmit succeeded */
- case (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0):state = CAN_TxStatus_Ok;
- break;
- case (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1):state = CAN_TxStatus_Ok;
- break;
- case (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2):state = CAN_TxStatus_Ok;
- break;
- default: state = CAN_TxStatus_Failed;
- break;
- }
- return (uint8_t) state;
-}
-
-/**
- * @brief Cancels a transmit request.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @param Mailbox: Mailbox number.
- * @retval None
- */
-void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox));
- /* abort transmission */
- switch (Mailbox)
- {
- case (CAN_TXMAILBOX_0): CANx->TSR |= CAN_TSR_ABRQ0;
- break;
- case (CAN_TXMAILBOX_1): CANx->TSR |= CAN_TSR_ABRQ1;
- break;
- case (CAN_TXMAILBOX_2): CANx->TSR |= CAN_TSR_ABRQ2;
- break;
- default:
- break;
- }
-}
-/**
- * @}
- */
-
-
-/** @defgroup CAN_Group3 CAN Frames Reception functions
- * @brief CAN Frames Reception functions
- *
-@verbatim
- ===============================================================================
- ##### CAN Frames Reception functions #####
- ===============================================================================
- [..] This section provides functions allowing to
- (+) Receive a correct CAN frame.
- (+) Release a specified receive FIFO (2 FIFOs are available).
- (+) Return the number of the pending received CAN frames.
-
-@endverbatim
- * @{
- */
-
-/**
- * @brief Receives a correct CAN frame.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
- * @param RxMessage: pointer to a structure receive frame which contains CAN Id,
- * CAN DLC, CAN data and FMI number.
- * @retval None
- */
-void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_FIFO(FIFONumber));
- /* Get the Id */
- RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONumber].RIR;
- if (RxMessage->IDE == CAN_Id_Standard)
- {
- RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 21);
- }
- else
- {
- RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 3);
- }
-
- RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONumber].RIR;
- /* Get the DLC */
- RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONumber].RDTR;
- /* Get the FMI */
- RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDTR >> 8);
- /* Get the data field */
- RxMessage->Data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDLR;
- RxMessage->Data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 8);
- RxMessage->Data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 16);
- RxMessage->Data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 24);
- RxMessage->Data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDHR;
- RxMessage->Data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 8);
- RxMessage->Data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 16);
- RxMessage->Data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 24);
- /* Release the FIFO */
- /* Release FIFO0 */
- if (FIFONumber == CAN_FIFO0)
- {
- CANx->RF0R |= CAN_RF0R_RFOM0;
- }
- /* Release FIFO1 */
- else /* FIFONumber == CAN_FIFO1 */
- {
- CANx->RF1R |= CAN_RF1R_RFOM1;
- }
-}
-
-/**
- * @brief Releases the specified receive FIFO.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @param FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
- * @retval None
- */
-void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_FIFO(FIFONumber));
- /* Release FIFO0 */
- if (FIFONumber == CAN_FIFO0)
- {
- CANx->RF0R |= CAN_RF0R_RFOM0;
- }
- /* Release FIFO1 */
- else /* FIFONumber == CAN_FIFO1 */
- {
- CANx->RF1R |= CAN_RF1R_RFOM1;
- }
-}
-
-/**
- * @brief Returns the number of pending received messages.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
- * @retval NbMessage : which is the number of pending message.
- */
-uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber)
-{
- uint8_t message_pending=0;
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_FIFO(FIFONumber));
- if (FIFONumber == CAN_FIFO0)
- {
- message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03);
- }
- else if (FIFONumber == CAN_FIFO1)
- {
- message_pending = (uint8_t)(CANx->RF1R&(uint32_t)0x03);
- }
- else
- {
- message_pending = 0;
- }
- return message_pending;
-}
-/**
- * @}
- */
-
-
-/** @defgroup CAN_Group4 CAN Operation modes functions
- * @brief CAN Operation modes functions
- *
-@verbatim
- ===============================================================================
- ##### CAN Operation modes functions #####
- ===============================================================================
- [..] This section provides functions allowing to select the CAN Operation modes:
- (+) sleep mode.
- (+) normal mode.
- (+) initialization mode.
-
-@endverbatim
- * @{
- */
-
-
-/**
- * @brief Selects the CAN Operation mode.
- * @param CAN_OperatingMode: CAN Operating Mode.
- * This parameter can be one of @ref CAN_OperatingMode_TypeDef enumeration.
- * @retval status of the requested mode which can be:
- * - CAN_ModeStatus_Failed: CAN failed entering the specific mode
- * - CAN_ModeStatus_Success: CAN Succeed entering the specific mode
- */
-uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode)
-{
- uint8_t status = CAN_ModeStatus_Failed;
-
- /* Timeout for INAK or also for SLAK bits*/
- uint32_t timeout = INAK_TIMEOUT;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_OPERATING_MODE(CAN_OperatingMode));
-
- if (CAN_OperatingMode == CAN_OperatingMode_Initialization)
- {
- /* Request initialisation */
- CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_SLEEP)) | CAN_MCR_INRQ);
-
- /* Wait the acknowledge */
- while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) && (timeout != 0))
- {
- timeout--;
- }
- if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK)
- {
- status = CAN_ModeStatus_Failed;
- }
- else
- {
- status = CAN_ModeStatus_Success;
- }
- }
- else if (CAN_OperatingMode == CAN_OperatingMode_Normal)
- {
- /* Request leave initialisation and sleep mode and enter Normal mode */
- CANx->MCR &= (uint32_t)(~(CAN_MCR_SLEEP|CAN_MCR_INRQ));
-
- /* Wait the acknowledge */
- while (((CANx->MSR & CAN_MODE_MASK) != 0) && (timeout!=0))
- {
- timeout--;
- }
- if ((CANx->MSR & CAN_MODE_MASK) != 0)
- {
- status = CAN_ModeStatus_Failed;
- }
- else
- {
- status = CAN_ModeStatus_Success;
- }
- }
- else if (CAN_OperatingMode == CAN_OperatingMode_Sleep)
- {
- /* Request Sleep mode */
- CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
-
- /* Wait the acknowledge */
- while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) && (timeout!=0))
- {
- timeout--;
- }
- if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK)
- {
- status = CAN_ModeStatus_Failed;
- }
- else
- {
- status = CAN_ModeStatus_Success;
- }
- }
- else
- {
- status = CAN_ModeStatus_Failed;
- }
-
- return (uint8_t) status;
-}
-
-/**
- * @brief Enters the Sleep (low power) mode.
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @retval CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed otherwise.
- */
-uint8_t CAN_Sleep(CAN_TypeDef* CANx)
-{
- uint8_t sleepstatus = CAN_Sleep_Failed;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
-
- /* Request Sleep mode */
- CANx->MCR = (((CANx->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
-
- /* Sleep mode status */
- if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK)
- {
- /* Sleep mode not entered */
- sleepstatus = CAN_Sleep_Ok;
- }
- /* return sleep mode status */
- return (uint8_t)sleepstatus;
-}
-
-/**
- * @brief Wakes up the CAN peripheral from sleep mode .
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @retval CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed otherwise.
- */
-uint8_t CAN_WakeUp(CAN_TypeDef* CANx)
-{
- uint32_t wait_slak = SLAK_TIMEOUT;
- uint8_t wakeupstatus = CAN_WakeUp_Failed;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
-
- /* Wake up request */
- CANx->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
-
- /* Sleep mode status */
- while(((CANx->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)&&(wait_slak!=0x00))
- {
- wait_slak--;
- }
- if((CANx->MSR & CAN_MSR_SLAK) != CAN_MSR_SLAK)
- {
- /* wake up done : Sleep mode exited */
- wakeupstatus = CAN_WakeUp_Ok;
- }
- /* return wakeup status */
- return (uint8_t)wakeupstatus;
-}
-/**
- * @}
- */
-
-
-/** @defgroup CAN_Group5 CAN Bus Error management functions
- * @brief CAN Bus Error management functions
- *
-@verbatim
- ===============================================================================
- ##### CAN Bus Error management functions #####
- ===============================================================================
- [..] This section provides functions allowing to
- (+) Return the CANx's last error code (LEC).
- (+) Return the CANx Receive Error Counter (REC).
- (+) Return the LSB of the 9-bit CANx Transmit Error Counter(TEC).
- [..]
- (@) If TEC is greater than 255, The CAN is in bus-off state.
- (@) If REC or TEC are greater than 96, an Error warning flag occurs.
- (@) If REC or TEC are greater than 127, an Error Passive Flag occurs.
-
-@endverbatim
- * @{
- */
-
-/**
- * @brief Returns the CANx's last error code (LEC).
- * @param CANx: where x can be 1 to select the CAN1 peripheral.
- * @retval Error code:
- * - CAN_ERRORCODE_NoErr: No Error
- * - CAN_ERRORCODE_StuffErr: Stuff Error
- * - CAN_ERRORCODE_FormErr: Form Error
- * - CAN_ERRORCODE_ACKErr : Acknowledgment Error
- * - CAN_ERRORCODE_BitRecessiveErr: Bit Recessive Error
- * - CAN_ERRORCODE_BitDominantErr: Bit Dominant Error
- * - CAN_ERRORCODE_CRCErr: CRC Error
- * - CAN_ERRORCODE_SoftwareSetErr: Software Set Error
- */
-uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx)
-{
- uint8_t errorcode=0;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
-
- /* Get the error code*/
- errorcode = (((uint8_t)CANx->ESR) & (uint8_t)CAN_ESR_LEC);
-
- /* Return the error code*/
- return errorcode;
-}
-
-/**
- * @brief Returns the CANx Receive Error Counter (REC).
- * @note In case of an error during reception, this counter is incremented
- * by 1 or by 8 depending on the error condition as defined by the CAN
- * standard. After every successful reception, the counter is
- * decremented by 1 or reset to 120 if its value was higher than 128.
- * When the counter value exceeds 127, the CAN controller enters the
- * error passive state.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @retval CAN Receive Error Counter.
- */
-uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx)
-{
- uint8_t counter=0;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
-
- /* Get the Receive Error Counter*/
- counter = (uint8_t)((CANx->ESR & CAN_ESR_REC)>> 24);
-
- /* Return the Receive Error Counter*/
- return counter;
-}
-
-
-/**
- * @brief Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC).
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @retval LSB of the 9-bit CAN Transmit Error Counter.
- */
-uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx)
-{
- uint8_t counter=0;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
-
- /* Get the LSB of the 9-bit CANx Transmit Error Counter(TEC) */
- counter = (uint8_t)((CANx->ESR & CAN_ESR_TEC)>> 16);
-
- /* Return the LSB of the 9-bit CANx Transmit Error Counter(TEC) */
- return counter;
-}
-/**
- * @}
- */
-
-/** @defgroup CAN_Group6 Interrupts and flags management functions
- * @brief Interrupts and flags management functions
- *
-@verbatim
- ===============================================================================
- ##### Interrupts and flags management functions #####
- ===============================================================================
- [..] This section provides functions allowing to configure the CAN Interrupts
- and to get the status and clear flags and Interrupts pending bits.
- [..] The CAN provides 14 Interrupts sources and 15 Flags:
-
- *** Flags ***
- =============
- [..] The 15 flags can be divided on 4 groups:
- (+) Transmit Flags:
- (++) CAN_FLAG_RQCP0.
- (++) CAN_FLAG_RQCP1.
- (++) CAN_FLAG_RQCP2: Request completed MailBoxes 0, 1 and 2 Flags
- Set when when the last request (transmit or abort) has
- been performed.
- (+) Receive Flags:
- (++) CAN_FLAG_FMP0.
- (++) CAN_FLAG_FMP1: FIFO 0 and 1 Message Pending Flags;
- Set to signal that messages are pending in the receive FIFO.
- These Flags are cleared only by hardware.
- (++) CAN_FLAG_FF0.
- (++) CAN_FLAG_FF1: FIFO 0 and 1 Full Flags;
- Set when three messages are stored in the selected FIFO.
- (++) CAN_FLAG_FOV0.
- (++) CAN_FLAG_FOV1: FIFO 0 and 1 Overrun Flags;
- Set when a new message has been received and passed the filter
- while the FIFO was full.
- (+) Operating Mode Flags:
- (++) CAN_FLAG_WKU: Wake up Flag;
- Set to signal that a SOF bit has been detected while the CAN
- hardware was in Sleep mode.
- (++) CAN_FLAG_SLAK: Sleep acknowledge Flag;
- Set to signal that the CAN has entered Sleep Mode.
- (+) Error Flags:
- (++) CAN_FLAG_EWG: Error Warning Flag;
- Set when the warning limit has been reached (Receive Error Counter
- or Transmit Error Counter greater than 96).
- This Flag is cleared only by hardware.
- (++) CAN_FLAG_EPV: Error Passive Flag;
- Set when the Error Passive limit has been reached (Receive Error
- Counter or Transmit Error Counter greater than 127).
- This Flag is cleared only by hardware.
- (++) CAN_FLAG_BOF: Bus-Off Flag;
- Set when CAN enters the bus-off state. The bus-off state is
- entered on TEC overflow, greater than 255.
- This Flag is cleared only by hardware.
- (++) CAN_FLAG_LEC: Last error code Flag;
- Set If a message has been transferred (reception or transmission)
- with error, and the error code is hold.
-
- *** Interrupts ***
- ==================
- [..] The 14 interrupts can be divided on 4 groups:
- (+) Transmit interrupt:
- (++) CAN_IT_TME: Transmit mailbox empty Interrupt;
- If enabled, this interrupt source is pending when no transmit
- request are pending for Tx mailboxes.
- (+) Receive Interrupts:
- (++) CAN_IT_FMP0.
- (++) CAN_IT_FMP1: FIFO 0 and FIFO1 message pending Interrupts;
- If enabled, these interrupt sources are pending when messages
- are pending in the receive FIFO.
- The corresponding interrupt pending bits are cleared only by hardware.
- (++) CAN_IT_FF0.
- (++) CAN_IT_FF1: FIFO 0 and FIFO1 full Interrupts;
- If enabled, these interrupt sources are pending when three messages
- are stored in the selected FIFO.
- (++) CAN_IT_FOV0.
- (++) CAN_IT_FOV1: FIFO 0 and FIFO1 overrun Interrupts;
- If enabled, these interrupt sources are pending when a new message
- has been received and passed the filter while the FIFO was full.
- (+) Operating Mode Interrupts:
- (++) CAN_IT_WKU: Wake-up Interrupt;
- If enabled, this interrupt source is pending when a SOF bit has
- been detected while the CAN hardware was in Sleep mode.
- (++) CAN_IT_SLK: Sleep acknowledge Interrupt:
- If enabled, this interrupt source is pending when the CAN has
- entered Sleep Mode.
- (+) Error Interrupts:
- (++) CAN_IT_EWG: Error warning Interrupt;
- If enabled, this interrupt source is pending when the warning limit
- has been reached (Receive Error Counter or Transmit Error Counter=96).
- (++) CAN_IT_EPV: Error passive Interrupt;
- If enabled, this interrupt source is pending when the Error Passive
- limit has been reached (Receive Error Counter or Transmit Error Counter>127).
- (++) CAN_IT_BOF: Bus-off Interrupt;
- If enabled, this interrupt source is pending when CAN enters
- the bus-off state. The bus-off state is entered on TEC overflow,
- greater than 255.
- This Flag is cleared only by hardware.
- (++) CAN_IT_LEC: Last error code Interrupt;
- If enabled, this interrupt source is pending when a message has
- been transferred (reception or transmission) with error and the
- error code is hold.
- (++) CAN_IT_ERR: Error Interrupt;
- If enabled, this interrupt source is pending when an error condition
- is pending.
- [..] Managing the CAN controller events:
- The user should identify which mode will be used in his application to manage
- the CAN controller events: Polling mode or Interrupt mode.
- (+) In the Polling Mode it is advised to use the following functions:
- (++) CAN_GetFlagStatus() : to check if flags events occur.
- (++) CAN_ClearFlag() : to clear the flags events.
- (+) In the Interrupt Mode it is advised to use the following functions:
- (++) CAN_ITConfig() : to enable or disable the interrupt source.
- (++) CAN_GetITStatus() : to check if Interrupt occurs.
- (++) CAN_ClearITPendingBit() : to clear the Interrupt pending Bit
- (corresponding Flag).
- This function has no impact on CAN_IT_FMP0 and CAN_IT_FMP1 Interrupts
- pending bits since there are cleared only by hardware.
-
-@endverbatim
- * @{
- */
-/**
- * @brief Enables or disables the specified CANx interrupts.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param CAN_IT: specifies the CAN interrupt sources to be enabled or disabled.
- * This parameter can be:
- * @arg CAN_IT_TME: Transmit mailbox empty Interrupt
- * @arg CAN_IT_FMP0: FIFO 0 message pending Interrupt
- * @arg CAN_IT_FF0: FIFO 0 full Interrupt
- * @arg CAN_IT_FOV0: FIFO 0 overrun Interrupt
- * @arg CAN_IT_FMP1: FIFO 1 message pending Interrupt
- * @arg CAN_IT_FF1: FIFO 1 full Interrupt
- * @arg CAN_IT_FOV1: FIFO 1 overrun Interrupt
- * @arg CAN_IT_WKU: Wake-up Interrupt
- * @arg CAN_IT_SLK: Sleep acknowledge Interrupt
- * @arg CAN_IT_EWG: Error warning Interrupt
- * @arg CAN_IT_EPV: Error passive Interrupt
- * @arg CAN_IT_BOF: Bus-off Interrupt
- * @arg CAN_IT_LEC: Last error code Interrupt
- * @arg CAN_IT_ERR: Error Interrupt
- * @param NewState: new state of the CAN interrupts.
- * This parameter can be: ENABLE or DISABLE.
- * @retval None
- */
-void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_IT(CAN_IT));
- assert_param(IS_FUNCTIONAL_STATE(NewState));
-
- if (NewState != DISABLE)
- {
- /* Enable the selected CANx interrupt */
- CANx->IER |= CAN_IT;
- }
- else
- {
- /* Disable the selected CANx interrupt */
- CANx->IER &= ~CAN_IT;
- }
-}
-/**
- * @brief Checks whether the specified CAN flag is set or not.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param CAN_FLAG: specifies the flag to check.
- * This parameter can be one of the following values:
- * @arg CAN_FLAG_RQCP0: Request MailBox0 Flag
- * @arg CAN_FLAG_RQCP1: Request MailBox1 Flag
- * @arg CAN_FLAG_RQCP2: Request MailBox2 Flag
- * @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
- * @arg CAN_FLAG_FF0: FIFO 0 Full Flag
- * @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
- * @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
- * @arg CAN_FLAG_FF1: FIFO 1 Full Flag
- * @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
- * @arg CAN_FLAG_WKU: Wake up Flag
- * @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
- * @arg CAN_FLAG_EWG: Error Warning Flag
- * @arg CAN_FLAG_EPV: Error Passive Flag
- * @arg CAN_FLAG_BOF: Bus-Off Flag
- * @arg CAN_FLAG_LEC: Last error code Flag
- * @retval The new state of CAN_FLAG (SET or RESET).
- */
-FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG)
-{
- FlagStatus bitstatus = RESET;
-
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_GET_FLAG(CAN_FLAG));
-
-
- if((CAN_FLAG & CAN_FLAGS_ESR) != (uint32_t)RESET)
- {
- /* Check the status of the specified CAN flag */
- if ((CANx->ESR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
- {
- /* CAN_FLAG is set */
- bitstatus = SET;
- }
- else
- {
- /* CAN_FLAG is reset */
- bitstatus = RESET;
- }
- }
- else if((CAN_FLAG & CAN_FLAGS_MSR) != (uint32_t)RESET)
- {
- /* Check the status of the specified CAN flag */
- if ((CANx->MSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
- {
- /* CAN_FLAG is set */
- bitstatus = SET;
- }
- else
- {
- /* CAN_FLAG is reset */
- bitstatus = RESET;
- }
- }
- else if((CAN_FLAG & CAN_FLAGS_TSR) != (uint32_t)RESET)
- {
- /* Check the status of the specified CAN flag */
- if ((CANx->TSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
- {
- /* CAN_FLAG is set */
- bitstatus = SET;
- }
- else
- {
- /* CAN_FLAG is reset */
- bitstatus = RESET;
- }
- }
- else if((CAN_FLAG & CAN_FLAGS_RF0R) != (uint32_t)RESET)
- {
- /* Check the status of the specified CAN flag */
- if ((CANx->RF0R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
- {
- /* CAN_FLAG is set */
- bitstatus = SET;
- }
- else
- {
- /* CAN_FLAG is reset */
- bitstatus = RESET;
- }
- }
- else /* If(CAN_FLAG & CAN_FLAGS_RF1R != (uint32_t)RESET) */
- {
- /* Check the status of the specified CAN flag */
- if ((uint32_t)(CANx->RF1R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
- {
- /* CAN_FLAG is set */
- bitstatus = SET;
- }
- else
- {
- /* CAN_FLAG is reset */
- bitstatus = RESET;
- }
- }
- /* Return the CAN_FLAG status */
- return bitstatus;
-}
-
-/**
- * @brief Clears the CAN's pending flags.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param CAN_FLAG: specifies the flag to clear.
- * This parameter can be one of the following values:
- * @arg CAN_FLAG_RQCP0: Request MailBox0 Flag
- * @arg CAN_FLAG_RQCP1: Request MailBox1 Flag
- * @arg CAN_FLAG_RQCP2: Request MailBox2 Flag
- * @arg CAN_FLAG_FF0: FIFO 0 Full Flag
- * @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
- * @arg CAN_FLAG_FF1: FIFO 1 Full Flag
- * @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
- * @arg CAN_FLAG_WKU: Wake up Flag
- * @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
- * @arg CAN_FLAG_LEC: Last error code Flag
- * @retval None
- */
-void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG)
-{
- uint32_t flagtmp=0;
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_CLEAR_FLAG(CAN_FLAG));
-
- if (CAN_FLAG == CAN_FLAG_LEC) /* ESR register */
- {
- /* Clear the selected CAN flags */
- CANx->ESR = (uint32_t)RESET;
- }
- else /* MSR or TSR or RF0R or RF1R */
- {
- flagtmp = CAN_FLAG & 0x000FFFFF;
-
- if ((CAN_FLAG & CAN_FLAGS_RF0R)!=(uint32_t)RESET)
- {
- /* Receive Flags */
- CANx->RF0R = (uint32_t)(flagtmp);
- }
- else if ((CAN_FLAG & CAN_FLAGS_RF1R)!=(uint32_t)RESET)
- {
- /* Receive Flags */
- CANx->RF1R = (uint32_t)(flagtmp);
- }
- else if ((CAN_FLAG & CAN_FLAGS_TSR)!=(uint32_t)RESET)
- {
- /* Transmit Flags */
- CANx->TSR = (uint32_t)(flagtmp);
- }
- else /* If((CAN_FLAG & CAN_FLAGS_MSR)!=(uint32_t)RESET) */
- {
- /* Operating mode Flags */
- CANx->MSR = (uint32_t)(flagtmp);
- }
- }
-}
-
-/**
- * @brief Checks whether the specified CANx interrupt has occurred or not.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param CAN_IT: specifies the CAN interrupt source to check.
- * This parameter can be one of the following values:
- * @arg CAN_IT_TME: Transmit mailbox empty Interrupt
- * @arg CAN_IT_FMP0: FIFO 0 message pending Interrupt
- * @arg CAN_IT_FF0: FIFO 0 full Interrupt
- * @arg CAN_IT_FOV0: FIFO 0 overrun Interrupt
- * @arg CAN_IT_FMP1: FIFO 1 message pending Interrupt
- * @arg CAN_IT_FF1: FIFO 1 full Interrupt
- * @arg CAN_IT_FOV1: FIFO 1 overrun Interrupt
- * @arg CAN_IT_WKU: Wake-up Interrupt
- * @arg CAN_IT_SLK: Sleep acknowledge Interrupt
- * @arg CAN_IT_EWG: Error warning Interrupt
- * @arg CAN_IT_EPV: Error passive Interrupt
- * @arg CAN_IT_BOF: Bus-off Interrupt
- * @arg CAN_IT_LEC: Last error code Interrupt
- * @arg CAN_IT_ERR: Error Interrupt
- * @retval The current state of CAN_IT (SET or RESET).
- */
-ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT)
-{
- ITStatus itstatus = RESET;
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_IT(CAN_IT));
-
- /* check the interrupt enable bit */
- if((CANx->IER & CAN_IT) != RESET)
- {
- /* in case the Interrupt is enabled, .... */
- switch (CAN_IT)
- {
- case CAN_IT_TME:
- /* Check CAN_TSR_RQCPx bits */
- itstatus = CheckITStatus(CANx->TSR, CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2);
- break;
- case CAN_IT_FMP0:
- /* Check CAN_RF0R_FMP0 bit */
- itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FMP0);
- break;
- case CAN_IT_FF0:
- /* Check CAN_RF0R_FULL0 bit */
- itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FULL0);
- break;
- case CAN_IT_FOV0:
- /* Check CAN_RF0R_FOVR0 bit */
- itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FOVR0);
- break;
- case CAN_IT_FMP1:
- /* Check CAN_RF1R_FMP1 bit */
- itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FMP1);
- break;
- case CAN_IT_FF1:
- /* Check CAN_RF1R_FULL1 bit */
- itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FULL1);
- break;
- case CAN_IT_FOV1:
- /* Check CAN_RF1R_FOVR1 bit */
- itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FOVR1);
- break;
- case CAN_IT_WKU:
- /* Check CAN_MSR_WKUI bit */
- itstatus = CheckITStatus(CANx->MSR, CAN_MSR_WKUI);
- break;
- case CAN_IT_SLK:
- /* Check CAN_MSR_SLAKI bit */
- itstatus = CheckITStatus(CANx->MSR, CAN_MSR_SLAKI);
- break;
- case CAN_IT_EWG:
- /* Check CAN_ESR_EWGF bit */
- itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EWGF);
- break;
- case CAN_IT_EPV:
- /* Check CAN_ESR_EPVF bit */
- itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EPVF);
- break;
- case CAN_IT_BOF:
- /* Check CAN_ESR_BOFF bit */
- itstatus = CheckITStatus(CANx->ESR, CAN_ESR_BOFF);
- break;
- case CAN_IT_LEC:
- /* Check CAN_ESR_LEC bit */
- itstatus = CheckITStatus(CANx->ESR, CAN_ESR_LEC);
- break;
- case CAN_IT_ERR:
- /* Check CAN_MSR_ERRI bit */
- itstatus = CheckITStatus(CANx->MSR, CAN_MSR_ERRI);
- break;
- default:
- /* in case of error, return RESET */
- itstatus = RESET;
- break;
- }
- }
- else
- {
- /* in case the Interrupt is not enabled, return RESET */
- itstatus = RESET;
- }
-
- /* Return the CAN_IT status */
- return itstatus;
-}
-
-/**
- * @brief Clears the CANx's interrupt pending bits.
- * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
- * @param CAN_IT: specifies the interrupt pending bit to clear.
- * This parameter can be one of the following values:
- * @arg CAN_IT_TME: Transmit mailbox empty Interrupt
- * @arg CAN_IT_FF0: FIFO 0 full Interrupt
- * @arg CAN_IT_FOV0: FIFO 0 overrun Interrupt
- * @arg CAN_IT_FF1: FIFO 1 full Interrupt
- * @arg CAN_IT_FOV1: FIFO 1 overrun Interrupt
- * @arg CAN_IT_WKU: Wake-up Interrupt
- * @arg CAN_IT_SLK: Sleep acknowledge Interrupt
- * @arg CAN_IT_EWG: Error warning Interrupt
- * @arg CAN_IT_EPV: Error passive Interrupt
- * @arg CAN_IT_BOF: Bus-off Interrupt
- * @arg CAN_IT_LEC: Last error code Interrupt
- * @arg CAN_IT_ERR: Error Interrupt
- * @retval None
- */
-void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT)
-{
- /* Check the parameters */
- assert_param(IS_CAN_ALL_PERIPH(CANx));
- assert_param(IS_CAN_CLEAR_IT(CAN_IT));
-
- switch (CAN_IT)
- {
- case CAN_IT_TME:
- /* Clear CAN_TSR_RQCPx (rc_w1)*/
- CANx->TSR = CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2;
- break;
- case CAN_IT_FF0:
- /* Clear CAN_RF0R_FULL0 (rc_w1)*/
- CANx->RF0R = CAN_RF0R_FULL0;
- break;
- case CAN_IT_FOV0:
- /* Clear CAN_RF0R_FOVR0 (rc_w1)*/
- CANx->RF0R = CAN_RF0R_FOVR0;
- break;
- case CAN_IT_FF1:
- /* Clear CAN_RF1R_FULL1 (rc_w1)*/
- CANx->RF1R = CAN_RF1R_FULL1;
- break;
- case CAN_IT_FOV1:
- /* Clear CAN_RF1R_FOVR1 (rc_w1)*/
- CANx->RF1R = CAN_RF1R_FOVR1;
- break;
- case CAN_IT_WKU:
- /* Clear CAN_MSR_WKUI (rc_w1)*/
- CANx->MSR = CAN_MSR_WKUI;
- break;
- case CAN_IT_SLK:
- /* Clear CAN_MSR_SLAKI (rc_w1)*/
- CANx->MSR = CAN_MSR_SLAKI;
- break;
- case CAN_IT_EWG:
- /* Clear CAN_MSR_ERRI (rc_w1) */
- CANx->MSR = CAN_MSR_ERRI;
- /* @note the corresponding Flag is cleared by hardware depending on the CAN Bus status*/
- break;
- case CAN_IT_EPV:
- /* Clear CAN_MSR_ERRI (rc_w1) */
- CANx->MSR = CAN_MSR_ERRI;
- /* @note the corresponding Flag is cleared by hardware depending on the CAN Bus status*/
- break;
- case CAN_IT_BOF:
- /* Clear CAN_MSR_ERRI (rc_w1) */
- CANx->MSR = CAN_MSR_ERRI;
- /* @note the corresponding Flag is cleared by hardware depending on the CAN Bus status*/
- break;
- case CAN_IT_LEC:
- /* Clear LEC bits */
- CANx->ESR = RESET;
- /* Clear CAN_MSR_ERRI (rc_w1) */
- CANx->MSR = CAN_MSR_ERRI;
- break;
- case CAN_IT_ERR:
- /*Clear LEC bits */
- CANx->ESR = RESET;
- /* Clear CAN_MSR_ERRI (rc_w1) */
- CANx->MSR = CAN_MSR_ERRI;
- /* @note BOFF, EPVF and EWGF Flags are cleared by hardware depending on the CAN Bus status*/
- break;
- default:
- break;
- }
-}
- /**
- * @}
- */
-
-/**
- * @brief Checks whether the CAN interrupt has occurred or not.
- * @param CAN_Reg: specifies the CAN interrupt register to check.
- * @param It_Bit: specifies the interrupt source bit to check.
- * @retval The new state of the CAN Interrupt (SET or RESET).
- */
-static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit)
-{
- ITStatus pendingbitstatus = RESET;
-
- if ((CAN_Reg & It_Bit) != (uint32_t)RESET)
- {
- /* CAN_IT is set */
- pendingbitstatus = SET;
- }
- else
- {
- /* CAN_IT is reset */
- pendingbitstatus = RESET;
- }
- return pendingbitstatus;
-}
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
projects / qmk_firmware.git / blobdiff