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Diffstat (limited to 'Libraries/STM32F0xx_StdPeriph_Driver/src/stm32f0xx_can.c')
| -rw-r--r-- | Libraries/STM32F0xx_StdPeriph_Driver/src/stm32f0xx_can.c | 1631 |
1 files changed, 0 insertions, 1631 deletions
diff --git a/Libraries/STM32F0xx_StdPeriph_Driver/src/stm32f0xx_can.c b/Libraries/STM32F0xx_StdPeriph_Driver/src/stm32f0xx_can.c deleted file mode 100644 index 7dcae51..0000000 --- a/Libraries/STM32F0xx_StdPeriph_Driver/src/stm32f0xx_can.c +++ /dev/null @@ -1,1631 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f0xx_can.c - * @author MCD Application Team - * @version V1.3.0 - * @date 16-January-2014 - * @brief This file provides firmware functions to manage the following - * functionalities of the Controller area network (CAN) peripheral and - * applicable only for STM32F072 devices : - * + 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_CAN, 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 AF0 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 2014 STMicroelectronics</center></h2> - * - * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); - * You may not use this file except in compliance with the License. - * You may obtain a copy of the License at: - * - * http://www.st.com/software_license_agreement_liberty_v2 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f0xx_can.h" -#include "stm32f0xx_rcc.h" - -/** @addtogroup STM32F0xx_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 CAN peripheral. - * @retval None. - */ -void CAN_DeInit(CAN_TypeDef* CANx) -{ - /* Check the parameters */ - assert_param(IS_CAN_ALL_PERIPH(CANx)); - - /* Enable CAN reset state */ - RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE); - /* Release CAN from reset state */ - RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, 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 CAN 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; - 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) == (uint16_t)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 */ - CAN->FMR |= FMR_FINIT; - - /* Filter Deactivation */ - CAN->FA1R &= ~(uint32_t)filter_number_bit_pos; - - /* Filter Scale */ - if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit) - { - /* 16-bit scale for the filter */ - CAN->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 */ - CAN->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 */ - CAN->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 */ - CAN->FS1R |= filter_number_bit_pos; - /* 32-bit identifier or First 32-bit identifier */ - CAN->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 */ - CAN->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*/ - CAN->FM1R &= ~(uint32_t)filter_number_bit_pos; - } - else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ - { - /*Identifier list mode for the filter*/ - CAN->FM1R |= (uint32_t)filter_number_bit_pos; - } - - /* Filter FIFO assignment */ - if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO0) - { - /* FIFO 0 assignation for the filter */ - CAN->FFA1R &= ~(uint32_t)filter_number_bit_pos; - } - - if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO1) - { - /* FIFO 1 assignation for the filter */ - CAN->FFA1R |= (uint32_t)filter_number_bit_pos; - } - - /* Filter activation */ - if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE) - { - CAN->FA1R |= filter_number_bit_pos; - } - - /* Leave the initialisation mode for the filter */ - CAN->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 */ - CAN->FMR |= FMR_FINIT; - - /* Select the start slave bank */ - CAN->FMR &= (uint32_t)0xFFFFC0F1 ; - CAN->FMR |= (uint32_t)(CAN_BankNumber)<<8; - - /* Leave Initialisation mode for the filter */ - CAN->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 CAN 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 CAN 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 CAN 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 CAN 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 CAN 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 CAN 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 CAN 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 CAN 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****/ |