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-rw-r--r--Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c990
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diff --git a/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c b/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
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--- /dev/null
+++ b/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
@@ -0,0 +1,990 @@
+/**
+ ******************************************************************************
+ * @file stm32f10x_can.c
+ * @author MCD Application Team
+ * @version V3.3.0
+ * @date 04/16/2010
+ * @brief This file provides all the CAN firmware functions.
+ ******************************************************************************
+ * @copy
+ *
+ * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+ * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+ * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+ * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+ * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+ * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+ *
+ * <h2><center>&copy; COPYRIGHT 2010 STMicroelectronics</center></h2>
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f10x_can.h"
+#include "stm32f10x_rcc.h"
+
+/** @addtogroup STM32F10x_StdPeriph_Driver
+ * @{
+ */
+
+/** @defgroup CAN
+ * @brief CAN driver modules
+ * @{
+ */
+
+/** @defgroup CAN_Private_TypesDefinitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Private_Defines
+ * @{
+ */
+
+/* CAN Master Control Register bits */
+#define MCR_INRQ ((uint32_t)0x00000001) /* Initialization request */
+#define MCR_SLEEP ((uint32_t)0x00000002) /* Sleep mode request */
+#define MCR_TXFP ((uint32_t)0x00000004) /* Transmit FIFO priority */
+#define MCR_RFLM ((uint32_t)0x00000008) /* Receive FIFO locked mode */
+#define MCR_NART ((uint32_t)0x00000010) /* No automatic retransmission */
+#define MCR_AWUM ((uint32_t)0x00000020) /* Automatic wake up mode */
+#define MCR_ABOM ((uint32_t)0x00000040) /* Automatic bus-off management */
+#define MCR_TTCM ((uint32_t)0x00000080) /* time triggered communication */
+#define MCR_RESET ((uint32_t)0x00008000) /* time triggered communication */
+#define MCR_DBF ((uint32_t)0x00010000) /* software master reset */
+
+/* CAN Master Status Register bits */
+#define MSR_INAK ((uint32_t)0x00000001) /* Initialization acknowledge */
+#define MSR_WKUI ((uint32_t)0x00000008) /* Wake-up interrupt */
+#define MSR_SLAKI ((uint32_t)0x00000010) /* Sleep acknowledge interrupt */
+
+/* CAN Transmit Status Register bits */
+#define TSR_RQCP0 ((uint32_t)0x00000001) /* Request completed mailbox0 */
+#define TSR_TXOK0 ((uint32_t)0x00000002) /* Transmission OK of mailbox0 */
+#define TSR_ABRQ0 ((uint32_t)0x00000080) /* Abort request for mailbox0 */
+#define TSR_RQCP1 ((uint32_t)0x00000100) /* Request completed mailbox1 */
+#define TSR_TXOK1 ((uint32_t)0x00000200) /* Transmission OK of mailbox1 */
+#define TSR_ABRQ1 ((uint32_t)0x00008000) /* Abort request for mailbox1 */
+#define TSR_RQCP2 ((uint32_t)0x00010000) /* Request completed mailbox2 */
+#define TSR_TXOK2 ((uint32_t)0x00020000) /* Transmission OK of mailbox2 */
+#define TSR_ABRQ2 ((uint32_t)0x00800000) /* Abort request for mailbox2 */
+#define TSR_TME0 ((uint32_t)0x04000000) /* Transmit mailbox 0 empty */
+#define TSR_TME1 ((uint32_t)0x08000000) /* Transmit mailbox 1 empty */
+#define TSR_TME2 ((uint32_t)0x10000000) /* Transmit mailbox 2 empty */
+
+/* CAN Receive FIFO 0 Register bits */
+#define RF0R_FULL0 ((uint32_t)0x00000008) /* FIFO 0 full */
+#define RF0R_FOVR0 ((uint32_t)0x00000010) /* FIFO 0 overrun */
+#define RF0R_RFOM0 ((uint32_t)0x00000020) /* Release FIFO 0 output mailbox */
+
+/* CAN Receive FIFO 1 Register bits */
+#define RF1R_FULL1 ((uint32_t)0x00000008) /* FIFO 1 full */
+#define RF1R_FOVR1 ((uint32_t)0x00000010) /* FIFO 1 overrun */
+#define RF1R_RFOM1 ((uint32_t)0x00000020) /* Release FIFO 1 output mailbox */
+
+/* CAN Error Status Register bits */
+#define ESR_EWGF ((uint32_t)0x00000001) /* Error warning flag */
+#define ESR_EPVF ((uint32_t)0x00000002) /* Error passive flag */
+#define ESR_BOFF ((uint32_t)0x00000004) /* Bus-off flag */
+
+/* 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)0x0000FFFF)
+
+/* Time out for SLAK bit */
+#define SLAK_TimeOut ((uint32_t)0x0000FFFF)
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Private_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Private_Variables
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Private_FunctionPrototypes
+ * @{
+ */
+
+static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit);
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Private_Functions
+ * @{
+ */
+
+/**
+ * @brief Deinitializes the CAN peripheral registers to their default reset values.
+ * @param CANx: where x can be 1 or 2 to select the CAN peripheral.
+ * @retval None.
+ */
+void CAN_DeInit(CAN_TypeDef* CANx)
+{
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_PERIPH(CANx));
+
+ if (CANx == CAN1)
+ {
+ /* Enable CAN1 reset state */
+ RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, ENABLE);
+ /* Release CAN1 from reset state */
+ RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, DISABLE);
+ }
+ else
+ {
+ /* Enable CAN2 reset state */
+ RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, ENABLE);
+ /* Release CAN2 from reset state */
+ RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, DISABLE);
+ }
+}
+
+/**
+ * @brief Initializes the CAN peripheral according to the specified
+ * parameters in the CAN_InitStruct.
+ * @param CANx: where x can be 1 or 2 to 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
+ * CANINITFAILED or CANINITOK.
+ */
+uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
+{
+ uint8_t InitStatus = CANINITFAILED;
+ 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 &= ~MCR_SLEEP;
+
+ /* Request initialisation */
+ CANx->MCR |= MCR_INRQ ;
+
+ /* Wait the acknowledge */
+ while (((CANx->MSR & MSR_INAK) != MSR_INAK) && (wait_ack != INAK_TimeOut))
+ {
+ wait_ack++;
+ }
+
+ /* ...and check acknowledged */
+ if ((CANx->MSR & MSR_INAK) != MSR_INAK)
+ {
+ InitStatus = CANINITFAILED;
+ }
+ else
+ {
+ /* Set the time triggered communication mode */
+ if (CAN_InitStruct->CAN_TTCM == ENABLE)
+ {
+ CANx->MCR |= MCR_TTCM;
+ }
+ else
+ {
+ CANx->MCR &= ~MCR_TTCM;
+ }
+
+ /* Set the automatic bus-off management */
+ if (CAN_InitStruct->CAN_ABOM == ENABLE)
+ {
+ CANx->MCR |= MCR_ABOM;
+ }
+ else
+ {
+ CANx->MCR &= ~MCR_ABOM;
+ }
+
+ /* Set the automatic wake-up mode */
+ if (CAN_InitStruct->CAN_AWUM == ENABLE)
+ {
+ CANx->MCR |= MCR_AWUM;
+ }
+ else
+ {
+ CANx->MCR &= ~MCR_AWUM;
+ }
+
+ /* Set the no automatic retransmission */
+ if (CAN_InitStruct->CAN_NART == ENABLE)
+ {
+ CANx->MCR |= MCR_NART;
+ }
+ else
+ {
+ CANx->MCR &= ~MCR_NART;
+ }
+
+ /* Set the receive FIFO locked mode */
+ if (CAN_InitStruct->CAN_RFLM == ENABLE)
+ {
+ CANx->MCR |= MCR_RFLM;
+ }
+ else
+ {
+ CANx->MCR &= ~MCR_RFLM;
+ }
+
+ /* Set the transmit FIFO priority */
+ if (CAN_InitStruct->CAN_TXFP == ENABLE)
+ {
+ CANx->MCR |= MCR_TXFP;
+ }
+ else
+ {
+ CANx->MCR &= ~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 &= ~MCR_INRQ;
+
+ /* Wait the acknowledge */
+ wait_ack = 0x00;
+
+ while (((CANx->MSR & MSR_INAK) == MSR_INAK) && (wait_ack != INAK_TimeOut))
+ {
+ wait_ack++;
+ }
+
+ /* ...and check acknowledged */
+ if ((CANx->MSR & MSR_INAK) == MSR_INAK)
+ {
+ InitStatus = CANINITFAILED;
+ }
+ else
+ {
+ InitStatus = CANINITOK ;
+ }
+ }
+
+ /* At this step, return the status of initialization */
+ return InitStatus;
+}
+
+/**
+ * @brief Initializes the CAN peripheral 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)0x00000001) << 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_FilterFIFO0)
+ {
+ /* FIFO 0 assignation for the filter */
+ CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos;
+ }
+
+ if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
+ {
+ /* 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
+ * will 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.
+ * @note This function applies only to STM32 Connectivity line devices.
+ * @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 specified CAN 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: CAN_IT_TME, CAN_IT_FMP0, CAN_IT_FF0,
+ * CAN_IT_FOV0, CAN_IT_FMP1, CAN_IT_FF1,
+ * CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
+ * CAN_IT_LEC, CAN_IT_ERR, CAN_IT_WKU or
+ * CAN_IT_SLK.
+ * @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_ITConfig(CAN_IT));
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ if (NewState != DISABLE)
+ {
+ /* Enable the selected CAN interrupt */
+ CANx->IER |= CAN_IT;
+ }
+ else
+ {
+ /* Disable the selected CAN interrupt */
+ CANx->IER &= ~CAN_IT;
+ }
+}
+
+/**
+ * @brief Initiates the transmission of a 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 datas.
+ * @retval The number of the mailbox that is used for transmission
+ * or CAN_NO_MB 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&TSR_TME0) == TSR_TME0)
+ {
+ transmit_mailbox = 0;
+ }
+ else if ((CANx->TSR&TSR_TME1) == TSR_TME1)
+ {
+ transmit_mailbox = 1;
+ }
+ else if ((CANx->TSR&TSR_TME2) == TSR_TME2)
+ {
+ transmit_mailbox = 2;
+ }
+ else
+ {
+ transmit_mailbox = CAN_NO_MB;
+ }
+
+ if (transmit_mailbox != CAN_NO_MB)
+ {
+ /* Set up the Id */
+ CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ;
+ if (TxMessage->IDE == CAN_ID_STD)
+ {
+ 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 of a message.
+ * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
+ * @param TransmitMailbox: the number of the mailbox that is used for transmission.
+ * @retval CANTXOK if the CAN driver transmits the message, CANTXFAILED in an other case.
+ */
+uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox)
+{
+ /* RQCP, TXOK and TME bits */
+ uint8_t state = 0;
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_PERIPH(CANx));
+ assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
+ switch (TransmitMailbox)
+ {
+ case (0): state |= (uint8_t)((CANx->TSR & TSR_RQCP0) << 2);
+ state |= (uint8_t)((CANx->TSR & TSR_TXOK0) >> 0);
+ state |= (uint8_t)((CANx->TSR & TSR_TME0) >> 26);
+ break;
+ case (1): state |= (uint8_t)((CANx->TSR & TSR_RQCP1) >> 6);
+ state |= (uint8_t)((CANx->TSR & TSR_TXOK1) >> 8);
+ state |= (uint8_t)((CANx->TSR & TSR_TME1) >> 27);
+ break;
+ case (2): state |= (uint8_t)((CANx->TSR & TSR_RQCP2) >> 14);
+ state |= (uint8_t)((CANx->TSR & TSR_TXOK2) >> 16);
+ state |= (uint8_t)((CANx->TSR & TSR_TME2) >> 28);
+ break;
+ default:
+ state = CANTXFAILED;
+ break;
+ }
+ switch (state)
+ {
+ /* transmit pending */
+ case (0x0): state = CANTXPENDING;
+ break;
+ /* transmit failed */
+ case (0x5): state = CANTXFAILED;
+ break;
+ /* transmit succedeed */
+ case (0x7): state = CANTXOK;
+ break;
+ default:
+ state = CANTXFAILED;
+ break;
+ }
+ return state;
+}
+
+/**
+ * @brief Cancels a transmit request.
+ * @param CANx: where x can be 1 or 2 to 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 (0): CANx->TSR |= TSR_ABRQ0;
+ break;
+ case (1): CANx->TSR |= TSR_ABRQ1;
+ break;
+ case (2): CANx->TSR |= TSR_ABRQ2;
+ break;
+ default:
+ break;
+ }
+}
+
+/**
+ * @brief Releases a FIFO.
+ * @param CANx: where x can be 1 or 2 to 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 = RF0R_RFOM0;
+ }
+ /* Release FIFO1 */
+ else /* FIFONumber == CAN_FIFO1 */
+ {
+ CANx->RF1R = RF1R_RFOM1;
+ }
+}
+
+/**
+ * @brief Returns the number of pending messages.
+ * @param CANx: where x can be 1 or 2 to 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;
+}
+
+/**
+ * @brief Receives a message.
+ * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
+ * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
+ * @param RxMessage: pointer to a structure receive message which
+ * contains CAN Id, CAN DLC, CAN datas 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_STD)
+ {
+ 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 */
+ CAN_FIFORelease(CANx, FIFONumber);
+}
+
+/**
+ * @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 or DISABLE.
+ * @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 Enters the low power mode.
+ * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
+ * @retval CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
+ */
+uint8_t CAN_Sleep(CAN_TypeDef* CANx)
+{
+ uint8_t sleepstatus = CANSLEEPFAILED;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_PERIPH(CANx));
+
+ /* Request Sleep mode */
+ CANx->MCR = (((CANx->MCR) & (uint32_t)(~MCR_INRQ)) | MCR_SLEEP);
+
+ /* Sleep mode status */
+ if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK)
+ {
+ /* Sleep mode not entered */
+ sleepstatus = CANSLEEPOK;
+ }
+ /* At this step, sleep mode status */
+ return (uint8_t)sleepstatus;
+}
+
+/**
+ * @brief Wakes the CAN up.
+ * @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
+ * @retval CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other case.
+ */
+uint8_t CAN_WakeUp(CAN_TypeDef* CANx)
+{
+ uint32_t wait_slak = SLAK_TimeOut ;
+ uint8_t wakeupstatus = CANWAKEUPFAILED;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_PERIPH(CANx));
+
+ /* Wake up request */
+ CANx->MCR &= ~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)
+ {
+ /* Sleep mode exited */
+ wakeupstatus = CANWAKEUPOK;
+ }
+ /* At this step, sleep mode status */
+ return (uint8_t)wakeupstatus;
+}
+
+/**
+ * @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: CAN_FLAG_EWG, CAN_FLAG_EPV or CAN_FLAG_BOF.
+ * @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_FLAG(CAN_FLAG));
+ /* Check the status of the specified CAN flag */
+ if ((CANx->ESR & CAN_FLAG) != (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.
+ * @retval None.
+ */
+void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG)
+{
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_PERIPH(CANx));
+ assert_param(IS_CAN_FLAG(CAN_FLAG));
+ /* Clear the selected CAN flags */
+ CANx->ESR &= ~CAN_FLAG;
+}
+
+/**
+ * @brief Checks whether the specified CAN 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: CAN_IT_RQCP0, CAN_IT_RQCP1, CAN_IT_RQCP2,
+ * CAN_IT_FF0, CAN_IT_FOV0, CAN_IT_FF1,
+ * CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
+ * CAN_IT_BOF, CAN_IT_WKU or CAN_IT_SLK.
+ * @retval The new state of CAN_IT (SET or RESET).
+ */
+ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT)
+{
+ ITStatus pendingbitstatus = RESET;
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_PERIPH(CANx));
+ assert_param(IS_CAN_ITStatus(CAN_IT));
+ switch (CAN_IT)
+ {
+ case CAN_IT_RQCP0:
+ pendingbitstatus = CheckITStatus(CANx->TSR, TSR_RQCP0);
+ break;
+ case CAN_IT_RQCP1:
+ pendingbitstatus = CheckITStatus(CANx->TSR, TSR_RQCP1);
+ break;
+ case CAN_IT_RQCP2:
+ pendingbitstatus = CheckITStatus(CANx->TSR, TSR_RQCP2);
+ break;
+ case CAN_IT_FF0:
+ pendingbitstatus = CheckITStatus(CANx->RF0R, RF0R_FULL0);
+ break;
+ case CAN_IT_FOV0:
+ pendingbitstatus = CheckITStatus(CANx->RF0R, RF0R_FOVR0);
+ break;
+ case CAN_IT_FF1:
+ pendingbitstatus = CheckITStatus(CANx->RF1R, RF1R_FULL1);
+ break;
+ case CAN_IT_FOV1:
+ pendingbitstatus = CheckITStatus(CANx->RF1R, RF1R_FOVR1);
+ break;
+ case CAN_IT_EWG:
+ pendingbitstatus = CheckITStatus(CANx->ESR, ESR_EWGF);
+ break;
+ case CAN_IT_EPV:
+ pendingbitstatus = CheckITStatus(CANx->ESR, ESR_EPVF);
+ break;
+ case CAN_IT_BOF:
+ pendingbitstatus = CheckITStatus(CANx->ESR, ESR_BOFF);
+ break;
+ case CAN_IT_SLK:
+ pendingbitstatus = CheckITStatus(CANx->MSR, MSR_SLAKI);
+ break;
+ case CAN_IT_WKU:
+ pendingbitstatus = CheckITStatus(CANx->MSR, MSR_WKUI);
+ break;
+ default :
+ pendingbitstatus = RESET;
+ break;
+ }
+ /* Return the CAN_IT status */
+ return pendingbitstatus;
+}
+
+/**
+ * @brief Clears the CAN’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.
+ * @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_ITStatus(CAN_IT));
+ switch (CAN_IT)
+ {
+ case CAN_IT_RQCP0:
+ CANx->TSR = TSR_RQCP0; /* rc_w1*/
+ break;
+ case CAN_IT_RQCP1:
+ CANx->TSR = TSR_RQCP1; /* rc_w1*/
+ break;
+ case CAN_IT_RQCP2:
+ CANx->TSR = TSR_RQCP2; /* rc_w1*/
+ break;
+ case CAN_IT_FF0:
+ CANx->RF0R = RF0R_FULL0; /* rc_w1*/
+ break;
+ case CAN_IT_FOV0:
+ CANx->RF0R = RF0R_FOVR0; /* rc_w1*/
+ break;
+ case CAN_IT_FF1:
+ CANx->RF1R = RF1R_FULL1; /* rc_w1*/
+ break;
+ case CAN_IT_FOV1:
+ CANx->RF1R = RF1R_FOVR1; /* rc_w1*/
+ break;
+ case CAN_IT_EWG:
+ CANx->ESR &= ~ ESR_EWGF; /* rw */
+ break;
+ case CAN_IT_EPV:
+ CANx->ESR &= ~ ESR_EPVF; /* rw */
+ break;
+ case CAN_IT_BOF:
+ CANx->ESR &= ~ ESR_BOFF; /* rw */
+ break;
+ case CAN_IT_WKU:
+ CANx->MSR = MSR_WKUI; /* rc_w1*/
+ break;
+ case CAN_IT_SLK:
+ CANx->MSR = MSR_SLAKI; /* rc_w1*/
+ 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 2010 STMicroelectronics *****END OF FILE****/