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rt-thread-official/bsp/gd32vf103v-eval/libraries/GD32VF103_standard_peripheral/Source/gd32vf103_can.c

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first version
2019-07-24 17:03:26 +08:00
/*!
\file gd32vf103_can.c
\brief CAN driver
\version 2019-6-5, V1.0.0, firmware for GD32VF103
*/
/*
Copyright (c) 2019, GigaDevice Semiconductor Inc.
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 the copyright holder 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.
*/
#include "gd32vf103_can.h"
#define CAN_ERROR_HANDLE(s) do{}while(1)
/*!
\brief deinitialize CAN
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval none
*/
void can_deinit(uint32_t can_periph)
{
if(CAN0 == can_periph){
rcu_periph_reset_enable(RCU_CAN0RST);
rcu_periph_reset_disable(RCU_CAN0RST);
}else{
rcu_periph_reset_enable(RCU_CAN1RST);
rcu_periph_reset_disable(RCU_CAN1RST);
}
}
/*!
\brief initialize CAN parameter struct with a default value
\param[in] type: the type of CAN parameter struct
only one parameter can be selected which is shown as below:
\arg CAN_INIT_STRUCT: the CAN initial struct
\arg CAN_FILTER_STRUCT: the CAN filter struct
\arg CAN_TX_MESSAGE_STRUCT: the CAN TX message struct
\arg CAN_RX_MESSAGE_STRUCT: the CAN RX message struct
\param[in] p_struct: the pointer of the specific struct
\param[out] none
\retval none
*/
void can_struct_para_init(can_struct_type_enum type, void* p_struct)
{
uint8_t i;
/* get type of the struct */
switch(type){
/* used for can_init() */
case CAN_INIT_STRUCT:
((can_parameter_struct*)p_struct)->auto_bus_off_recovery = DISABLE;
((can_parameter_struct*)p_struct)->auto_retrans = DISABLE;
((can_parameter_struct*)p_struct)->auto_wake_up = DISABLE;
((can_parameter_struct*)p_struct)->prescaler = 0x03FFU;
((can_parameter_struct*)p_struct)->rec_fifo_overwrite = DISABLE;
((can_parameter_struct*)p_struct)->resync_jump_width = CAN_BT_SJW_1TQ;
((can_parameter_struct*)p_struct)->time_segment_1 = CAN_BT_BS1_3TQ;
((can_parameter_struct*)p_struct)->time_segment_2 = CAN_BT_BS2_1TQ;
((can_parameter_struct*)p_struct)->time_triggered = DISABLE;
((can_parameter_struct*)p_struct)->trans_fifo_order = DISABLE;
((can_parameter_struct*)p_struct)->working_mode = CAN_NORMAL_MODE;
break;
/* used for can_filter_init() */
case CAN_FILTER_STRUCT:
((can_filter_parameter_struct*)p_struct)->filter_bits = CAN_FILTERBITS_32BIT;
((can_filter_parameter_struct*)p_struct)->filter_enable = DISABLE;
((can_filter_parameter_struct*)p_struct)->filter_fifo_number = CAN_FIFO0;
((can_filter_parameter_struct*)p_struct)->filter_list_high = 0x0000U;
((can_filter_parameter_struct*)p_struct)->filter_list_low = 0x0000U;
((can_filter_parameter_struct*)p_struct)->filter_mask_high = 0x0000U;
((can_filter_parameter_struct*)p_struct)->filter_mask_low = 0x0000U;
((can_filter_parameter_struct*)p_struct)->filter_mode = CAN_FILTERMODE_MASK;
((can_filter_parameter_struct*)p_struct)->filter_number = 0U;
break;
/* used for can_message_transmit() */
case CAN_TX_MESSAGE_STRUCT:
for(i = 0U; i < 8U; i++){
((can_trasnmit_message_struct*)p_struct)->tx_data[i] = 0U;
}
((can_trasnmit_message_struct*)p_struct)->tx_dlen = 0u;
((can_trasnmit_message_struct*)p_struct)->tx_efid = 0U;
((can_trasnmit_message_struct*)p_struct)->tx_ff = (uint8_t)CAN_FF_STANDARD;
((can_trasnmit_message_struct*)p_struct)->tx_ft = (uint8_t)CAN_FT_DATA;
((can_trasnmit_message_struct*)p_struct)->tx_sfid = 0U;
break;
/* used for can_message_receive() */
case CAN_RX_MESSAGE_STRUCT:
for(i = 0U; i < 8U; i++){
((can_receive_message_struct*)p_struct)->rx_data[i] = 0U;
}
((can_receive_message_struct*)p_struct)->rx_dlen = 0U;
((can_receive_message_struct*)p_struct)->rx_efid = 0U;
((can_receive_message_struct*)p_struct)->rx_ff = (uint8_t)CAN_FF_STANDARD;
((can_receive_message_struct*)p_struct)->rx_fi = 0U;
((can_receive_message_struct*)p_struct)->rx_ft = (uint8_t)CAN_FT_DATA;
((can_receive_message_struct*)p_struct)->rx_sfid = 0U;
break;
default:
CAN_ERROR_HANDLE("parameter is invalid \r\n");
}
}
/*!
\brief initialize CAN
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] can_parameter_init: parameters for CAN initializtion
\arg working_mode: CAN_NORMAL_MODE, CAN_LOOPBACK_MODE, CAN_SILENT_MODE, CAN_SILENT_LOOPBACK_MODE
\arg resync_jump_width: CAN_BT_SJW_xTQ(x=1, 2, 3, 4)
\arg time_segment_1: CAN_BT_BS1_xTQ(1..16)
\arg time_segment_2: CAN_BT_BS2_xTQ(1..8)
\arg time_triggered: ENABLE or DISABLE
\arg auto_bus_off_recovery: ENABLE or DISABLE
\arg auto_wake_up: ENABLE or DISABLE
\arg auto_retrans: ENABLE or DISABLE
\arg rec_fifo_overwrite: ENABLE or DISABLE
\arg trans_fifo_order: ENABLE or DISABLE
\arg prescaler: 0x0000 - 0x03FF
\param[out] none
\retval ErrStatus: SUCCESS or ERROR
*/
ErrStatus can_init(uint32_t can_periph, can_parameter_struct* can_parameter_init)
{
uint32_t timeout = CAN_TIMEOUT;
ErrStatus flag = ERROR;
/* disable sleep mode */
CAN_CTL(can_periph) &= ~CAN_CTL_SLPWMOD;
/* enable initialize mode */
CAN_CTL(can_periph) |= CAN_CTL_IWMOD;
/* wait ACK */
while((CAN_STAT_IWS != (CAN_STAT(can_periph) & CAN_STAT_IWS)) && (0U != timeout)){
timeout--;
}
/* check initialize working success */
if(CAN_STAT_IWS != (CAN_STAT(can_periph) & CAN_STAT_IWS)){
flag = ERROR;
}else{
/* set the bit timing register */
CAN_BT(can_periph) = (BT_MODE((uint32_t)can_parameter_init->working_mode) | \
BT_SJW((uint32_t)can_parameter_init->resync_jump_width) | \
BT_BS1((uint32_t)can_parameter_init->time_segment_1) | \
BT_BS2((uint32_t)can_parameter_init->time_segment_2) | \
BT_BAUDPSC(((uint32_t)(can_parameter_init->prescaler) - 1U)));
/* time trigger communication mode */
if(ENABLE == can_parameter_init->time_triggered){
CAN_CTL(can_periph) |= CAN_CTL_TTC;
}else{
CAN_CTL(can_periph) &= ~CAN_CTL_TTC;
}
/* automatic bus-off managment */
if(ENABLE == can_parameter_init->auto_bus_off_recovery){
CAN_CTL(can_periph) |= CAN_CTL_ABOR;
}else{
CAN_CTL(can_periph) &= ~CAN_CTL_ABOR;
}
/* automatic wakeup mode */
if(ENABLE == can_parameter_init->auto_wake_up){
CAN_CTL(can_periph) |= CAN_CTL_AWU;
}else{
CAN_CTL(can_periph) &= ~CAN_CTL_AWU;
}
/* automatic retransmission mode disable*/
if(ENABLE == can_parameter_init->auto_retrans){
CAN_CTL(can_periph) |= CAN_CTL_ARD;
}else{
CAN_CTL(can_periph) &= ~CAN_CTL_ARD;
}
/* receive fifo overwrite mode */
if(ENABLE == can_parameter_init->rec_fifo_overwrite){
CAN_CTL(can_periph) |= CAN_CTL_RFOD;
}else{
CAN_CTL(can_periph) &= ~CAN_CTL_RFOD;
}
/* transmit fifo order */
if(ENABLE == can_parameter_init->trans_fifo_order){
CAN_CTL(can_periph) |= CAN_CTL_TFO;
}else{
CAN_CTL(can_periph) &= ~CAN_CTL_TFO;
}
/* disable initialize mode */
CAN_CTL(can_periph) &= ~CAN_CTL_IWMOD;
timeout = CAN_TIMEOUT;
/* wait the ACK */
while((CAN_STAT_IWS == (CAN_STAT(can_periph) & CAN_STAT_IWS)) && (0U != timeout)){
timeout--;
}
/* check exit initialize mode */
if(0U != timeout){
flag = SUCCESS;
}
}
CAN_TMI0(can_periph) = 0x0;
CAN_TMI1(can_periph) = 0x0;
CAN_TMI2(can_periph) = 0x0;
CAN_TMP0(can_periph) = 0x0;
CAN_TMP1(can_periph) = 0x0;
CAN_TMP2(can_periph) = 0x0;
CAN_TMDATA00(can_periph) = 0x0;
CAN_TMDATA01(can_periph) = 0x0;
CAN_TMDATA02(can_periph) = 0x0;
CAN_TMDATA10(can_periph) = 0x0;
CAN_TMDATA11(can_periph) = 0x0;
CAN_TMDATA12(can_periph) = 0x0;
return flag;
}
/*!
\brief initialize CAN filter
\param[in] can_filter_parameter_init: struct for CAN filter initialization
\arg filter_list_high: 0x0000 - 0xFFFF
\arg filter_list_low: 0x0000 - 0xFFFF
\arg filter_mask_high: 0x0000 - 0xFFFF
\arg filter_mask_low: 0x0000 - 0xFFFF
\arg filter_fifo_number: CAN_FIFO0, CAN_FIFO1
\arg filter_number: 0 - 27
\arg filter_mode: CAN_FILTERMODE_MASK, CAN_FILTERMODE_LIST
\arg filter_bits: CAN_FILTERBITS_32BIT, CAN_FILTERBITS_16BIT
\arg filter_enable: ENABLE or DISABLE
\param[out] none
\retval none
*/
void can_filter_init(can_filter_parameter_struct* can_filter_parameter_init)
{
uint32_t val = 0U;
val = ((uint32_t)1) << (can_filter_parameter_init->filter_number);
/* filter lock disable */
CAN_FCTL(CAN0) |= CAN_FCTL_FLD;
/* disable filter */
CAN_FW(CAN0) &= ~(uint32_t)val;
/* filter 16 bits */
if(CAN_FILTERBITS_16BIT == can_filter_parameter_init->filter_bits){
/* set filter 16 bits */
CAN_FSCFG(CAN0) &= ~(uint32_t)val;
/* first 16 bits list and first 16 bits mask or first 16 bits list and second 16 bits list */
CAN_FDATA0(CAN0, can_filter_parameter_init->filter_number) = \
FDATA_MASK_HIGH((can_filter_parameter_init->filter_mask_low) & CAN_FILTER_MASK_16BITS) | \
FDATA_MASK_LOW((can_filter_parameter_init->filter_list_low) & CAN_FILTER_MASK_16BITS);
/* second 16 bits list and second 16 bits mask or third 16 bits list and fourth 16 bits list */
CAN_FDATA1(CAN0, can_filter_parameter_init->filter_number) = \
FDATA_MASK_HIGH((can_filter_parameter_init->filter_mask_high) & CAN_FILTER_MASK_16BITS) | \
FDATA_MASK_LOW((can_filter_parameter_init->filter_list_high) & CAN_FILTER_MASK_16BITS);
}
/* filter 32 bits */
if(CAN_FILTERBITS_32BIT == can_filter_parameter_init->filter_bits){
/* set filter 32 bits */
CAN_FSCFG(CAN0) |= (uint32_t)val;
/* 32 bits list or first 32 bits list */
CAN_FDATA0(CAN0, can_filter_parameter_init->filter_number) = \
FDATA_MASK_HIGH((can_filter_parameter_init->filter_list_high) & CAN_FILTER_MASK_16BITS) |
FDATA_MASK_LOW((can_filter_parameter_init->filter_list_low) & CAN_FILTER_MASK_16BITS);
/* 32 bits mask or second 32 bits list */
CAN_FDATA1(CAN0, can_filter_parameter_init->filter_number) = \
FDATA_MASK_HIGH((can_filter_parameter_init->filter_mask_high) & CAN_FILTER_MASK_16BITS) |
FDATA_MASK_LOW((can_filter_parameter_init->filter_mask_low) & CAN_FILTER_MASK_16BITS);
}
/* filter mode */
if(CAN_FILTERMODE_MASK == can_filter_parameter_init->filter_mode){
/* mask mode */
CAN_FMCFG(CAN0) &= ~(uint32_t)val;
}else{
/* list mode */
CAN_FMCFG(CAN0) |= (uint32_t)val;
}
/* filter FIFO */
if(CAN_FIFO0 == (can_filter_parameter_init->filter_fifo_number)){
/* FIFO0 */
CAN_FAFIFO(CAN0) &= ~(uint32_t)val;
}else{
/* FIFO1 */
CAN_FAFIFO(CAN0) |= (uint32_t)val;
}
/* filter working */
if(ENABLE == can_filter_parameter_init->filter_enable){
CAN_FW(CAN0) |= (uint32_t)val;
}
/* filter lock enable */
CAN_FCTL(CAN0) &= ~CAN_FCTL_FLD;
}
/*!
\brief set CAN1 fliter start bank number
\param[in] start_bank: CAN1 start bank number
only one parameter can be selected which is shown as below:
\arg (1..27)
\param[out] none
\retval none
*/
void can1_filter_start_bank(uint8_t start_bank)
{
/* filter lock disable */
CAN_FCTL(CAN0) |= CAN_FCTL_FLD;
/* set CAN1 filter start number */
CAN_FCTL(CAN0) &= ~(uint32_t)CAN_FCTL_HBC1F;
CAN_FCTL(CAN0) |= FCTL_HBC1F(start_bank);
/* filter lock enaable */
CAN_FCTL(CAN0) &= ~CAN_FCTL_FLD;
}
/*!
\brief enable CAN debug freeze
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval none
*/
void can_debug_freeze_enable(uint32_t can_periph)
{
/* set DFZ bit */
CAN_CTL(can_periph) |= CAN_CTL_DFZ;
if(CAN0 == can_periph){
dbg_periph_enable(DBG_CAN0_HOLD);
}else{
dbg_periph_enable(DBG_CAN1_HOLD);
}
}
/*!
\brief disable CAN debug freeze
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval none
*/
void can_debug_freeze_disable(uint32_t can_periph)
{
/* set DFZ bit */
CAN_CTL(can_periph) &= ~CAN_CTL_DFZ;
if(CAN0 == can_periph){
dbg_periph_disable(DBG_CAN0_HOLD);
}else{
dbg_periph_disable(DBG_CAN1_HOLD);
}
}
/*!
\brief enable CAN time trigger mode
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval none
*/
void can_time_trigger_mode_enable(uint32_t can_periph)
{
uint8_t mailbox_number;
/* enable the tcc mode */
CAN_CTL(can_periph) |= CAN_CTL_TTC;
/* enable time stamp */
for(mailbox_number = 0U; mailbox_number < 3U; mailbox_number++){
CAN_TMP(can_periph, mailbox_number) |= CAN_TMP_TSEN;
}
}
/*!
\brief disable CAN time trigger mode
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval none
*/
void can_time_trigger_mode_disable(uint32_t can_periph)
{
uint8_t mailbox_number;
/* disable the TCC mode */
CAN_CTL(can_periph) &= ~CAN_CTL_TTC;
/* reset TSEN bits */
for(mailbox_number = 0U; mailbox_number < 3U; mailbox_number++){
CAN_TMP(can_periph, mailbox_number) &= ~CAN_TMP_TSEN;
}
}
/*!
\brief transmit CAN message
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] transmit_message: struct for CAN transmit message
\arg tx_sfid: 0x00000000 - 0x000007FF
\arg tx_efid: 0x00000000 - 0x1FFFFFFF
\arg tx_ff: CAN_FF_STANDARD, CAN_FF_EXTENDED
\arg tx_ft: CAN_FT_DATA, CAN_FT_REMOTE
\arg tx_dlenc: 1 - 7
\arg tx_data[]: 0x00 - 0xFF
\param[out] none
\retval mailbox_number
*/
uint8_t can_message_transmit(uint32_t can_periph, can_trasnmit_message_struct* transmit_message)
{
uint8_t mailbox_number = CAN_MAILBOX0;
/* select one empty mailbox */
if(CAN_TSTAT_TME0 == (CAN_TSTAT(can_periph)&CAN_TSTAT_TME0)){
mailbox_number = CAN_MAILBOX0;
}else if(CAN_TSTAT_TME1 == (CAN_TSTAT(can_periph)&CAN_TSTAT_TME1)){
mailbox_number = CAN_MAILBOX1;
}else if(CAN_TSTAT_TME2 == (CAN_TSTAT(can_periph)&CAN_TSTAT_TME2)){
mailbox_number = CAN_MAILBOX2;
}else{
mailbox_number = CAN_NOMAILBOX;
}
/* return no mailbox empty */
if(CAN_NOMAILBOX == mailbox_number){
return CAN_NOMAILBOX;
}
CAN_TMI(can_periph, mailbox_number) &= CAN_TMI_TEN;
if(CAN_FF_STANDARD == transmit_message->tx_ff){
/* set transmit mailbox standard identifier */
CAN_TMI(can_periph, mailbox_number) |= (uint32_t)(TMI_SFID(transmit_message->tx_sfid) | \
transmit_message->tx_ft);
}else{
/* set transmit mailbox extended identifier */
CAN_TMI(can_periph, mailbox_number) |= (uint32_t)(TMI_EFID(transmit_message->tx_efid) | \
transmit_message->tx_ff | \
transmit_message->tx_ft);
}
/* set the data length */
CAN_TMP(can_periph, mailbox_number) &= ~CAN_TMP_DLENC;
CAN_TMP(can_periph, mailbox_number) |= transmit_message->tx_dlen;
/* set the data */
CAN_TMDATA0(can_periph, mailbox_number) = TMDATA0_DB3(transmit_message->tx_data[3]) | \
TMDATA0_DB2(transmit_message->tx_data[2]) | \
TMDATA0_DB1(transmit_message->tx_data[1]) | \
TMDATA0_DB0(transmit_message->tx_data[0]);
CAN_TMDATA1(can_periph, mailbox_number) = TMDATA1_DB7(transmit_message->tx_data[7]) | \
TMDATA1_DB6(transmit_message->tx_data[6]) | \
TMDATA1_DB5(transmit_message->tx_data[5]) | \
TMDATA1_DB4(transmit_message->tx_data[4]);
/* enable transmission */
CAN_TMI(can_periph, mailbox_number) |= CAN_TMI_TEN;
return mailbox_number;
}
/*!
\brief get CAN transmit state
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] mailbox_number
only one parameter can be selected which is shown as below:
\arg CAN_MAILBOX(x=0,1,2)
\param[out] none
\retval can_transmit_state_enum
*/
can_transmit_state_enum can_transmit_states(uint32_t can_periph, uint8_t mailbox_number)
{
can_transmit_state_enum state = CAN_TRANSMIT_FAILED;
uint32_t val = 0U;
/* check selected mailbox state */
switch(mailbox_number){
/* mailbox0 */
case CAN_MAILBOX0:
val = CAN_TSTAT(can_periph) & (CAN_TSTAT_MTF0 | CAN_TSTAT_MTFNERR0 | CAN_TSTAT_TME0);
break;
/* mailbox1 */
case CAN_MAILBOX1:
val = CAN_TSTAT(can_periph) & (CAN_TSTAT_MTF1 | CAN_TSTAT_MTFNERR1 | CAN_TSTAT_TME1);
break;
/* mailbox2 */
case CAN_MAILBOX2:
val = CAN_TSTAT(can_periph) & (CAN_TSTAT_MTF2 | CAN_TSTAT_MTFNERR2 | CAN_TSTAT_TME2);
break;
default:
val = CAN_TRANSMIT_FAILED;
break;
}
switch(val){
/* transmit pending */
case (CAN_STATE_PENDING):
state = CAN_TRANSMIT_PENDING;
break;
/* mailbox0 transmit succeeded */
case (CAN_TSTAT_MTF0 | CAN_TSTAT_MTFNERR0 | CAN_TSTAT_TME0):
state = CAN_TRANSMIT_OK;
break;
/* mailbox1 transmit succeeded */
case (CAN_TSTAT_MTF1 | CAN_TSTAT_MTFNERR1 | CAN_TSTAT_TME1):
state = CAN_TRANSMIT_OK;
break;
/* mailbox2 transmit succeeded */
case (CAN_TSTAT_MTF2 | CAN_TSTAT_MTFNERR2 | CAN_TSTAT_TME2):
state = CAN_TRANSMIT_OK;
break;
/* transmit failed */
default:
state = CAN_TRANSMIT_FAILED;
break;
}
return state;
}
/*!
\brief stop CAN transmission
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] mailbox_number
only one parameter can be selected which is shown as below:
\arg CAN_MAILBOXx(x=0,1,2)
\param[out] none
\retval none
*/
void can_transmission_stop(uint32_t can_periph, uint8_t mailbox_number)
{
if(CAN_MAILBOX0 == mailbox_number){
CAN_TSTAT(can_periph) |= CAN_TSTAT_MST0;
while(CAN_TSTAT_MST0 == (CAN_TSTAT(can_periph) & CAN_TSTAT_MST0)){
}
}else if(CAN_MAILBOX1 == mailbox_number){
CAN_TSTAT(can_periph) |= CAN_TSTAT_MST1;
while(CAN_TSTAT_MST1 == (CAN_TSTAT(can_periph) & CAN_TSTAT_MST1)){
}
}else if(CAN_MAILBOX2 == mailbox_number){
CAN_TSTAT(can_periph) |= CAN_TSTAT_MST2;
while(CAN_TSTAT_MST2 == (CAN_TSTAT(can_periph) & CAN_TSTAT_MST2)){
}
}else{
/* illegal parameters */
}
}
/*!
\brief CAN receive message
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] fifo_number
\arg CAN_FIFOx(x=0,1)
\param[out] receive_message: struct for CAN receive message
\arg rx_sfid: 0x00000000 - 0x000007FF
\arg rx_efid: 0x00000000 - 0x1FFFFFFF
\arg rx_ff: CAN_FF_STANDARD, CAN_FF_EXTENDED
\arg rx_ft: CAN_FT_DATA, CAN_FT_REMOTE
\arg rx_dlenc: 1 - 7
\arg rx_data[]: 0x00 - 0xFF
\arg rx_fi: 0 - 27
\retval none
*/
void can_message_receive(uint32_t can_periph, uint8_t fifo_number, can_receive_message_struct* receive_message)
{
/* get the frame format */
receive_message->rx_ff = (uint8_t)(CAN_RFIFOMI_FF & CAN_RFIFOMI(can_periph, fifo_number));
if(CAN_FF_STANDARD == receive_message->rx_ff){
/* get standard identifier */
receive_message->rx_sfid = (uint32_t)(GET_RFIFOMI_SFID(CAN_RFIFOMI(can_periph, fifo_number)));
}else{
/* get extended identifier */
receive_message->rx_efid = (uint32_t)(GET_RFIFOMI_EFID(CAN_RFIFOMI(can_periph, fifo_number)));
}
/* get frame type */
receive_message->rx_ft = (uint8_t)(CAN_RFIFOMI_FT & CAN_RFIFOMI(can_periph, fifo_number));
/* filtering index */
receive_message->rx_fi = (uint8_t)(GET_RFIFOMP_FI(CAN_RFIFOMP(can_periph, fifo_number)));
/* get recevie data length */
receive_message->rx_dlen = (uint8_t)(GET_RFIFOMP_DLENC(CAN_RFIFOMP(can_periph, fifo_number)));
/* receive data */
receive_message -> rx_data[0] = (uint8_t)(GET_RFIFOMDATA0_DB0(CAN_RFIFOMDATA0(can_periph, fifo_number)));
receive_message -> rx_data[1] = (uint8_t)(GET_RFIFOMDATA0_DB1(CAN_RFIFOMDATA0(can_periph, fifo_number)));
receive_message -> rx_data[2] = (uint8_t)(GET_RFIFOMDATA0_DB2(CAN_RFIFOMDATA0(can_periph, fifo_number)));
receive_message -> rx_data[3] = (uint8_t)(GET_RFIFOMDATA0_DB3(CAN_RFIFOMDATA0(can_periph, fifo_number)));
receive_message -> rx_data[4] = (uint8_t)(GET_RFIFOMDATA1_DB4(CAN_RFIFOMDATA1(can_periph, fifo_number)));
receive_message -> rx_data[5] = (uint8_t)(GET_RFIFOMDATA1_DB5(CAN_RFIFOMDATA1(can_periph, fifo_number)));
receive_message -> rx_data[6] = (uint8_t)(GET_RFIFOMDATA1_DB6(CAN_RFIFOMDATA1(can_periph, fifo_number)));
receive_message -> rx_data[7] = (uint8_t)(GET_RFIFOMDATA1_DB7(CAN_RFIFOMDATA1(can_periph, fifo_number)));
/* release FIFO */
if(CAN_FIFO0 == fifo_number){
CAN_RFIFO0(can_periph) |= CAN_RFIFO0_RFD0;
}else{
CAN_RFIFO1(can_periph) |= CAN_RFIFO1_RFD1;
}
}
/*!
\brief release FIFO0
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] fifo_number
only one parameter can be selected which is shown as below:
\arg CAN_FIFOx(x=0,1)
\param[out] none
\retval none
*/
void can_fifo_release(uint32_t can_periph, uint8_t fifo_number)
{
if(CAN_FIFO0 == fifo_number){
CAN_RFIFO0(can_periph) |= CAN_RFIFO0_RFD0;
}else if(CAN_FIFO1 == fifo_number){
CAN_RFIFO1(can_periph) |= CAN_RFIFO1_RFD1;
}else{
/* illegal parameters */
CAN_ERROR_HANDLE("CAN FIFO NUM is invalid \r\n");
}
}
/*!
\brief CAN receive message length
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] fifo_number
only one parameter can be selected which is shown as below:
\arg CAN_FIFOx(x=0,1)
\param[out] none
\retval message length
*/
uint8_t can_receive_message_length_get(uint32_t can_periph, uint8_t fifo_number)
{
uint8_t val = 0U;
if(CAN_FIFO0 == fifo_number){
/* FIFO0 */
val = (uint8_t)(CAN_RFIFO0(can_periph) & CAN_RFIF_RFL_MASK);
}else if(CAN_FIFO1 == fifo_number){
/* FIFO1 */
val = (uint8_t)(CAN_RFIFO1(can_periph) & CAN_RFIF_RFL_MASK);
}else{
/* illegal parameters */
}
return val;
}
/*!
\brief set CAN working mode
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] can_working_mode
only one parameter can be selected which is shown as below:
\arg CAN_MODE_INITIALIZE
\arg CAN_MODE_NORMAL
\arg CAN_MODE_SLEEP
\param[out] none
\retval ErrStatus: SUCCESS or ERROR
*/
ErrStatus can_working_mode_set(uint32_t can_periph, uint8_t working_mode)
{
ErrStatus flag = ERROR;
/* timeout for IWS or also for SLPWS bits */
uint32_t timeout = CAN_TIMEOUT;
if(CAN_MODE_INITIALIZE == working_mode){
/* disable sleep mode */
CAN_CTL(can_periph) &= (~(uint32_t)CAN_CTL_SLPWMOD);
/* set initialize mode */
CAN_CTL(can_periph) |= (uint8_t)CAN_CTL_IWMOD;
/* wait the acknowledge */
while((CAN_STAT_IWS != (CAN_STAT(can_periph) & CAN_STAT_IWS)) && (0U != timeout)){
timeout--;
}
if(CAN_STAT_IWS != (CAN_STAT(can_periph) & CAN_STAT_IWS)){
flag = ERROR;
}else{
flag = SUCCESS;
}
}else if(CAN_MODE_NORMAL == working_mode){
/* enter normal mode */
CAN_CTL(can_periph) &= ~(uint32_t)(CAN_CTL_SLPWMOD | CAN_CTL_IWMOD);
/* wait the acknowledge */
while((0U != (CAN_STAT(can_periph) & (CAN_STAT_IWS | CAN_STAT_SLPWS))) && (0U != timeout)){
timeout--;
}
if(0U != (CAN_STAT(can_periph) & (CAN_STAT_IWS | CAN_STAT_SLPWS))){
flag = ERROR;
}else{
flag = SUCCESS;
}
}else if(CAN_MODE_SLEEP == working_mode){
/* disable initialize mode */
CAN_CTL(can_periph) &= (~(uint32_t)CAN_CTL_IWMOD);
/* set sleep mode */
CAN_CTL(can_periph) |= (uint8_t)CAN_CTL_SLPWMOD;
/* wait the acknowledge */
while((CAN_STAT_SLPWS != (CAN_STAT(can_periph) & CAN_STAT_SLPWS)) && (0U != timeout)){
timeout--;
}
if(CAN_STAT_SLPWS != (CAN_STAT(can_periph) & CAN_STAT_SLPWS)){
flag = ERROR;
}else{
flag = SUCCESS;
}
}else{
flag = ERROR;
}
return flag;
}
/*!
\brief wake up CAN
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval ErrStatus: SUCCESS or ERROR
*/
ErrStatus can_wakeup(uint32_t can_periph)
{
ErrStatus flag = ERROR;
uint32_t timeout = CAN_TIMEOUT;
/* wakeup */
CAN_CTL(can_periph) &= ~CAN_CTL_SLPWMOD;
while((0U != (CAN_STAT(can_periph) & CAN_STAT_SLPWS)) && (0x00U != timeout)){
timeout--;
}
/* check state */
if(0U != (CAN_STAT(can_periph) & CAN_STAT_SLPWS)){
flag = ERROR;
}else{
flag = SUCCESS;
}
return flag;
}
/*!
\brief get CAN error type
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval can_error_enum
\arg CAN_ERROR_NONE: no error
\arg CAN_ERROR_FILL: fill error
\arg CAN_ERROR_FORMATE: format error
\arg CAN_ERROR_ACK: ACK error
\arg CAN_ERROR_BITRECESSIVE: bit recessive
\arg CAN_ERROR_BITDOMINANTER: bit dominant error
\arg CAN_ERROR_CRC: CRC error
\arg CAN_ERROR_SOFTWARECFG: software configure
*/
can_error_enum can_error_get(uint32_t can_periph)
{
can_error_enum error;
error = CAN_ERROR_NONE;
/* get error type */
error = (can_error_enum)(GET_ERR_ERRN(CAN_ERR(can_periph)));
return error;
}
/*!
\brief get CAN receive error number
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval error number
*/
uint8_t can_receive_error_number_get(uint32_t can_periph)
{
uint8_t val;
/* get error count */
val = (uint8_t)(GET_ERR_RECNT(CAN_ERR(can_periph)));
return val;
}
/*!
\brief get CAN transmit error number
\param[in] can_periph
\arg CANx(x=0,1)
\param[out] none
\retval error number
*/
uint8_t can_transmit_error_number_get(uint32_t can_periph)
{
uint8_t val;
val = (uint8_t)(GET_ERR_TECNT(CAN_ERR(can_periph)));
return val;
}
/*!
\brief enable CAN interrupt
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] interrupt
one or more parameters can be selected which are shown as below:
\arg CAN_INT_TME: transmit mailbox empty interrupt enable
\arg CAN_INT_RFNE0: receive FIFO0 not empty interrupt enable
\arg CAN_INT_RFF0: receive FIFO0 full interrupt enable
\arg CAN_INT_RFO0: receive FIFO0 overfull interrupt enable
\arg CAN_INT_RFNE1: receive FIFO1 not empty interrupt enable
\arg CAN_INT_RFF1: receive FIFO1 full interrupt enable
\arg CAN_INT_RFO1: receive FIFO1 overfull interrupt enable
\arg CAN_INT_WERR: warning error interrupt enable
\arg CAN_INT_PERR: passive error interrupt enable
\arg CAN_INT_BO: bus-off interrupt enable
\arg CAN_INT_ERRN: error number interrupt enable
\arg CAN_INT_ERR: error interrupt enable
\arg CAN_INT_WU: wakeup interrupt enable
\arg CAN_INT_SLPW: sleep working interrupt enable
\param[out] none
\retval none
*/
void can_interrupt_enable(uint32_t can_periph, uint32_t interrupt)
{
CAN_INTEN(can_periph) |= interrupt;
}
/*!
\brief disable CAN interrupt
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] interrupt
one or more parameters can be selected which are shown as below:
\arg CAN_INT_TME: transmit mailbox empty interrupt enable
\arg CAN_INT_RFNE0: receive FIFO0 not empty interrupt enable
\arg CAN_INT_RFF0: receive FIFO0 full interrupt enable
\arg CAN_INT_RFO0: receive FIFO0 overfull interrupt enable
\arg CAN_INT_RFNE1: receive FIFO1 not empty interrupt enable
\arg CAN_INT_RFF1: receive FIFO1 full interrupt enable
\arg CAN_INT_RFO1: receive FIFO1 overfull interrupt enable
\arg CAN_INT_WERR: warning error interrupt enable
\arg CAN_INT_PERR: passive error interrupt enable
\arg CAN_INT_BO: bus-off interrupt enable
\arg CAN_INT_ERRN: error number interrupt enable
\arg CAN_INT_ERR: error interrupt enable
\arg CAN_INT_WU: wakeup interrupt enable
\arg CAN_INT_SLPW: sleep working interrupt enable
\param[out] none
\retval none
*/
void can_interrupt_disable(uint32_t can_periph, uint32_t interrupt)
{
CAN_INTEN(can_periph) &= ~interrupt;
}
/*!
\brief get CAN flag state
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] flag: CAN flags, refer to can_flag_enum
only one parameter can be selected which is shown as below:
\arg CAN_FLAG_MTE2: mailbox 2 transmit error
\arg CAN_FLAG_MTE1: mailbox 1 transmit error
\arg CAN_FLAG_MTE0: mailbox 0 transmit error
\arg CAN_FLAG_MTF2: mailbox 2 transmit finished
\arg CAN_FLAG_MTF1: mailbox 1 transmit finished
\arg CAN_FLAG_MTF0: mailbox 0 transmit finished
\arg CAN_FLAG_RFO0: receive FIFO0 overfull
\arg CAN_FLAG_RFF0: receive FIFO0 full
\arg CAN_FLAG_RFO1: receive FIFO1 overfull
\arg CAN_FLAG_RFF1: receive FIFO1 full
\arg CAN_FLAG_BOERR: bus-off error
\arg CAN_FLAG_PERR: passive error
\arg CAN_FLAG_WERR: warning error
\param[out] none
\retval FlagStatus: SET or RESET
*/
FlagStatus can_flag_get(uint32_t can_periph, can_flag_enum flag)
{
/* get flag and interrupt enable state */
if(RESET != (CAN_REG_VAL(can_periph, flag) & BIT(CAN_BIT_POS(flag)))){
return SET;
}else{
return RESET;
}
}
/*!
\brief clear CAN flag state
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] flag: CAN flags, refer to can_flag_enum
only one parameter can be selected which is shown as below:
\arg CAN_FLAG_MTE2: mailbox 2 transmit error
\arg CAN_FLAG_MTE1: mailbox 1 transmit error
\arg CAN_FLAG_MTE0: mailbox 0 transmit error
\arg CAN_FLAG_MTF2: mailbox 2 transmit finished
\arg CAN_FLAG_MTF1: mailbox 1 transmit finished
\arg CAN_FLAG_MTF0: mailbox 0 transmit finished
\arg CAN_FLAG_RFO0: receive FIFO0 overfull
\arg CAN_FLAG_RFF0: receive FIFO0 full
\arg CAN_FLAG_RFO1: receive FIFO1 overfull
\arg CAN_FLAG_RFF1: receive FIFO1 full
\arg CAN_FLAG_BOERR: bus-off error
\arg CAN_FLAG_PERR: passive error
\arg CAN_FLAG_WERR: warning error
\param[out] none
\retval none
*/
void can_flag_clear(uint32_t can_periph, can_flag_enum flag)
{
CAN_REG_VAL(can_periph, flag) = BIT(CAN_BIT_POS(flag));
}
/*!
\brief get CAN interrupt flag state
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] flag: CAN interrupt flags, refer to can_interrupt_flag_enum
only one parameter can be selected which is shown as below:
\arg CAN_INT_FLAG_SLPIF: status change interrupt flag of sleep working mode entering
\arg CAN_INT_FLAG_WUIF: status change interrupt flag of wakeup from sleep working mode
\arg CAN_INT_FLAG_ERRIF: error interrupt flag
\arg CAN_INT_FLAG_MTF2: mailbox 2 transmit finished interrupt flag
\arg CAN_INT_FLAG_MTF1: mailbox 1 transmit finished interrupt flag
\arg CAN_INT_FLAG_MTF0: mailbox 0 transmit finished interrupt flag
\arg CAN_INT_FLAG_RFO0: receive FIFO0 overfull interrupt flag
\arg CAN_INT_FLAG_RFF0: receive FIFO0 full interrupt flag
\arg CAN_INT_FLAG_RFO1: receive FIFO1 overfull interrupt flag
\arg CAN_INT_FLAG_RFF1: receive FIFO1 full interrupt flag
\param[out] none
\retval FlagStatus: SET or RESET
*/
FlagStatus can_interrupt_flag_get(uint32_t can_periph, can_interrupt_flag_enum flag)
{
uint32_t ret1 = RESET;
uint32_t ret2 = RESET;
/* get the staus of interrupt flag */
ret1 = CAN_REG_VALS(can_periph, flag) & BIT(CAN_BIT_POS0(flag));
/* get the staus of interrupt enale bit */
ret2 = CAN_INTEN(can_periph) & BIT(CAN_BIT_POS1(flag));
if(ret1 && ret2){
return SET;
}else{
return RESET;
}
}
/*!
\brief clear CAN interrupt flag state
\param[in] can_periph
\arg CANx(x=0,1)
\param[in] flag: CAN interrupt flags, refer to can_interrupt_flag_enum
only one parameter can be selected which is shown as below:
\arg CAN_INT_FLAG_SLPIF: status change interrupt flag of sleep working mode entering
\arg CAN_INT_FLAG_WUIF: status change interrupt flag of wakeup from sleep working mode
\arg CAN_INT_FLAG_ERRIF: error interrupt flag
\arg CAN_INT_FLAG_MTF2: mailbox 2 transmit finished interrupt flag
\arg CAN_INT_FLAG_MTF1: mailbox 1 transmit finished interrupt flag
\arg CAN_INT_FLAG_MTF0: mailbox 0 transmit finished interrupt flag
\arg CAN_INT_FLAG_RFO0: receive FIFO0 overfull interrupt flag
\arg CAN_INT_FLAG_RFF0: receive FIFO0 full interrupt flag
\arg CAN_INT_FLAG_RFO1: receive FIFO1 overfull interrupt flag
\arg CAN_INT_FLAG_RFF1: receive FIFO1 full interrupt flag
\arg CAN_FLAG_BOERR: bus-off error
\arg CAN_FLAG_PERR: passive error
\arg CAN_FLAG_WERR: warning error
\param[out] none
\retval none
*/
void can_interrupt_flag_clear(uint32_t can_periph, can_interrupt_flag_enum flag)
{
CAN_REG_VALS(can_periph, flag) = BIT(CAN_BIT_POS0(flag));
}