/**************************************************************************//** * @file can.c * @version V3.00 * @brief CAN driver source file * * @copyright SPDX-License-Identifier: Apache-2.0 * @copyright Copyright (C) 2020 Nuvoton Technology Corp. All rights reserved. *****************************************************************************/ #include "NuMicro.h" #if defined(__ICCARM__) # pragma diag_suppress=Pm073, Pm143 /* Misra C rule 14.7 */ #endif /** @addtogroup Standard_Driver Standard Driver @{ */ /** @addtogroup CAN_Driver CAN Driver @{ */ /** @addtogroup CAN_EXPORTED_FUNCTIONS CAN Exported Functions @{ */ /** @cond HIDDEN_SYMBOLS */ #if defined(CAN1) static uint8_t gu8LockCanIf[2][2] = {{0U}}; /* The chip has two CANs. */ #elif defined(CAN0) || defined(CAN) static uint8_t gu8LockCanIf[1][2] = {{0U}}; /* The chip only has one CAN. */ #endif #define RETRY_COUNTS (0x10000000UL) #define TSEG1_MIN 2 #define TSEG1_MAX 16 #define TSEG2_MIN 1 #define TSEG2_MAX 8 #define BRP_MIN 1 #define BRP_MAX 1024 /* 6-bit BRP field + 4-bit BRPE field*/ #define SJW_MAX 4UL #define BRP_INC 1 /* #define DEBUG_PRINTF printf */ #define DEBUG_PRINTF(...) static uint32_t LockIF(CAN_T *tCAN); static uint32_t LockIF_TL(CAN_T *tCAN); static void ReleaseIF(CAN_T *tCAN, uint32_t u32IfNo); static int can_update_spt(int sampl_pt, int tseg, int *tseg1, int *tseg2); /** * @brief Check if any interface is available then lock it for usage. * @param[in] tCAN The pointer to CAN module base address. * @retval 0 IF0 is free * @retval 1 IF1 is free * @retval 2 No IF is free * @details Search the first free message interface, starting from 0. If a interface is * available, set a flag to lock the interface. */ static uint32_t LockIF(CAN_T *tCAN) { uint32_t u32CanNo; uint32_t u32FreeIfNo; uint32_t u32IntMask; #if defined(CAN1) u32CanNo = (tCAN == CAN1) ? 1 : 0; #else // defined(CAN0) || defined(CAN) u32CanNo = 0U; #endif u32FreeIfNo = 2U; /* Disable CAN interrupt */ u32IntMask = tCAN->CON & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); /* Check interface 1 is available or not */ if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0U) { if(gu8LockCanIf[u32CanNo][0] == (uint8_t)FALSE) { gu8LockCanIf[u32CanNo][0] = (uint8_t)TRUE; u32FreeIfNo = 0U; } } /* Or check interface 2 is available or not */ if(u32FreeIfNo == 2U) { if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0U) { if(gu8LockCanIf[u32CanNo][1] == (uint8_t)FALSE) { gu8LockCanIf[u32CanNo][1] = (uint8_t)TRUE; u32FreeIfNo = 1U; } } } /* Enable CAN interrupt */ tCAN->CON |= u32IntMask; return u32FreeIfNo; } /** * @brief Check if any interface is available in a time limitation then lock it for usage. * @param[in] tCAN The pointer to CAN module base address. * @retval 0 IF0 is free * @retval 1 IF1 is free * @retval 2 No IF is free * @details Search the first free message interface, starting from 0. If no interface is * it will try again until time out. If a interface is available, set a flag to * lock the interface. */ static uint32_t LockIF_TL(CAN_T *tCAN) { uint32_t u32Count; uint32_t u32FreeIfNo = 0; for(u32Count = 0U; u32Count < (uint32_t)RETRY_COUNTS; u32Count++) { if((u32FreeIfNo = LockIF(tCAN)) != 2U) { break; } } return u32FreeIfNo; } /** * @brief Release locked interface. * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32Info The interface number, 0 or 1. * @return none * @details Release the locked interface. */ static void ReleaseIF(CAN_T *tCAN, uint32_t u32IfNo) { uint32_t u32IntMask; uint32_t u32CanNo; if(u32IfNo < 2U) { #if defined(CAN1) u32CanNo = (tCAN == CAN1) ? 1U : 0U; #else // defined(CAN0) || defined(CAN) u32CanNo = 0U; #endif /* Disable CAN interrupt */ u32IntMask = tCAN->CON & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); tCAN->CON = tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk); gu8LockCanIf[u32CanNo][u32IfNo] = (uint8_t)FALSE; /* Enable CAN interrupt */ tCAN->CON |= u32IntMask; } } /** * @brief Enter initialization mode * @param[in] tCAN The pointer to CAN module base address. * @param[in] Following values can be used. * \ref CAN_CON_DAR_Msk Disable automatic retransmission. * \ref CAN_CON_EIE_Msk Enable error interrupt. * \ref CAN_CON_SIE_Msk Enable status interrupt. * \ref CAN_CON_IE_Msk CAN interrupt. * @return None * @details This function is used to set CAN to enter initialization mode and enable access bit timing * register. After bit timing configuration ready, user must call CAN_LeaveInitMode() * to leave initialization mode and lock bit timing register to let new configuration * take effect. */ void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask) { tCAN->CON = u8Mask | (CAN_CON_INIT_Msk | CAN_CON_CCE_Msk); } /** * @brief Leave initialization mode * @param[in] tCAN The pointer to CAN module base address. * @return None * @details This function is used to set CAN to leave initialization mode to let * bit timing configuration take effect after configuration ready. */ void CAN_LeaveInitMode(CAN_T *tCAN) { tCAN->CON &= (~(CAN_CON_INIT_Msk | CAN_CON_CCE_Msk)); while(tCAN->CON & CAN_CON_INIT_Msk) {} /* Check INIT bit is released */ } /** * @brief Wait message into message buffer in basic mode. * @param[in] tCAN The pointer to CAN module base address. * @return None * @details This function is used to wait message into message buffer in basic mode. Please notice the * function is polling NEWDAT bit of MCON register by while loop and it is used in basic mode. */ void CAN_WaitMsg(CAN_T *tCAN) { tCAN->STATUS = 0x0U; /* clr status */ while(1) { if(tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) /* check new data */ { /* DEBUG_PRINTF("New Data IN\n"); */ break; } if(tCAN->STATUS & CAN_STATUS_RXOK_Msk) { /* DEBUG_PRINTF("Rx OK\n"); */ } if(tCAN->STATUS & CAN_STATUS_LEC_Msk) { /* DEBUG_PRINTF("Error\n"); */ } } } /** * @brief Get current bit rate * @param[in] tCAN The pointer to CAN module base address. * @return Current Bit-Rate (kilo bit per second) * @details Return current CAN bit rate according to the user bit-timing parameter settings */ uint32_t CAN_GetCANBitRate(CAN_T *tCAN) { uint8_t u8Tseg1, u8Tseg2; uint32_t u32Bpr; u8Tseg1 = (uint8_t)((tCAN->BTIME & CAN_BTIME_TSEG1_Msk) >> CAN_BTIME_TSEG1_Pos); u8Tseg2 = (uint8_t)((tCAN->BTIME & CAN_BTIME_TSEG2_Msk) >> CAN_BTIME_TSEG2_Pos); u32Bpr = (tCAN->BTIME & CAN_BTIME_BRP_Msk); u32Bpr |= (tCAN->BRPE << 6); return (SystemCoreClock / (u32Bpr + 1U) / ((uint32_t)u8Tseg1 + (uint32_t)u8Tseg2 + 3U)); } /** * @brief Switch the CAN into test mode. * @param[in] tCAN The pointer to CAN module base address. * @param[in] u8TestMask Specifies the configuration in test modes * \ref CAN_TEST_BASIC_Msk Enable basic mode of test mode * \ref CAN_TEST_SILENT_Msk Enable silent mode of test mode * \ref CAN_TEST_LBACK_Msk Enable Loop Back Mode of test mode * \ref CAN_TEST_TX0_Msk / \ref CAN_TEST_TX1_Msk Control CAN_TX pin bit field * @return None * @details Switch the CAN into test mode. There are four test mode (BASIC/SILENT/LOOPBACK/ * LOOPBACK combined SILENT/CONTROL_TX_PIN)could be selected. After setting test mode,user * must call CAN_LeaveInitMode() to let the setting take effect. */ void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask) { tCAN->CON |= CAN_CON_TEST_Msk; tCAN->TEST = u8TestMask; } /** * @brief Leave the test mode * @param[in] tCAN The pointer to CAN module base address. * @return None * @details This function is used to Leave the test mode (switch into normal mode). */ void CAN_LeaveTestMode(CAN_T *tCAN) { tCAN->CON |= CAN_CON_TEST_Msk; tCAN->TEST &= ~(CAN_TEST_LBACK_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_BASIC_Msk); tCAN->CON &= (~CAN_CON_TEST_Msk); } /** * @brief Get the waiting status of a received message. * @param[in] tCAN The pointer to CAN module base address. * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. * @retval non-zero The corresponding message object has a new data bit is set. * @retval 0 No message object has new data. * @details This function is used to get the waiting status of a received message. */ uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj) { uint32_t ret; if((uint32_t)u8MsgObj < 16U) { ret = tCAN->NDAT1 & (1UL << u8MsgObj); } else { ret = tCAN->NDAT2 & (1UL << (u8MsgObj - 16U)); } return ret; } /** * @brief Send CAN message in BASIC mode of test mode * @param[in] tCAN The pointer to CAN module base address. * @param[in] pCanMsg Pointer to the message structure containing data to transmit. * @return TRUE: Transmission OK * FALSE: Check busy flag of interface 0 is timeout * @details The function is used to send CAN message in BASIC mode of test mode. Before call the API, * the user should be call CAN_EnterTestMode(CAN_TEST_BASIC) and let CAN controller enter * basic mode of test mode. Please notice IF1 Registers used as Tx Buffer in basic mode. */ int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg) { uint32_t i = 0UL; while(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) {} tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk); if(pCanMsg->IdType == CAN_STD_ID) { /* standard ID*/ tCAN->IF[0].ARB1 = 0UL; tCAN->IF[0].ARB2 = (((pCanMsg->Id) & 0x7FFUL) << 2) ; } else { /* extended ID*/ tCAN->IF[0].ARB1 = (pCanMsg->Id) & 0xFFFFUL; tCAN->IF[0].ARB2 = (((pCanMsg->Id) & 0x1FFF0000UL) >> 16) | CAN_IF_ARB2_XTD_Msk; } if(pCanMsg->FrameType) { tCAN->IF[0].ARB2 |= CAN_IF_ARB2_DIR_Msk; } else { tCAN->IF[0].ARB2 &= (~CAN_IF_ARB2_DIR_Msk); } tCAN->IF[0].MCON = (tCAN->IF[0].MCON & (~CAN_IF_MCON_DLC_Msk)) | pCanMsg->DLC; tCAN->IF[0].DAT_A1 = ((uint32_t)pCanMsg->Data[1] << 8) | pCanMsg->Data[0]; tCAN->IF[0].DAT_A2 = ((uint32_t)pCanMsg->Data[3] << 8) | pCanMsg->Data[2]; tCAN->IF[0].DAT_B1 = ((uint32_t)pCanMsg->Data[5] << 8) | pCanMsg->Data[4]; tCAN->IF[0].DAT_B2 = ((uint32_t)pCanMsg->Data[7] << 8) | pCanMsg->Data[6]; /* request transmission*/ tCAN->IF[0].CREQ &= (~CAN_IF_CREQ_BUSY_Msk); if(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) { /* DEBUG_PRINTF("Cannot clear busy for sending ...\n"); */ return (int32_t)FALSE; } tCAN->IF[0].CREQ |= CAN_IF_CREQ_BUSY_Msk; /* sending */ for(i = 0UL; i < 0xFFFFFUL; i++) { if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0UL) { break; } } if(i >= 0xFFFFFUL) { /* DEBUG_PRINTF("Cannot send out...\n"); */ return (int32_t)FALSE; } return (int32_t)TRUE; } /** * @brief Get a message information in BASIC mode. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] pCanMsg Pointer to the message structure where received data is copied. * * @return FALSE No any message received. * TRUE Receive a message success. * */ int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg) { if((tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) == 0UL) /* In basic mode, receive data always save in IF2 */ { return (int32_t)FALSE; } tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk); tCAN->IF[1].CMASK = CAN_IF_CMASK_ARB_Msk | CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; if((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0UL) { /* standard ID*/ pCanMsg->IdType = CAN_STD_ID; pCanMsg->Id = (tCAN->IF[1].ARB2 >> 2) & 0x07FFUL; } else { /* extended ID*/ pCanMsg->IdType = CAN_EXT_ID; pCanMsg->Id = (tCAN->IF[1].ARB2 & 0x1FFFUL) << 16; pCanMsg->Id |= (uint32_t)tCAN->IF[1].ARB1; } /* pCanMsg->FrameType = (uint32_t)(!(uint32_t)((tCAN->IF[1].ARB2 & (uint32_t)CAN_IF_ARB2_DIR_Msk) >> (uint32_t)CAN_IF_ARB2_DIR_Pos)); */ pCanMsg->FrameType = (tCAN->IF[1].ARB2 & CAN_IF_ARB2_DIR_Msk) ? 0UL : 1UL; pCanMsg->DLC = (uint8_t)(tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk); pCanMsg->Data[0] = (uint8_t)(tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk); pCanMsg->Data[1] = (uint8_t)((tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos); pCanMsg->Data[2] = (uint8_t)(tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk); pCanMsg->Data[3] = (uint8_t)((tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos); pCanMsg->Data[4] = (uint8_t)(tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk); pCanMsg->Data[5] = (uint8_t)((tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos); pCanMsg->Data[6] = (uint8_t)(tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk); pCanMsg->Data[7] = (uint8_t)((tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos); return (int32_t)TRUE; } /** * @brief Set Rx message object, include ID mask. * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. * @param[in] u8idType Specifies the identifier type of the frames that will be transmitted * This parameter can be one of the following values: * \ref CAN_STD_ID (standard ID, 11-bit) * \ref CAN_EXT_ID (extended ID, 29-bit) * @param[in] u32id Specifies the identifier used for acceptance filtering. * @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator. * This parameter can be one of the following values: * TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO. * FALSE: for a FIFO receive object that is not the last one. * @retval TRUE SUCCESS * @retval FALSE No useful interface * @details The function is used to configure a receive message object. */ int32_t CAN_SetRxMsgObjAndMsk(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint32_t u32idmask, uint8_t u8singleOrFifoLast) { uint8_t u8MsgIfNum; /* Get and lock a free interface */ if((u8MsgIfNum = (uint8_t)LockIF_TL(tCAN)) == 2U) { return (int32_t)FALSE; } /* Command Setting */ tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; if(u8idType == CAN_STD_ID) /* According STD/EXT ID format,Configure Mask and Arbitration register */ { tCAN->IF[u8MsgIfNum].ARB1 = 0U; tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FFUL) << 2; } else { tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFFUL; tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000UL) >> 16; } tCAN->IF[u8MsgIfNum].MASK1 = (u32idmask & 0xFFFFUL); tCAN->IF[u8MsgIfNum].MASK2 = (u32idmask >> 16) & 0xFFFFUL; tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; if(u8singleOrFifoLast) { tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk; } else { tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk); } tCAN->IF[u8MsgIfNum].DAT_A1 = 0U; tCAN->IF[u8MsgIfNum].DAT_A2 = 0U; tCAN->IF[u8MsgIfNum].DAT_B1 = 0U; tCAN->IF[u8MsgIfNum].DAT_B2 = 0U; tCAN->IF[u8MsgIfNum].CREQ = 1UL + u8MsgObj; ReleaseIF(tCAN, (uint32_t)u8MsgIfNum); return (int32_t)TRUE; } /** * @brief Set Rx message object * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. * @param[in] u8idType Specifies the identifier type of the frames that will be transmitted * This parameter can be one of the following values: * \ref CAN_STD_ID (standard ID, 11-bit) * \ref CAN_EXT_ID (extended ID, 29-bit) * @param[in] u32id Specifies the identifier used for acceptance filtering. * @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator. * This parameter can be one of the following values: * TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO. * FALSE: for a FIFO receive object that is not the last one. * @retval TRUE SUCCESS * @retval FALSE No useful interface * @details The function is used to configure a receive message object. */ int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast) { uint8_t u8MsgIfNum; /* Get and lock a free interface */ if((u8MsgIfNum = (uint8_t)LockIF_TL(tCAN)) == 2U) { return (int32_t)FALSE; } /* Command Setting */ tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; if(u8idType == CAN_STD_ID) /* According STD/EXT ID format,Configure Mask and Arbitration register */ { tCAN->IF[u8MsgIfNum].ARB1 = 0U; tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FFUL) << 2; } else { tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFFUL; tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000UL) >> 16; } tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk; if(u8singleOrFifoLast) { tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk; } else { tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk); } tCAN->IF[u8MsgIfNum].DAT_A1 = 0U; tCAN->IF[u8MsgIfNum].DAT_A2 = 0U; tCAN->IF[u8MsgIfNum].DAT_B1 = 0U; tCAN->IF[u8MsgIfNum].DAT_B2 = 0U; tCAN->IF[u8MsgIfNum].CREQ = 1UL + u8MsgObj; ReleaseIF(tCAN, (uint32_t)u8MsgIfNum); return (int32_t)TRUE; } /** * @brief Gets the message * @param[in] u8MsgObj Specifies the Message object number, from 0 to 31. * @param[in] u8Release Specifies the message release indicator. * This parameter can be one of the following values: * TRUE: the message object is released when getting the data. * FALSE:the message object is not released. * @param[in] pCanMsg Pointer to the message structure where received data is copied. * @retval TRUE Success * @retval FALSE No any message received * @details Gets the message, if received. */ int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg) { uint8_t u8MsgIfNum; uint32_t u32Tmp; if(!CAN_IsNewDataReceived(tCAN, u8MsgObj)) { return (int32_t)FALSE; } /* Get and lock a free interface */ if((u8MsgIfNum = (uint8_t)LockIF_TL(tCAN)) == 2U) { return (int32_t)FALSE; } tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk); /* read the message contents*/ tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_CLRINTPND_Msk | (u8Release ? CAN_IF_CMASK_TXRQSTNEWDAT_Msk : 0UL) | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; tCAN->IF[u8MsgIfNum].CREQ = 1UL + u8MsgObj; while(tCAN->IF[u8MsgIfNum].CREQ & CAN_IF_CREQ_BUSY_Msk) { /*Wait*/ } if((tCAN->IF[u8MsgIfNum].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0U) { /* standard ID*/ pCanMsg->IdType = CAN_STD_ID; pCanMsg->Id = (tCAN->IF[u8MsgIfNum].ARB2 & CAN_IF_ARB2_ID_Msk) >> 2; } else { /* extended ID*/ pCanMsg->IdType = CAN_EXT_ID; u32Tmp = (((tCAN->IF[u8MsgIfNum].ARB2) & 0x1FFFUL) << 16); u32Tmp |= tCAN->IF[u8MsgIfNum].ARB1; pCanMsg->Id = u32Tmp; } pCanMsg->DLC = (uint8_t)(tCAN->IF[u8MsgIfNum].MCON & CAN_IF_MCON_DLC_Msk); pCanMsg->Data[0] = (uint8_t)(tCAN->IF[u8MsgIfNum].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk); pCanMsg->Data[1] = (uint8_t)((tCAN->IF[u8MsgIfNum].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos); pCanMsg->Data[2] = (uint8_t)(tCAN->IF[u8MsgIfNum].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk); pCanMsg->Data[3] = (uint8_t)((tCAN->IF[u8MsgIfNum].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos); pCanMsg->Data[4] = (uint8_t)(tCAN->IF[u8MsgIfNum].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk); pCanMsg->Data[5] = (uint8_t)((tCAN->IF[u8MsgIfNum].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos); pCanMsg->Data[6] = (uint8_t)(tCAN->IF[u8MsgIfNum].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk); pCanMsg->Data[7] = (uint8_t)((tCAN->IF[u8MsgIfNum].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos); ReleaseIF(tCAN, (uint32_t)u8MsgIfNum); return (int32_t)TRUE; } static int can_update_spt(int sampl_pt, int tseg, int *tseg1, int *tseg2) { *tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000; if(*tseg2 < TSEG2_MIN) { *tseg2 = TSEG2_MIN; } if(*tseg2 > TSEG2_MAX) { *tseg2 = TSEG2_MAX; } *tseg1 = tseg - *tseg2; if(*tseg1 > TSEG1_MAX) { *tseg1 = TSEG1_MAX; *tseg2 = tseg - *tseg1; } return 1000 * (tseg + 1 - *tseg2) / (tseg + 1); } /** @endcond HIDDEN_SYMBOLS */ /** * @brief Set bus baud-rate. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz. * * @return u32CurrentBitRate Real baud-rate value. * * @details The function is used to set bus timing parameter according current clock and target baud-rate. */ uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate) { long rate; long best_error = 1000000000, error = 0; int best_tseg = 0, best_brp = 0, brp = 0; int tsegall, tseg = 0, tseg1 = 0, tseg2 = 0; int spt_error = 1000, spt = 0, sampl_pt; int64_t clock_freq = 0; uint32_t sjw = 1UL; CAN_EnterInitMode(tCAN, 0U); clock_freq = (int64_t)CLK_GetPCLK0Freq(); if(u32BaudRate >= 1000000UL) { u32BaudRate = 1000000UL; } /* Use CIA recommended sample points */ if(u32BaudRate > 800000UL) { sampl_pt = 750; } else if(u32BaudRate > 500000UL) { sampl_pt = 800; } else { sampl_pt = 875; } /* tseg even = round down, odd = round up */ for(tseg = (TSEG1_MAX + TSEG2_MAX) * 2 + 1; tseg >= (TSEG1_MIN + TSEG2_MIN) * 2; tseg--) { tsegall = 1 + tseg / 2; /* Compute all possible tseg choices (tseg=tseg1+tseg2) */ /* brp = (int32_t)(clock_freq / (tsegall * u32BaudRate)) + (tseg % 2); */ brp = (int32_t)(clock_freq / ((int64_t)tsegall * (int32_t)u32BaudRate)) + (tseg % 2); /* chose brp step which is possible in system */ brp = (brp / BRP_INC) * BRP_INC; if((brp >= BRP_MIN) && (brp <= BRP_MAX)) { rate = (int32_t)(clock_freq / ((int64_t)brp * tsegall)); error = (int32_t)u32BaudRate - rate; /* tseg brp biterror */ if(error < 0) { error = -error; } if(error <= best_error) { best_error = error; if(error == 0) { spt = can_update_spt(sampl_pt, tseg / 2, &tseg1, &tseg2); error = sampl_pt - spt; if(error < 0) { error = -error; } if(error <= spt_error) { spt_error = error; best_tseg = tseg / 2; best_brp = brp; if(error == 0) { break; } } } else { best_tseg = tseg / 2; best_brp = brp; } } } } spt = can_update_spt(sampl_pt, best_tseg, &tseg1, &tseg2); /* check for sjw user settings */ /* bt->sjw is at least 1 -> sanitize upper bound to sjw_max */ if(sjw > SJW_MAX) { sjw = SJW_MAX; } /* bt->sjw must not be higher than tseg2 */ if(tseg2 < (int32_t)sjw) { sjw = (uint32_t)tseg2; } /* real bit-rate */ u32BaudRate = (uint32_t)(int32_t)(clock_freq / (int32_t)(best_brp * (tseg1 + tseg2 + 1))); tCAN->BTIME = (((uint32_t)tseg2 - 1UL) << CAN_BTIME_TSEG2_Pos) | (((uint32_t)tseg1 - 1UL) << CAN_BTIME_TSEG1_Pos) | (((uint32_t)best_brp - 1UL) & CAN_BTIME_BRP_Msk) | (sjw << CAN_BTIME_SJW_Pos); tCAN->BRPE = (((uint32_t)best_brp - 1UL) >> 6) & 0x0FUL; /* DEBUG_PRINTF("\n bitrate = %d \n", CAN_GetCANBitRate(tCAN)); */ CAN_LeaveInitMode(tCAN); return u32BaudRate; } /** * @brief The function is used to disable all CAN interrupt. * * @param[in] tCAN The pointer to CAN module base address. * * @return None * * @details No Status Change Interrupt and Error Status Interrupt will be generated. */ void CAN_Close(CAN_T *tCAN) { CAN_DisableInt(tCAN, (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)); } /** * @brief Set CAN operation mode and target baud-rate. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz. * @param[in] u32Mode The CAN operation mode. Valid values are: * - \ref CAN_NORMAL_MODE Normal operation. * - \ref CAN_BASIC_MODE Basic mode. * @return u32CurrentBitRate Real baud-rate value. * * @details Set bus timing parameter according current clock and target baud-rate. * In Basic mode, IF1 Registers used as Tx Buffer, IF2 Registers used as Rx Buffer. */ uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode) { uint32_t u32CurrentBitRate; u32CurrentBitRate = CAN_SetBaudRate(tCAN, u32BaudRate); if(u32Mode == CAN_BASIC_MODE) { CAN_EnterTestMode(tCAN, (uint8_t)CAN_TEST_BASIC_Msk); } return u32CurrentBitRate; } /** * @brief The function is used to configure a transmit object. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * @param[in] pCanMsg Pointer to the message structure where received data is copied. * * @retval FALSE No useful interface. * @retval TRUE Config message object success. * * @details The two sets of interface registers (IF1 and IF2) control the software access to the Message RAM. * They buffer the data to be transferred to and from the RAM, avoiding conflicts between software accesses and message reception/transmission. */ int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg) { uint8_t u8MsgIfNum; if((u8MsgIfNum = (uint8_t)LockIF_TL(tCAN)) == 2U) { return (int32_t)FALSE; } /* update the contents needed for transmission*/ tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk | CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk; if(pCanMsg->IdType == CAN_STD_ID) { /* standard ID*/ tCAN->IF[u8MsgIfNum].ARB1 = 0UL; tCAN->IF[u8MsgIfNum].ARB2 = (((pCanMsg->Id) & 0x7FFUL) << 2) | CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_MSGVAL_Msk; } else { /* extended ID*/ tCAN->IF[u8MsgIfNum].ARB1 = (pCanMsg->Id) & 0xFFFFUL; tCAN->IF[u8MsgIfNum].ARB2 = (((pCanMsg->Id) & 0x1FFF0000UL) >> 16) | CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_XTD_Msk | CAN_IF_ARB2_MSGVAL_Msk; } if(pCanMsg->FrameType) { tCAN->IF[u8MsgIfNum].ARB2 |= CAN_IF_ARB2_DIR_Msk; } else { tCAN->IF[u8MsgIfNum].ARB2 &= (~CAN_IF_ARB2_DIR_Msk); } tCAN->IF[u8MsgIfNum].DAT_A1 = ((uint32_t)pCanMsg->Data[1] << 8) | (uint32_t)pCanMsg->Data[0]; tCAN->IF[u8MsgIfNum].DAT_A2 = ((uint32_t)pCanMsg->Data[3] << 8) | (uint32_t)pCanMsg->Data[2]; tCAN->IF[u8MsgIfNum].DAT_B1 = ((uint32_t)pCanMsg->Data[5] << 8) | pCanMsg->Data[4]; tCAN->IF[u8MsgIfNum].DAT_B2 = ((uint32_t)pCanMsg->Data[7] << 8) | pCanMsg->Data[6]; tCAN->IF[u8MsgIfNum].MCON = CAN_IF_MCON_NEWDAT_Msk | pCanMsg->DLC | CAN_IF_MCON_TXIE_Msk | CAN_IF_MCON_EOB_Msk; tCAN->IF[u8MsgIfNum].CREQ = 1UL + u32MsgNum; ReleaseIF(tCAN, (uint32_t)u8MsgIfNum); return (int32_t)TRUE; } /** * @brief Set transmit request bit. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * * @return TRUE: Start transmit message. * * @details If a transmission is requested by programming bit TxRqst/NewDat (IFn_CMASK[2]), the TxRqst (IFn_MCON[8]) will be ignored. */ int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum) { uint8_t u8MsgIfNum; if((u8MsgIfNum = (uint8_t)LockIF_TL(tCAN)) == 2U) { return (int32_t)FALSE; } tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk); /* read the message contents*/ tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; tCAN->IF[u8MsgIfNum].CREQ = 1UL + u32MsgNum; while(tCAN->IF[u8MsgIfNum].CREQ & CAN_IF_CREQ_BUSY_Msk) { /*Wait*/ } tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; tCAN->IF[u8MsgIfNum].CREQ = 1UL + u32MsgNum; ReleaseIF(tCAN, (uint32_t)u8MsgIfNum); return (int32_t)TRUE; } /** * @brief Enable CAN interrupt. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32Mask Interrupt Mask. Valid values are: * - \ref CAN_CON_IE_Msk Module interrupt enable. * - \ref CAN_CON_SIE_Msk Status change interrupt enable. * - \ref CAN_CON_EIE_Msk Error interrupt enable. * * @return None * * @details The application software has two possibilities to follow the source of a message interrupt. * First, it can follow the IntId in the Interrupt Register and second it can poll the Interrupt Pending Register. */ void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask) { tCAN->CON = (tCAN->CON & ~(CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)) | (u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)); } /** * @brief Disable CAN interrupt. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32Mask Interrupt Mask. (CAN_CON_IE_Msk / CAN_CON_SIE_Msk / CAN_CON_EIE_Msk). * * @return None * * @details The interrupt remains active until the Interrupt Register is back to value zero (the cause of the interrupt is reset) or until IE is reset. */ void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask) { tCAN->CON = tCAN->CON & ~((u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk))); } /** * @brief The function is used to configure a receive message object. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. Valid values are: * - \ref CAN_STD_ID The 11-bit identifier. * - \ref CAN_EXT_ID The 29-bit identifier. * @param[in] u32ID Specifies the identifier used for acceptance filtering. * * @retval FALSE No useful interface. * @retval TRUE Configure a receive message object success. * * @details If the RxIE bit (CAN_IFn_MCON[10]) is set, the IntPnd bit (CAN_IFn_MCON[13]) * will be set when a received Data Frame is accepted and stored in the Message Object. */ int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID) { uint32_t u32TimeOutCount = 0UL; while(CAN_SetRxMsgObj(tCAN, (uint8_t)u32MsgNum, (uint8_t)u32IDType, u32ID, (uint8_t)TRUE) == (int32_t)FALSE) { if(++u32TimeOutCount >= RETRY_COUNTS) { return (int32_t)FALSE; } } return (int32_t)TRUE; } /** * @brief The function is used to configure a receive message object. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. Valid values are: * - \ref CAN_STD_ID The 11-bit identifier. * - \ref CAN_EXT_ID The 29-bit identifier. * @param[in] u32ID Specifies the identifier used for acceptance filtering. * @param[in] u32IDMask Specifies the identifier mask used for acceptance filtering. * * @retval FALSE No useful interface. * @retval TRUE Configure a receive message object success. * * @details If the RxIE bit (CAN_IFn_MCON[10]) is set, the IntPnd bit (CAN_IFn_MCON[13]) * will be set when a received Data Frame is accepted and stored in the Message Object. */ int32_t CAN_SetRxMsgAndMsk(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID, uint32_t u32IDMask) { uint32_t u32TimeOutCount = 0UL; while(CAN_SetRxMsgObjAndMsk(tCAN, (uint8_t)u32MsgNum, (uint8_t)u32IDType, u32ID, u32IDMask, (uint8_t)TRUE) == (int32_t)FALSE) { if(++u32TimeOutCount >= RETRY_COUNTS) { return (int32_t)FALSE; } } return (int32_t)TRUE; } /** * @brief The function is used to configure several receive message objects. * * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum The starting MSG RAM number(0 ~ 31). * @param[in] u32MsgCount the number of MSG RAM of the FIFO. * @param[in] u32IDType Specifies the identifier type of the frames that will be transmitted. Valid values are: * - \ref CAN_STD_ID The 11-bit identifier. * - \ref CAN_EXT_ID The 29-bit identifier. * @param[in] u32ID Specifies the identifier used for acceptance filtering. * * @retval FALSE No useful interface. * @retval TRUE Configure receive message objects success. * * @details The Interface Registers avoid conflict between the CPU accesses to the Message RAM and CAN message reception * and transmission by buffering the data to be transferred. */ int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID) { uint32_t i; uint32_t u32TimeOutCount; uint32_t u32EOB_Flag = 0UL; for(i = 1UL; i <= u32MsgCount; i++) { u32TimeOutCount = 0UL; u32MsgNum += (i - 1UL); if(i == u32MsgCount) { u32EOB_Flag = 1UL; } while(CAN_SetRxMsgObj(tCAN, (uint8_t)u32MsgNum, (uint8_t)u32IDType, u32ID, (uint8_t)u32EOB_Flag) == (int32_t)FALSE) { if(++u32TimeOutCount >= RETRY_COUNTS) { return (int32_t)FALSE; } } } return (int32_t)TRUE; } /** * @brief Send CAN message. * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * @param[in] pCanMsg Pointer to the message structure where received data is copied. * * @retval FALSE 1. When operation in basic mode: Transmit message time out. \n * 2. When operation in normal mode: No useful interface. \n * @retval TRUE Transmit Message success. * * @details The receive/transmit priority for the Message Objects is attached to the message number. * Message Object 1 has the highest priority, while Message Object 32 has the lowest priority. */ int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg) { uint32_t cond0, cond1; cond0 = tCAN->CON & CAN_CON_TEST_Msk; cond1 = tCAN->TEST & CAN_TEST_BASIC_Msk; if(cond0 && cond1) { return (CAN_BasicSendMsg(tCAN, pCanMsg)); } else { if(CAN_SetTxMsg(tCAN, u32MsgNum, pCanMsg) == (int32_t)FALSE) { return (int32_t)FALSE; } CAN_TriggerTxMsg(tCAN, u32MsgNum); } return (int32_t)TRUE; } /** * @brief Gets the message, if received. * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * @param[in] pCanMsg Pointer to the message structure where received data is copied. * * @retval FALSE No any message received. * @retval TRUE Receive Message success. * * @details The Interface Registers avoid conflict between the CPU accesses to the Message RAM and CAN message reception * and transmission by buffering the data to be transferred. */ int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg) { uint32_t cond0, cond1; cond0 = tCAN->CON & CAN_CON_TEST_Msk; cond1 = tCAN->TEST & CAN_TEST_BASIC_Msk; if(cond0 && cond1) { return (CAN_BasicReceiveMsg(tCAN, pCanMsg)); } else { return CAN_ReadMsgObj(tCAN, (uint8_t)u32MsgNum, (uint8_t)TRUE, pCanMsg); } } /** * @brief Clear interrupt pending bit. * @param[in] tCAN The pointer to CAN module base address. * @param[in] u32MsgNum Specifies the Message object number, from 0 to 31. * * @return None * * @details An interrupt remains pending until the application software has cleared it. */ void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum) { uint32_t u32MsgIfNum; if((u32MsgIfNum = LockIF_TL(tCAN)) == 2UL) { u32MsgIfNum = 0UL; } tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk; tCAN->IF[u32MsgIfNum].CREQ = 1UL + u32MsgNum; ReleaseIF(tCAN, u32MsgIfNum); } /**@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */ /**@}*/ /* end of group CAN_Driver */ /**@}*/ /* end of group Standard_Driver */