808 lines
27 KiB
C
808 lines
27 KiB
C
/**************************************************************************//**
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* @file CAN.c
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* @version V1.00
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* $Revision: 15 $
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* $Date: 15/11/26 10:40a $
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* @brief NUC472/NUC442 CAN driver source file
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*
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* @note
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* Copyright (C) 2013 Nuvoton Technology Corp. All rights reserved.
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*****************************************************************************/
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#include "NUC472_442.h"
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/** @addtogroup NUC472_442_Device_Driver NUC472/NUC442 Device Driver
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@{
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*/
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/** @addtogroup NUC472_442_CAN_Driver CAN Driver
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@{
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*/
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/** @addtogroup NUC472_442_CAN_EXPORTED_FUNCTIONS CAN Exported Functions
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@{
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*/
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#include <stdio.h>
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/// @cond HIDDEN_SYMBOLS
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#define TSEG1_MIN 2
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#define TSEG1_MAX 16
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#define TSEG2_MIN 1
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#define TSEG2_MAX 8
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#define BRP_MIN 1
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#define BRP_MAX 1024 /* 6-bit BRP field + 4-bit BRPE field*/
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#define SJW_MAX 4
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#define BRP_INC 1
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static uint32_t GetFreeIF(CAN_T *tCAN);
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//#define DEBUG_PRINTF printf
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#define DEBUG_PRINTF(...)
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/**
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* @brief Check if SmartCard slot is presented.
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* @param[in] tCAN The base address of can module.
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* @retval 0 IF0 is free
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* @retval 1 IF1 is free
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* @retval 2 No IF is free
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* @details Search the first free message interface, starting from 0.
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*/
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static uint32_t GetFreeIF(CAN_T *tCAN)
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{
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if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0)
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return 0;
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else if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0)
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return 1;
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else
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return 2;
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}
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/**
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* @brief Enter initialization mode
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* @param[in] tCAN The base address of can module.
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* @return None
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* @details This function is used to set CAN to enter initialization mode and enable access bit timing
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* register. After bit timing configuration ready, user must call CAN_LeaveInitMode()
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* to leave initialization mode and lock bit timing register to let new configuration
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* take effect.
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*/
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void CAN_EnterInitMode(CAN_T *tCAN)
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{
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tCAN->CON |= CAN_CON_INIT_Msk;
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tCAN->CON |= CAN_CON_CCE_Msk;
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}
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/**
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* @brief Leave initialization mode
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* @param[in] tCAN The base address of can module.
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* @return None
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* @details This function is used to set CAN to leave initialization mode to let
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* bit timing configuration take effect after configuration ready.
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*/
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void CAN_LeaveInitMode(CAN_T *tCAN)
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{
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tCAN->CON &= (~(CAN_CON_INIT_Msk | CAN_CON_CCE_Msk));
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while(tCAN->CON & CAN_CON_INIT_Msk); /* Check INIT bit is released */
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}
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/**
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* @brief Wait message into message buffer in basic mode.
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* @param[in] tCAN The base address of can module.
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* @return None
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* @details This function is used to wait message into message buffer in basic mode. Please notice the
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* function is polling NEWDAT bit of MCON register by while loop and it is used in basic mode.
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*/
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void CAN_WaitMsg(CAN_T *tCAN)
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{
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tCAN->STATUS = 0x0; /* clr status */
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while (1) {
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if(tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) { /* check new data */
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DEBUG_PRINTF("New Data IN\n");
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break;
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}
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if(tCAN->STATUS & CAN_STATUS_RXOK_Msk)
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DEBUG_PRINTF("Rx OK\n");
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if(tCAN->STATUS & CAN_STATUS_LEC_Msk) {
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DEBUG_PRINTF("Error\n");
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}
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}
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}
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/**
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* @brief Get current bit rate
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* @param[in] tCAN The base address of can module.
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* @return Current Bit-Rate (kilo bit per second)
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* @details Return current CAN bit rate according to the user bit-timing parameter settings
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*/
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uint32_t CAN_GetCANBitRate(CAN_T *tCAN)
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{
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uint8_t u8Tseg1,u8Tseg2;
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uint32_t u32Bpr;
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u8Tseg1 = (tCAN->BTIME & CAN_BTIME_TSEG1_Msk) >> CAN_BTIME_TSEG1_Pos;
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u8Tseg2 = (tCAN->BTIME & CAN_BTIME_TSEG2_Msk) >> CAN_BTIME_TSEG2_Pos;
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u32Bpr = (tCAN->BTIME & CAN_BTIME_BRP_Msk) | (tCAN->BRPE << 6);
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return (SystemCoreClock/(u32Bpr+1)/(u8Tseg1 + u8Tseg2 + 3));
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}
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/**
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* @brief Switch the CAN into test mode.
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* @param[in] tCAN The base address of can module.
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* @param[in] u8TestMask Specifies the configuration in test modes
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* CAN_TEST_BASIC_Msk : Enable basic mode of test mode
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* CAN_TESTR_SILENT_Msk : Enable silent mode of test mode
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* CAN_TESTR_LBACK_Msk : Enable Loop Back Mode of test mode
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* CAN_TESTR_TX0_Msk/CAN_TESTR_TX1_Msk: Control CAN_TX pin bit field
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* @return None
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* @details Switch the CAN into test mode. There are four test mode (BASIC/SILENT/LOOPBACK/
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* LOOPBACK combined SILENT/CONTROL_TX_PIN)could be selected. After setting test mode,user
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* must call CAN_LeaveInitMode() to let the setting take effect.
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*/
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void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask)
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{
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tCAN->CON |= CAN_CON_TEST_Msk;
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tCAN->TEST = u8TestMask;
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}
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/**
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* @brief Leave the test mode
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* @param[in] tCAN The base address of can module.
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* @return None
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* @details This function is used to Leave the test mode (switch into normal mode).
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*/
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void CAN_LeaveTestMode(CAN_T *tCAN)
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{
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tCAN->CON |= CAN_CON_TEST_Msk;
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tCAN->TEST &= ~(CAN_TEST_LBACK_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_BASIC_Msk);
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tCAN->CON &= (~CAN_CON_TEST_Msk);
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}
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/**
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* @brief Get the waiting status of a received message.
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* @param[in] tCAN The base address of can module.
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* @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
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* @retval non-zero The corresponding message object has a new data bit is set.
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* @retval 0 No message object has new data.
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* @details This function is used to get the waiting status of a received message.
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*/
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uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj)
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{
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return (u8MsgObj < 16 ? tCAN->NDAT1 & (1 << u8MsgObj) : tCAN->NDAT2 & (1 << (u8MsgObj-16)));
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}
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/**
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* @brief Send CAN message in BASIC mode of test mode
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* @param[in] tCAN The base address of can module.
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* @param[in] pCanMsg Pointer to the message structure containing data to transmit.
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* @return TRUE: Transmission OK
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* FALSE: Check busy flag of interface 0 is timeout
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* @details The function is used to send CAN message in BASIC mode of test mode. Before call the API,
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* the user should be call CAN_EnterTestMode(CAN_TESTR_BASIC) and let CAN controller enter
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* basic mode of test mode. Please notice IF1 Registers used as Tx Buffer in basic mode.
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*/
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int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg)
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{
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uint32_t i=0;
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while(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk);
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tCAN->STATUS &= (~CAN_STATUS_TXOK_Msk);
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tCAN->IF[0].CMASK = CAN_IF_CMASK_WRRD_Msk;
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if (pCanMsg->IdType == CAN_STD_ID) {
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/* standard ID*/
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tCAN->IF[0].ARB1 = 0;
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tCAN->IF[0].ARB2 = (((pCanMsg->Id)&0x7FF)<<2) ;
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} else {
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/* extended ID*/
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tCAN->IF[0].ARB1 = (pCanMsg->Id)&0xFFFF;
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tCAN->IF[0].ARB2 = ((pCanMsg->Id)&0x1FFF0000)>>16 | CAN_IF_ARB2_XTD_Msk;
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}
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if(pCanMsg->FrameType)
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tCAN->IF[0].ARB2 |= CAN_IF_ARB2_DIR_Msk;
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else
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tCAN->IF[0].ARB2 &= (~CAN_IF_ARB2_DIR_Msk);
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tCAN->IF[0].MCON = (tCAN->IF[0].MCON & (~CAN_IF_MCON_DLC_Msk)) | pCanMsg->DLC;
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tCAN->IF[0].DAT_A1 = ((uint16_t)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
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tCAN->IF[0].DAT_A2 = ((uint16_t)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
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tCAN->IF[0].DAT_B1 = ((uint16_t)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
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tCAN->IF[0].DAT_B2 = ((uint16_t)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
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/* request transmission*/
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tCAN->IF[0].CREQ &= (~CAN_IF_CREQ_BUSY_Msk);
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if(tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) {
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DEBUG_PRINTF("Cannot clear busy for sending ...\n");
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return FALSE;
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}
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tCAN->IF[0].CREQ |= CAN_IF_CREQ_BUSY_Msk; // sending
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for ( i=0; i<0xFFFFF; i++) {
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if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) break;
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}
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if ( i >= 0xFFFFF ) {
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DEBUG_PRINTF("Cannot send out...\n");
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return FALSE;
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}
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return TRUE;
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}
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/**
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* @brief Get a message information in BASIC mode.
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*
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* @param[in] tCAN The base address of can module.
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* @param[out] pCanMsg Pointer to the message structure where received data is copied.
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*
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* @return FALSE No any message received. \n
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* TRUE Receive a message success.
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*
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*/
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int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg)
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{
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if((tCAN->IF[1].MCON & CAN_IF_MCON_NEWDAT_Msk) == 0) { /* In basic mode, receive data always save in IF2 */
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return FALSE;
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}
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tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk);
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tCAN->IF[1].CMASK = CAN_IF_CMASK_ARB_Msk
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| CAN_IF_CMASK_CONTROL_Msk
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| CAN_IF_CMASK_DATAA_Msk
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| CAN_IF_CMASK_DATAB_Msk;
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if((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) {
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/* standard ID*/
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pCanMsg->IdType = CAN_STD_ID;
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pCanMsg->Id = (tCAN->IF[1].ARB2 >> 2) & 0x07FF;
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} else {
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/* extended ID*/
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pCanMsg->IdType = CAN_EXT_ID;
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pCanMsg->Id = (tCAN->IF[1].ARB2 & 0x1FFF)<<16;
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pCanMsg->Id |= (uint32_t)tCAN->IF[1].ARB1;
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}
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pCanMsg->FrameType = !((tCAN->IF[1].ARB2 & CAN_IF_ARB2_DIR_Msk) >> CAN_IF_ARB2_DIR_Pos);
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pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk;
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pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk;
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pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos;
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pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk;
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pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos;
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pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk;
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pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos;
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pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk;
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pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos;
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return TRUE;
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}
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/**
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* @brief Set Rx message object
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* @param[in] tCAN The base address of can module.
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* @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
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* @param[in] u8idType Specifies the identifier type of the frames that will be transmitted
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* This parameter can be one of the following values:
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* CAN_STD_ID (standard ID, 11-bit)
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* CAN_EXT_ID (extended ID, 29-bit)
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* @param[in] u32id Specifies the identifier used for acceptance filtering.
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* @param[in] u8singleOrFifoLast Specifies the end-of-buffer indicator.
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* This parameter can be one of the following values:
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* TRUE: for a single receive object or a FIFO receive object that is the last one of the FIFO.
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* FALSE: for a FIFO receive object that is not the last one.
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* @retval TRUE SUCCESS
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* @retval FALSE No useful interface
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* @details The function is used to configure a receive message object.
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*/
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int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast)
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{
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uint8_t u8MsgIfNum=0;
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if ((u8MsgIfNum = GetFreeIF(tCAN)) == 2) { /* Check Free Interface for configure */
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return FALSE;
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}
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/* Command Setting */
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tCAN->IF[u8MsgIfNum].CMASK = CAN_IF_CMASK_WRRD_Msk | CAN_IF_CMASK_MASK_Msk | CAN_IF_CMASK_ARB_Msk |
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CAN_IF_CMASK_CONTROL_Msk | CAN_IF_CMASK_DATAA_Msk | CAN_IF_CMASK_DATAB_Msk;
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if (u8idType == CAN_STD_ID) { /* According STD/EXT ID format,Configure Mask and Arbitration register */
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tCAN->IF[u8MsgIfNum].ARB1 = 0;
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tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | (u32id & 0x7FF)<< 2;
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} else {
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tCAN->IF[u8MsgIfNum].ARB1 = u32id & 0xFFFF;
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tCAN->IF[u8MsgIfNum].ARB2 = CAN_IF_ARB2_MSGVAL_Msk | CAN_IF_ARB2_XTD_Msk | (u32id & 0x1FFF0000)>>16;
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}
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tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_UMASK_Msk | CAN_IF_MCON_RXIE_Msk;
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if(u8singleOrFifoLast)
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tCAN->IF[u8MsgIfNum].MCON |= CAN_IF_MCON_EOB_Msk;
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else
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tCAN->IF[u8MsgIfNum].MCON &= (~CAN_IF_MCON_EOB_Msk);
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tCAN->IF[u8MsgIfNum].DAT_A1 = 0;
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tCAN->IF[u8MsgIfNum].DAT_A2 = 0;
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tCAN->IF[u8MsgIfNum].DAT_B1 = 0;
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tCAN->IF[u8MsgIfNum].DAT_B2 = 0;
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tCAN->IF[u8MsgIfNum].CREQ = 1 + u8MsgObj;
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return TRUE;
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}
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/**
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* @brief Gets the message
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* @param[in] tCAN The base address of can module.
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* @param[in] u8MsgObj Specifies the Message object number, from 0 to 31.
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* @param[in] u8Release Specifies the message release indicator.
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* This parameter can be one of the following values:
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* TRUE: the message object is released when getting the data.
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* FALSE:the message object is not released.
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* @param[out] pCanMsg Pointer to the message structure where received data is copied.
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* @retval TRUE Success
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* @retval FALSE No any message received
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* @details Gets the message, if received.
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*/
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int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg)
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{
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if (!CAN_IsNewDataReceived(tCAN, u8MsgObj)) {
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return FALSE;
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}
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tCAN->STATUS &= (~CAN_STATUS_RXOK_Msk);
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/* read the message contents*/
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tCAN->IF[1].CMASK = CAN_IF_CMASK_MASK_Msk
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| CAN_IF_CMASK_ARB_Msk
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| CAN_IF_CMASK_CONTROL_Msk
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| CAN_IF_CMASK_CLRINTPND_Msk
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| (u8Release ? CAN_IF_CMASK_TXRQSTNEWDAT_Msk : 0)
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| CAN_IF_CMASK_DATAA_Msk
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| CAN_IF_CMASK_DATAB_Msk;
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tCAN->IF[1].CREQ = 1 + u8MsgObj;
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while (tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) {
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/*Wait*/
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}
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if ((tCAN->IF[1].ARB2 & CAN_IF_ARB2_XTD_Msk) == 0) {
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/* standard ID*/
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pCanMsg->IdType = CAN_STD_ID;
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pCanMsg->Id = (tCAN->IF[1].ARB2 & CAN_IF_ARB2_ID_Msk) >> 2;
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} else {
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/* extended ID*/
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pCanMsg->IdType = CAN_EXT_ID;
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pCanMsg->Id = (((tCAN->IF[1].ARB2) & 0x1FFF)<<16) | tCAN->IF[1].ARB1;
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}
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pCanMsg->DLC = tCAN->IF[1].MCON & CAN_IF_MCON_DLC_Msk;
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pCanMsg->Data[0] = tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA0_Msk;
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pCanMsg->Data[1] = (tCAN->IF[1].DAT_A1 & CAN_IF_DAT_A1_DATA1_Msk) >> CAN_IF_DAT_A1_DATA1_Pos;
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pCanMsg->Data[2] = tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA2_Msk;
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pCanMsg->Data[3] = (tCAN->IF[1].DAT_A2 & CAN_IF_DAT_A2_DATA3_Msk) >> CAN_IF_DAT_A2_DATA3_Pos;
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pCanMsg->Data[4] = tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA4_Msk;
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pCanMsg->Data[5] = (tCAN->IF[1].DAT_B1 & CAN_IF_DAT_B1_DATA5_Msk) >> CAN_IF_DAT_B1_DATA5_Pos;
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pCanMsg->Data[6] = tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA6_Msk;
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pCanMsg->Data[7] = (tCAN->IF[1].DAT_B2 & CAN_IF_DAT_B2_DATA7_Msk) >> CAN_IF_DAT_B2_DATA7_Pos;
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return TRUE;
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}
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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 The function is used to set bus timing parameter according current clock and target baud-rate.
|
|
*
|
|
* @param[in] tCAN The base address of can module
|
|
* @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz
|
|
*
|
|
* @return u32CurrentBitRate Real baud-rate value
|
|
*/
|
|
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;
|
|
uint64_t clock_freq = 0;
|
|
uint32_t sjw = 1;
|
|
|
|
CAN_EnterInitMode(tCAN);
|
|
|
|
SystemCoreClockUpdate();
|
|
|
|
clock_freq = SystemCoreClock;
|
|
|
|
if(u32BaudRate >= 1000000)
|
|
u32BaudRate = 1000000;
|
|
|
|
/* Use CIA recommended sample points */
|
|
if (u32BaudRate > 800000)
|
|
sampl_pt = 750;
|
|
else if (u32BaudRate > 500000)
|
|
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 = clock_freq / (tsegall * u32BaudRate) + tseg % 2;
|
|
/* chose brp step which is possible in system */
|
|
brp = (brp / BRP_INC) * BRP_INC;
|
|
|
|
if ((brp < BRP_MIN) || (brp > BRP_MAX))
|
|
continue;
|
|
rate = clock_freq / (brp * tsegall);
|
|
|
|
error = u32BaudRate - rate;
|
|
|
|
/* tseg brp biterror */
|
|
if (error < 0)
|
|
error = -error;
|
|
if (error > best_error)
|
|
continue;
|
|
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)
|
|
continue;
|
|
spt_error = error;
|
|
}
|
|
best_tseg = tseg / 2;
|
|
best_brp = brp;
|
|
|
|
if (error == 0)
|
|
break;
|
|
}
|
|
|
|
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 < sjw)
|
|
sjw = tseg2;
|
|
|
|
/* real bit-rate */
|
|
u32BaudRate = clock_freq / (best_brp * (tseg1 + tseg2 + 1));
|
|
|
|
tCAN->BTIME = ((uint32_t)(tseg2 - 1) << CAN_BTIME_TSEG2_Pos) | ((uint32_t)(tseg1 - 1) << CAN_BTIME_TSEG1_Pos) |
|
|
((best_brp - 1) & CAN_BTIME_BRP_Msk) | (sjw << CAN_BTIME_SJW_Pos);
|
|
tCAN->BRPE = ((best_brp - 1) >> 6) & 0x0F;
|
|
|
|
//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 base address of can module
|
|
*
|
|
* @return None
|
|
*/
|
|
void CAN_Close(CAN_T *tCAN)
|
|
{
|
|
CAN_DisableInt(tCAN, (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
|
|
}
|
|
|
|
/**
|
|
* @brief The function is sets bus timing parameter according current clock and target baud-rate. And set CAN operation mode.
|
|
*
|
|
* @param[in] tCAN The base address of can module
|
|
* @param[in] u32BaudRate The target CAN baud-rate. The range of u32BaudRate is 1~1000KHz
|
|
* @param[in] u32Mode The CAN operation mode. ( \ref CAN_NORMAL_MODE / \ref CAN_BASIC_MODE)
|
|
*
|
|
* @return u32CurrentBitRate Real baud-rate value
|
|
*/
|
|
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, CAN_TEST_BASIC_Msk);
|
|
else
|
|
tCAN->CON &= ~CAN_CON_TEST_Msk;
|
|
|
|
return u32CurrentBitRate;
|
|
}
|
|
|
|
/**
|
|
* @brief The function is used to configure a transmit object.
|
|
*
|
|
* @param[in] tCAN The base address of can module.
|
|
* @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.
|
|
*
|
|
* @return FALSE: No useful interface. \n
|
|
* TRUE : Config message object success.
|
|
*
|
|
*/
|
|
int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
|
|
{
|
|
uint8_t u8MsgIfNum=0;
|
|
uint32_t i=0;
|
|
|
|
while((u8MsgIfNum = GetFreeIF(tCAN)) == 2) {
|
|
i++;
|
|
if(i > 0x10000000)
|
|
return FALSE;
|
|
}
|
|
|
|
/* update the contents needed for transmission*/
|
|
tCAN->IF[u8MsgIfNum].CMASK = 0xF3; /*CAN_CMASK_WRRD_Msk | CAN_CMASK_MASK_Msk | CAN_CMASK_ARB_Msk
|
|
| CAN_CMASK_CONTROL_Msk | CAN_CMASK_DATAA_Msk | CAN_CMASK_DATAB_Msk ; */
|
|
|
|
if (pCanMsg->IdType == CAN_STD_ID) {
|
|
/* standard ID*/
|
|
tCAN->IF[u8MsgIfNum].ARB1 = 0;
|
|
tCAN->IF[u8MsgIfNum].ARB2 = (((pCanMsg->Id)&0x7FF)<<2) | CAN_IF_ARB2_DIR_Msk | CAN_IF_ARB2_MSGVAL_Msk;
|
|
} else {
|
|
/* extended ID*/
|
|
tCAN->IF[u8MsgIfNum].ARB1 = (pCanMsg->Id)&0xFFFF;
|
|
tCAN->IF[u8MsgIfNum].ARB2 = ((pCanMsg->Id)&0x1FFF0000)>>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 = ((uint16_t)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
|
|
tCAN->IF[u8MsgIfNum].DAT_A2 = ((uint16_t)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
|
|
tCAN->IF[u8MsgIfNum].DAT_B1 = ((uint16_t)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
|
|
tCAN->IF[u8MsgIfNum].DAT_B2 = ((uint16_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 = 1 + u32MsgNum;
|
|
|
|
return TRUE;
|
|
}
|
|
|
|
/**
|
|
* @brief Set transmit request bit
|
|
*
|
|
* @param[in] tCAN The base address of can module.
|
|
* @param[in] u32MsgNum Specifies the Message object number, from 0 to 31.
|
|
*
|
|
* @return TRUE: Start transmit message.
|
|
*/
|
|
int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum)
|
|
{
|
|
STR_CANMSG_T rMsg;
|
|
CAN_ReadMsgObj(tCAN, u32MsgNum,TRUE, &rMsg);
|
|
tCAN->IF[0].CMASK = CAN_IF_CMASK_WRRD_Msk |CAN_IF_CMASK_TXRQSTNEWDAT_Msk;
|
|
tCAN->IF[0].CREQ = 1 + u32MsgNum;
|
|
|
|
return TRUE;
|
|
}
|
|
|
|
/**
|
|
* @brief Enable CAN interrupt
|
|
*
|
|
* @param[in] tCAN The base address of can module.
|
|
* @param[in] u32Mask Interrupt Mask. ( \ref CAN_CON_IE_Msk / \ref CAN_CON_SIE_Msk / \ref CAN_CON_EIE_Msk)
|
|
*
|
|
* @return None
|
|
*/
|
|
void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask)
|
|
{
|
|
CAN_EnterInitMode(tCAN);
|
|
|
|
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));
|
|
|
|
|
|
CAN_LeaveInitMode(tCAN);
|
|
}
|
|
|
|
/**
|
|
* @brief Disable CAN interrupt
|
|
*
|
|
* @param[in] tCAN The base address of can module.
|
|
* @param[in] u32Mask Interrupt Mask. ( \ref CAN_CON_IE_Msk / \ref CAN_CON_SIE_Msk / \ref CAN_CON_EIE_Msk)
|
|
*
|
|
* @return None
|
|
*/
|
|
void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask)
|
|
{
|
|
CAN_EnterInitMode(tCAN);
|
|
|
|
tCAN->CON = tCAN->CON & ~((u32Mask & (CAN_CON_IE_Msk | CAN_CON_SIE_Msk | CAN_CON_EIE_Msk)));
|
|
|
|
CAN_LeaveInitMode(tCAN);
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief The function is used to configure a receive message object
|
|
*
|
|
* @param[in] tCAN The base address of can module.
|
|
* @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. ( \ref CAN_STD_ID / \ref CAN_EXT_ID)
|
|
* @param[in] u32ID Specifies the identifier used for acceptance filtering.
|
|
*
|
|
* @return FALSE: No useful interface \n
|
|
* TRUE : Configure a receive message object success.
|
|
*
|
|
*/
|
|
int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID)
|
|
{
|
|
uint32_t u32TimeOutCount = 0;
|
|
|
|
while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, TRUE) == FALSE) {
|
|
u32TimeOutCount++;
|
|
|
|
if(u32TimeOutCount >= 0x10000000) return FALSE;
|
|
}
|
|
|
|
return TRUE;
|
|
}
|
|
|
|
/**
|
|
* @brief The function is used to configure several receive message objects
|
|
*
|
|
* @param[in] tCAN The base address of can module.
|
|
* @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. ( \ref CAN_STD_ID / \ref CAN_EXT_ID)
|
|
* @param[in] u32ID Specifies the identifier used for acceptance filtering.
|
|
*
|
|
* @return FALSE: No useful interface \n
|
|
* TRUE : Configure receive message objects success.
|
|
*
|
|
*/
|
|
int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID)
|
|
{
|
|
uint32_t i = 0;
|
|
uint32_t u32TimeOutCount;
|
|
uint32_t u32EOB_Flag = 0;
|
|
|
|
for(i= 1; i < u32MsgCount; i++) {
|
|
u32TimeOutCount = 0;
|
|
|
|
u32MsgNum += (i - 1);
|
|
|
|
if(i == u32MsgCount) u32EOB_Flag = 1;
|
|
|
|
while(CAN_SetRxMsgObj(tCAN, u32MsgNum, u32IDType, u32ID, u32EOB_Flag) == FALSE) {
|
|
u32TimeOutCount++;
|
|
|
|
if(u32TimeOutCount >= 0x10000000) return FALSE;
|
|
}
|
|
}
|
|
|
|
return TRUE;
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Send CAN message.
|
|
* @param[in] tCAN The base address of can module.
|
|
* @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.
|
|
*
|
|
* @return FALSE: When operation in basic mode: Transmit message time out, or when operation in normal mode: No useful interface. \n
|
|
* TRUE : Transmit Message success.
|
|
*/
|
|
int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
|
|
{
|
|
if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) {
|
|
return (CAN_BasicSendMsg(tCAN, pCanMsg));
|
|
} else {
|
|
if(CAN_SetTxMsg(tCAN, u32MsgNum, pCanMsg) == FALSE)
|
|
return FALSE;
|
|
CAN_TriggerTxMsg(tCAN, u32MsgNum);
|
|
}
|
|
|
|
return TRUE;
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Gets the message, if received.
|
|
* @param[in] tCAN The base address of can module.
|
|
* @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
|
|
* @param[out] pCanMsg Pointer to the message structure where received data is copied.
|
|
*
|
|
* @return FALSE: No any message received. \n
|
|
* TRUE : Receive Message success.
|
|
*/
|
|
int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
|
|
{
|
|
if((tCAN->CON & CAN_CON_TEST_Msk) && (tCAN->TEST & CAN_TEST_BASIC_Msk)) {
|
|
return (CAN_BasicReceiveMsg(tCAN, pCanMsg));
|
|
} else {
|
|
return CAN_ReadMsgObj(tCAN, u32MsgNum, TRUE, pCanMsg);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Clear interrupt pending bit.
|
|
* @param[in] tCAN The base address of can module.
|
|
* @param[in] u32MsgNum Specifies the Message object number, from 0 to 31
|
|
*
|
|
* @return None
|
|
*
|
|
*/
|
|
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
|
|
{
|
|
uint32_t u32MsgIfNum = 0;
|
|
uint32_t u32IFBusyCount = 0;
|
|
|
|
while(u32IFBusyCount < 0x10000000) {
|
|
if((tCAN->IF[0].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) {
|
|
u32MsgIfNum = 0;
|
|
break;
|
|
} else if((tCAN->IF[1].CREQ & CAN_IF_CREQ_BUSY_Msk) == 0) {
|
|
u32MsgIfNum = 1;
|
|
break;
|
|
}
|
|
|
|
u32IFBusyCount++;
|
|
}
|
|
|
|
tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk | CAN_IF_CMASK_TXRQSTNEWDAT_Msk;
|
|
tCAN->IF[u32MsgIfNum].CREQ = 1 + u32MsgNum;
|
|
|
|
}
|
|
|
|
|
|
/*@}*/ /* end of group NUC472_442_CAN_EXPORTED_FUNCTIONS */
|
|
|
|
/*@}*/ /* end of group NUC472_442_CAN_Driver */
|
|
|
|
/*@}*/ /* end of group NUC472_442_Device_Driver */
|
|
|
|
/*** (C) COPYRIGHT 2013 Nuvoton Technology Corp. ***/
|
|
|
|
|