1702 lines
59 KiB
C
1702 lines
59 KiB
C
/**
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******************************************************************************
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* @file stm32f4xx_can.c
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* @author MCD Application Team
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* @version V1.1.0
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* @date 11-January-2013
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* @brief This file provides firmware functions to manage the following
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* functionalities of the Controller area network (CAN) peripheral:
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* + Initialization and Configuration
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* + CAN Frames Transmission
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* + CAN Frames Reception
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* + Operation modes switch
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* + Error management
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* + Interrupts and flags
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*
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@verbatim
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===============================================================================
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##### How to use this driver #####
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===============================================================================
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[..]
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(#) Enable the CAN controller interface clock using
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); for CAN1
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and RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); for CAN2
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-@- In case you are using CAN2 only, you have to enable the CAN1 clock.
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(#) CAN pins configuration
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(++) Enable the clock for the CAN GPIOs using the following function:
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOx, ENABLE);
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(++) Connect the involved CAN pins to AF9 using the following function
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GPIO_PinAFConfig(GPIOx, GPIO_PinSourcex, GPIO_AF_CANx);
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(++) Configure these CAN pins in alternate function mode by calling
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the function GPIO_Init();
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(#) Initialise and configure the CAN using CAN_Init() and
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CAN_FilterInit() functions.
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(#) Transmit the desired CAN frame using CAN_Transmit() function.
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(#) Check the transmission of a CAN frame using CAN_TransmitStatus()
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function.
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(#) Cancel the transmission of a CAN frame using CAN_CancelTransmit()
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function.
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(#) Receive a CAN frame using CAN_Recieve() function.
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(#) Release the receive FIFOs using CAN_FIFORelease() function.
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(#) Return the number of pending received frames using
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CAN_MessagePending() function.
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(#) To control CAN events you can use one of the following two methods:
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(++) Check on CAN flags using the CAN_GetFlagStatus() function.
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(++) Use CAN interrupts through the function CAN_ITConfig() at
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initialization phase and CAN_GetITStatus() function into
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interrupt routines to check if the event has occurred or not.
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After checking on a flag you should clear it using CAN_ClearFlag()
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function. And after checking on an interrupt event you should
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clear it using CAN_ClearITPendingBit() function.
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@endverbatim
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT 2013 STMicroelectronics</center></h2>
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*
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* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
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* You may not use this file except in compliance with the License.
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* You may obtain a copy of the License at:
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*
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* http://www.st.com/software_license_agreement_liberty_v2
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f4xx_can.h"
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#include "stm32f4xx_rcc.h"
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/** @addtogroup STM32F4xx_StdPeriph_Driver
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* @{
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*/
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/** @defgroup CAN
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* @brief CAN driver modules
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* @{
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*/
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* CAN Master Control Register bits */
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#define MCR_DBF ((uint32_t)0x00010000) /* software master reset */
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/* CAN Mailbox Transmit Request */
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#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */
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/* CAN Filter Master Register bits */
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#define FMR_FINIT ((uint32_t)0x00000001) /* Filter init mode */
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/* Time out for INAK bit */
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#define INAK_TIMEOUT ((uint32_t)0x0000FFFF)
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/* Time out for SLAK bit */
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#define SLAK_TIMEOUT ((uint32_t)0x0000FFFF)
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/* Flags in TSR register */
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#define CAN_FLAGS_TSR ((uint32_t)0x08000000)
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/* Flags in RF1R register */
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#define CAN_FLAGS_RF1R ((uint32_t)0x04000000)
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/* Flags in RF0R register */
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#define CAN_FLAGS_RF0R ((uint32_t)0x02000000)
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/* Flags in MSR register */
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#define CAN_FLAGS_MSR ((uint32_t)0x01000000)
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/* Flags in ESR register */
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#define CAN_FLAGS_ESR ((uint32_t)0x00F00000)
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/* Mailboxes definition */
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#define CAN_TXMAILBOX_0 ((uint8_t)0x00)
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#define CAN_TXMAILBOX_1 ((uint8_t)0x01)
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#define CAN_TXMAILBOX_2 ((uint8_t)0x02)
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#define CAN_MODE_MASK ((uint32_t) 0x00000003)
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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/* Private function prototypes -----------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
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static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit);
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/** @defgroup CAN_Private_Functions
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* @{
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*/
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/** @defgroup CAN_Group1 Initialization and Configuration functions
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* @brief Initialization and Configuration functions
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*
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@verbatim
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===============================================================================
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##### Initialization and Configuration functions #####
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===============================================================================
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[..] This section provides functions allowing to
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(+) Initialize the CAN peripherals : Prescaler, operating mode, the maximum
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number of time quanta to perform resynchronization, the number of time
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quanta in Bit Segment 1 and 2 and many other modes.
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Refer to @ref CAN_InitTypeDef for more details.
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(+) Configures the CAN reception filter.
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(+) Select the start bank filter for slave CAN.
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(+) Enables or disables the Debug Freeze mode for CAN
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(+)Enables or disables the CAN Time Trigger Operation communication mode
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@endverbatim
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* @{
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*/
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/**
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* @brief Deinitializes the CAN peripheral registers to their default reset values.
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* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
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* @retval None.
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*/
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void CAN_DeInit(CAN_TypeDef* CANx)
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{
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/* Check the parameters */
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assert_param(IS_CAN_ALL_PERIPH(CANx));
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if (CANx == CAN1)
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{
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/* Enable CAN1 reset state */
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RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, ENABLE);
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/* Release CAN1 from reset state */
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RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, DISABLE);
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}
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else
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{
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/* Enable CAN2 reset state */
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RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, ENABLE);
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/* Release CAN2 from reset state */
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RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, DISABLE);
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}
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}
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/**
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* @brief Initializes the CAN peripheral according to the specified
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* parameters in the CAN_InitStruct.
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* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
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* @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure that contains
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* the configuration information for the CAN peripheral.
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* @retval Constant indicates initialization succeed which will be
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* CAN_InitStatus_Failed or CAN_InitStatus_Success.
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*/
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uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
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{
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uint8_t InitStatus = CAN_InitStatus_Failed;
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uint32_t wait_ack = 0x00000000;
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/* Check the parameters */
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assert_param(IS_CAN_ALL_PERIPH(CANx));
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assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
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assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
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assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
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assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
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assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
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assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
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assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
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assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
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assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
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assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
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assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
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/* Exit from sleep mode */
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CANx->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
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/* Request initialisation */
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CANx->MCR |= CAN_MCR_INRQ ;
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/* Wait the acknowledge */
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while (((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
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{
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wait_ack++;
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}
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/* Check acknowledge */
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if ((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
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{
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InitStatus = CAN_InitStatus_Failed;
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}
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else
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{
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/* Set the time triggered communication mode */
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if (CAN_InitStruct->CAN_TTCM == ENABLE)
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{
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CANx->MCR |= CAN_MCR_TTCM;
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}
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else
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{
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CANx->MCR &= ~(uint32_t)CAN_MCR_TTCM;
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}
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/* Set the automatic bus-off management */
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if (CAN_InitStruct->CAN_ABOM == ENABLE)
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{
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CANx->MCR |= CAN_MCR_ABOM;
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}
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else
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{
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CANx->MCR &= ~(uint32_t)CAN_MCR_ABOM;
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}
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/* Set the automatic wake-up mode */
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if (CAN_InitStruct->CAN_AWUM == ENABLE)
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{
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CANx->MCR |= CAN_MCR_AWUM;
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}
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else
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{
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CANx->MCR &= ~(uint32_t)CAN_MCR_AWUM;
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}
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/* Set the no automatic retransmission */
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if (CAN_InitStruct->CAN_NART == ENABLE)
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{
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CANx->MCR |= CAN_MCR_NART;
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}
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else
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{
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CANx->MCR &= ~(uint32_t)CAN_MCR_NART;
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}
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/* Set the receive FIFO locked mode */
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if (CAN_InitStruct->CAN_RFLM == ENABLE)
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{
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CANx->MCR |= CAN_MCR_RFLM;
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}
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else
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{
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CANx->MCR &= ~(uint32_t)CAN_MCR_RFLM;
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}
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/* Set the transmit FIFO priority */
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if (CAN_InitStruct->CAN_TXFP == ENABLE)
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{
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CANx->MCR |= CAN_MCR_TXFP;
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}
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else
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{
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CANx->MCR &= ~(uint32_t)CAN_MCR_TXFP;
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}
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/* Set the bit timing register */
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CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | \
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((uint32_t)CAN_InitStruct->CAN_SJW << 24) | \
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((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | \
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((uint32_t)CAN_InitStruct->CAN_BS2 << 20) | \
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((uint32_t)CAN_InitStruct->CAN_Prescaler - 1);
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/* Request leave initialisation */
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CANx->MCR &= ~(uint32_t)CAN_MCR_INRQ;
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/* Wait the acknowledge */
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wait_ack = 0;
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while (((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
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{
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wait_ack++;
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}
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/* ...and check acknowledged */
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if ((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
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{
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InitStatus = CAN_InitStatus_Failed;
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}
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else
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{
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InitStatus = CAN_InitStatus_Success ;
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}
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}
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/* At this step, return the status of initialization */
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return InitStatus;
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}
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/**
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* @brief Configures the CAN reception filter according to the specified
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* parameters in the CAN_FilterInitStruct.
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* @param CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef structure that
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* contains the configuration information.
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* @retval None
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*/
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void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
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{
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uint32_t filter_number_bit_pos = 0;
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/* Check the parameters */
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assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
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assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
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assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
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assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
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assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
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filter_number_bit_pos = ((uint32_t)1) << CAN_FilterInitStruct->CAN_FilterNumber;
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/* Initialisation mode for the filter */
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CAN1->FMR |= FMR_FINIT;
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/* Filter Deactivation */
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CAN1->FA1R &= ~(uint32_t)filter_number_bit_pos;
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/* Filter Scale */
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if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
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{
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/* 16-bit scale for the filter */
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CAN1->FS1R &= ~(uint32_t)filter_number_bit_pos;
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/* First 16-bit identifier and First 16-bit mask */
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/* Or First 16-bit identifier and Second 16-bit identifier */
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CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
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((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
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(0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow);
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/* Second 16-bit identifier and Second 16-bit mask */
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/* Or Third 16-bit identifier and Fourth 16-bit identifier */
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CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
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((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
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(0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh);
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}
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if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
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{
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/* 32-bit scale for the filter */
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CAN1->FS1R |= filter_number_bit_pos;
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/* 32-bit identifier or First 32-bit identifier */
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CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
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((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
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(0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow);
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/* 32-bit mask or Second 32-bit identifier */
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CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
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((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
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(0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow);
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}
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/* Filter Mode */
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if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
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{
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/*Id/Mask mode for the filter*/
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CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos;
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}
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else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
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{
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/*Identifier list mode for the filter*/
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CAN1->FM1R |= (uint32_t)filter_number_bit_pos;
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}
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/* Filter FIFO assignment */
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if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO0)
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{
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/* FIFO 0 assignation for the filter */
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CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos;
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}
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if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO1)
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{
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/* FIFO 1 assignation for the filter */
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CAN1->FFA1R |= (uint32_t)filter_number_bit_pos;
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}
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/* Filter activation */
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if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
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{
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CAN1->FA1R |= filter_number_bit_pos;
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}
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/* Leave the initialisation mode for the filter */
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CAN1->FMR &= ~FMR_FINIT;
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}
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/**
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* @brief Fills each CAN_InitStruct member with its default value.
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* @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure which ill be initialized.
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* @retval None
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*/
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void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
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{
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/* Reset CAN init structure parameters values */
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/* Initialize the time triggered communication mode */
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CAN_InitStruct->CAN_TTCM = DISABLE;
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/* Initialize the automatic bus-off management */
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CAN_InitStruct->CAN_ABOM = DISABLE;
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/* Initialize the automatic wake-up mode */
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CAN_InitStruct->CAN_AWUM = DISABLE;
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/* Initialize the no automatic retransmission */
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CAN_InitStruct->CAN_NART = DISABLE;
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/* Initialize the receive FIFO locked mode */
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CAN_InitStruct->CAN_RFLM = DISABLE;
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/* Initialize the transmit FIFO priority */
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CAN_InitStruct->CAN_TXFP = DISABLE;
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/* Initialize the CAN_Mode member */
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CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
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/* Initialize the CAN_SJW member */
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CAN_InitStruct->CAN_SJW = CAN_SJW_1tq;
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/* Initialize the CAN_BS1 member */
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CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
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/* Initialize the CAN_BS2 member */
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CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
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/* Initialize the CAN_Prescaler member */
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CAN_InitStruct->CAN_Prescaler = 1;
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}
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/**
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* @brief Select the start bank filter for slave CAN.
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* @param CAN_BankNumber: Select the start slave bank filter from 1..27.
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* @retval None
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*/
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void CAN_SlaveStartBank(uint8_t CAN_BankNumber)
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{
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/* Check the parameters */
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assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber));
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/* Enter Initialisation mode for the filter */
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CAN1->FMR |= FMR_FINIT;
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/* Select the start slave bank */
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CAN1->FMR &= (uint32_t)0xFFFFC0F1 ;
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CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8;
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/* Leave Initialisation mode for the filter */
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CAN1->FMR &= ~FMR_FINIT;
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}
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/**
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* @brief Enables or disables the DBG Freeze for CAN.
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* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
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* @param NewState: new state of the CAN peripheral.
|
|
* This parameter can be: ENABLE (CAN reception/transmission is frozen
|
|
* during debug. Reception FIFOs can still be accessed/controlled normally)
|
|
* or DISABLE (CAN is working during debug).
|
|
* @retval None
|
|
*/
|
|
void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_FUNCTIONAL_STATE(NewState));
|
|
|
|
if (NewState != DISABLE)
|
|
{
|
|
/* Enable Debug Freeze */
|
|
CANx->MCR |= MCR_DBF;
|
|
}
|
|
else
|
|
{
|
|
/* Disable Debug Freeze */
|
|
CANx->MCR &= ~MCR_DBF;
|
|
}
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Enables or disables the CAN Time TriggerOperation communication mode.
|
|
* @note DLC must be programmed as 8 in order Time Stamp (2 bytes) to be
|
|
* sent over the CAN bus.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param NewState: Mode new state. This parameter can be: ENABLE or DISABLE.
|
|
* When enabled, Time stamp (TIME[15:0]) value is sent in the last two
|
|
* data bytes of the 8-byte message: TIME[7:0] in data byte 6 and TIME[15:8]
|
|
* in data byte 7.
|
|
* @retval None
|
|
*/
|
|
void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_FUNCTIONAL_STATE(NewState));
|
|
if (NewState != DISABLE)
|
|
{
|
|
/* Enable the TTCM mode */
|
|
CANx->MCR |= CAN_MCR_TTCM;
|
|
|
|
/* Set TGT bits */
|
|
CANx->sTxMailBox[0].TDTR |= ((uint32_t)CAN_TDT0R_TGT);
|
|
CANx->sTxMailBox[1].TDTR |= ((uint32_t)CAN_TDT1R_TGT);
|
|
CANx->sTxMailBox[2].TDTR |= ((uint32_t)CAN_TDT2R_TGT);
|
|
}
|
|
else
|
|
{
|
|
/* Disable the TTCM mode */
|
|
CANx->MCR &= (uint32_t)(~(uint32_t)CAN_MCR_TTCM);
|
|
|
|
/* Reset TGT bits */
|
|
CANx->sTxMailBox[0].TDTR &= ((uint32_t)~CAN_TDT0R_TGT);
|
|
CANx->sTxMailBox[1].TDTR &= ((uint32_t)~CAN_TDT1R_TGT);
|
|
CANx->sTxMailBox[2].TDTR &= ((uint32_t)~CAN_TDT2R_TGT);
|
|
}
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
|
|
/** @defgroup CAN_Group2 CAN Frames Transmission functions
|
|
* @brief CAN Frames Transmission functions
|
|
*
|
|
@verbatim
|
|
===============================================================================
|
|
##### CAN Frames Transmission functions #####
|
|
===============================================================================
|
|
[..] This section provides functions allowing to
|
|
(+) Initiate and transmit a CAN frame message (if there is an empty mailbox).
|
|
(+) Check the transmission status of a CAN Frame
|
|
(+) Cancel a transmit request
|
|
|
|
@endverbatim
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* @brief Initiates and transmits a CAN frame message.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param TxMessage: pointer to a structure which contains CAN Id, CAN DLC and CAN data.
|
|
* @retval The number of the mailbox that is used for transmission or
|
|
* CAN_TxStatus_NoMailBox if there is no empty mailbox.
|
|
*/
|
|
uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage)
|
|
{
|
|
uint8_t transmit_mailbox = 0;
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
|
|
assert_param(IS_CAN_RTR(TxMessage->RTR));
|
|
assert_param(IS_CAN_DLC(TxMessage->DLC));
|
|
|
|
/* Select one empty transmit mailbox */
|
|
if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
|
|
{
|
|
transmit_mailbox = 0;
|
|
}
|
|
else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
|
|
{
|
|
transmit_mailbox = 1;
|
|
}
|
|
else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
|
|
{
|
|
transmit_mailbox = 2;
|
|
}
|
|
else
|
|
{
|
|
transmit_mailbox = CAN_TxStatus_NoMailBox;
|
|
}
|
|
|
|
if (transmit_mailbox != CAN_TxStatus_NoMailBox)
|
|
{
|
|
/* Set up the Id */
|
|
CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ;
|
|
if (TxMessage->IDE == CAN_Id_Standard)
|
|
{
|
|
assert_param(IS_CAN_STDID(TxMessage->StdId));
|
|
CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \
|
|
TxMessage->RTR);
|
|
}
|
|
else
|
|
{
|
|
assert_param(IS_CAN_EXTID(TxMessage->ExtId));
|
|
CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \
|
|
TxMessage->IDE | \
|
|
TxMessage->RTR);
|
|
}
|
|
|
|
/* Set up the DLC */
|
|
TxMessage->DLC &= (uint8_t)0x0000000F;
|
|
CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0;
|
|
CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC;
|
|
|
|
/* Set up the data field */
|
|
CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) |
|
|
((uint32_t)TxMessage->Data[2] << 16) |
|
|
((uint32_t)TxMessage->Data[1] << 8) |
|
|
((uint32_t)TxMessage->Data[0]));
|
|
CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) |
|
|
((uint32_t)TxMessage->Data[6] << 16) |
|
|
((uint32_t)TxMessage->Data[5] << 8) |
|
|
((uint32_t)TxMessage->Data[4]));
|
|
/* Request transmission */
|
|
CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ;
|
|
}
|
|
return transmit_mailbox;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks the transmission status of a CAN Frame.
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @param TransmitMailbox: the number of the mailbox that is used for transmission.
|
|
* @retval CAN_TxStatus_Ok if the CAN driver transmits the message,
|
|
* CAN_TxStatus_Failed in an other case.
|
|
*/
|
|
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox)
|
|
{
|
|
uint32_t state = 0;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
|
|
|
|
switch (TransmitMailbox)
|
|
{
|
|
case (CAN_TXMAILBOX_0):
|
|
state = CANx->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
|
|
break;
|
|
case (CAN_TXMAILBOX_1):
|
|
state = CANx->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
|
|
break;
|
|
case (CAN_TXMAILBOX_2):
|
|
state = CANx->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
|
|
break;
|
|
default:
|
|
state = CAN_TxStatus_Failed;
|
|
break;
|
|
}
|
|
switch (state)
|
|
{
|
|
/* transmit pending */
|
|
case (0x0): state = CAN_TxStatus_Pending;
|
|
break;
|
|
/* transmit failed */
|
|
case (CAN_TSR_RQCP0 | CAN_TSR_TME0): state = CAN_TxStatus_Failed;
|
|
break;
|
|
case (CAN_TSR_RQCP1 | CAN_TSR_TME1): state = CAN_TxStatus_Failed;
|
|
break;
|
|
case (CAN_TSR_RQCP2 | CAN_TSR_TME2): state = CAN_TxStatus_Failed;
|
|
break;
|
|
/* transmit succeeded */
|
|
case (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0):state = CAN_TxStatus_Ok;
|
|
break;
|
|
case (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1):state = CAN_TxStatus_Ok;
|
|
break;
|
|
case (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2):state = CAN_TxStatus_Ok;
|
|
break;
|
|
default: state = CAN_TxStatus_Failed;
|
|
break;
|
|
}
|
|
return (uint8_t) state;
|
|
}
|
|
|
|
/**
|
|
* @brief Cancels a transmit request.
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @param Mailbox: Mailbox number.
|
|
* @retval None
|
|
*/
|
|
void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox));
|
|
/* abort transmission */
|
|
switch (Mailbox)
|
|
{
|
|
case (CAN_TXMAILBOX_0): CANx->TSR |= CAN_TSR_ABRQ0;
|
|
break;
|
|
case (CAN_TXMAILBOX_1): CANx->TSR |= CAN_TSR_ABRQ1;
|
|
break;
|
|
case (CAN_TXMAILBOX_2): CANx->TSR |= CAN_TSR_ABRQ2;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
|
|
/** @defgroup CAN_Group3 CAN Frames Reception functions
|
|
* @brief CAN Frames Reception functions
|
|
*
|
|
@verbatim
|
|
===============================================================================
|
|
##### CAN Frames Reception functions #####
|
|
===============================================================================
|
|
[..] This section provides functions allowing to
|
|
(+) Receive a correct CAN frame
|
|
(+) Release a specified receive FIFO (2 FIFOs are available)
|
|
(+) Return the number of the pending received CAN frames
|
|
|
|
@endverbatim
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* @brief Receives a correct CAN frame.
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
|
|
* @param RxMessage: pointer to a structure receive frame which contains CAN Id,
|
|
* CAN DLC, CAN data and FMI number.
|
|
* @retval None
|
|
*/
|
|
void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_FIFO(FIFONumber));
|
|
/* Get the Id */
|
|
RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONumber].RIR;
|
|
if (RxMessage->IDE == CAN_Id_Standard)
|
|
{
|
|
RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 21);
|
|
}
|
|
else
|
|
{
|
|
RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 3);
|
|
}
|
|
|
|
RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONumber].RIR;
|
|
/* Get the DLC */
|
|
RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONumber].RDTR;
|
|
/* Get the FMI */
|
|
RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDTR >> 8);
|
|
/* Get the data field */
|
|
RxMessage->Data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDLR;
|
|
RxMessage->Data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 8);
|
|
RxMessage->Data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 16);
|
|
RxMessage->Data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 24);
|
|
RxMessage->Data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDHR;
|
|
RxMessage->Data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 8);
|
|
RxMessage->Data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 16);
|
|
RxMessage->Data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 24);
|
|
/* Release the FIFO */
|
|
/* Release FIFO0 */
|
|
if (FIFONumber == CAN_FIFO0)
|
|
{
|
|
CANx->RF0R |= CAN_RF0R_RFOM0;
|
|
}
|
|
/* Release FIFO1 */
|
|
else /* FIFONumber == CAN_FIFO1 */
|
|
{
|
|
CANx->RF1R |= CAN_RF1R_RFOM1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Releases the specified receive FIFO.
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @param FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
|
|
* @retval None
|
|
*/
|
|
void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_FIFO(FIFONumber));
|
|
/* Release FIFO0 */
|
|
if (FIFONumber == CAN_FIFO0)
|
|
{
|
|
CANx->RF0R |= CAN_RF0R_RFOM0;
|
|
}
|
|
/* Release FIFO1 */
|
|
else /* FIFONumber == CAN_FIFO1 */
|
|
{
|
|
CANx->RF1R |= CAN_RF1R_RFOM1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Returns the number of pending received messages.
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
|
|
* @retval NbMessage : which is the number of pending message.
|
|
*/
|
|
uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber)
|
|
{
|
|
uint8_t message_pending=0;
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_FIFO(FIFONumber));
|
|
if (FIFONumber == CAN_FIFO0)
|
|
{
|
|
message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03);
|
|
}
|
|
else if (FIFONumber == CAN_FIFO1)
|
|
{
|
|
message_pending = (uint8_t)(CANx->RF1R&(uint32_t)0x03);
|
|
}
|
|
else
|
|
{
|
|
message_pending = 0;
|
|
}
|
|
return message_pending;
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
|
|
/** @defgroup CAN_Group4 CAN Operation modes functions
|
|
* @brief CAN Operation modes functions
|
|
*
|
|
@verbatim
|
|
===============================================================================
|
|
##### CAN Operation modes functions #####
|
|
===============================================================================
|
|
[..] This section provides functions allowing to select the CAN Operation modes
|
|
(+) sleep mode
|
|
(+) normal mode
|
|
(+) initialization mode
|
|
|
|
@endverbatim
|
|
* @{
|
|
*/
|
|
|
|
|
|
/**
|
|
* @brief Selects the CAN Operation mode.
|
|
* @param CAN_OperatingMode: CAN Operating Mode.
|
|
* This parameter can be one of @ref CAN_OperatingMode_TypeDef enumeration.
|
|
* @retval status of the requested mode which can be
|
|
* - CAN_ModeStatus_Failed: CAN failed entering the specific mode
|
|
* - CAN_ModeStatus_Success: CAN Succeed entering the specific mode
|
|
*/
|
|
uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode)
|
|
{
|
|
uint8_t status = CAN_ModeStatus_Failed;
|
|
|
|
/* Timeout for INAK or also for SLAK bits*/
|
|
uint32_t timeout = INAK_TIMEOUT;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_OPERATING_MODE(CAN_OperatingMode));
|
|
|
|
if (CAN_OperatingMode == CAN_OperatingMode_Initialization)
|
|
{
|
|
/* Request initialisation */
|
|
CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_SLEEP)) | CAN_MCR_INRQ);
|
|
|
|
/* Wait the acknowledge */
|
|
while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) && (timeout != 0))
|
|
{
|
|
timeout--;
|
|
}
|
|
if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK)
|
|
{
|
|
status = CAN_ModeStatus_Failed;
|
|
}
|
|
else
|
|
{
|
|
status = CAN_ModeStatus_Success;
|
|
}
|
|
}
|
|
else if (CAN_OperatingMode == CAN_OperatingMode_Normal)
|
|
{
|
|
/* Request leave initialisation and sleep mode and enter Normal mode */
|
|
CANx->MCR &= (uint32_t)(~(CAN_MCR_SLEEP|CAN_MCR_INRQ));
|
|
|
|
/* Wait the acknowledge */
|
|
while (((CANx->MSR & CAN_MODE_MASK) != 0) && (timeout!=0))
|
|
{
|
|
timeout--;
|
|
}
|
|
if ((CANx->MSR & CAN_MODE_MASK) != 0)
|
|
{
|
|
status = CAN_ModeStatus_Failed;
|
|
}
|
|
else
|
|
{
|
|
status = CAN_ModeStatus_Success;
|
|
}
|
|
}
|
|
else if (CAN_OperatingMode == CAN_OperatingMode_Sleep)
|
|
{
|
|
/* Request Sleep mode */
|
|
CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
|
|
|
|
/* Wait the acknowledge */
|
|
while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) && (timeout!=0))
|
|
{
|
|
timeout--;
|
|
}
|
|
if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK)
|
|
{
|
|
status = CAN_ModeStatus_Failed;
|
|
}
|
|
else
|
|
{
|
|
status = CAN_ModeStatus_Success;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
status = CAN_ModeStatus_Failed;
|
|
}
|
|
|
|
return (uint8_t) status;
|
|
}
|
|
|
|
/**
|
|
* @brief Enters the Sleep (low power) mode.
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @retval CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed otherwise.
|
|
*/
|
|
uint8_t CAN_Sleep(CAN_TypeDef* CANx)
|
|
{
|
|
uint8_t sleepstatus = CAN_Sleep_Failed;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
|
|
/* Request Sleep mode */
|
|
CANx->MCR = (((CANx->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
|
|
|
|
/* Sleep mode status */
|
|
if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK)
|
|
{
|
|
/* Sleep mode not entered */
|
|
sleepstatus = CAN_Sleep_Ok;
|
|
}
|
|
/* return sleep mode status */
|
|
return (uint8_t)sleepstatus;
|
|
}
|
|
|
|
/**
|
|
* @brief Wakes up the CAN peripheral from sleep mode .
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @retval CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed otherwise.
|
|
*/
|
|
uint8_t CAN_WakeUp(CAN_TypeDef* CANx)
|
|
{
|
|
uint32_t wait_slak = SLAK_TIMEOUT;
|
|
uint8_t wakeupstatus = CAN_WakeUp_Failed;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
|
|
/* Wake up request */
|
|
CANx->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
|
|
|
|
/* Sleep mode status */
|
|
while(((CANx->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)&&(wait_slak!=0x00))
|
|
{
|
|
wait_slak--;
|
|
}
|
|
if((CANx->MSR & CAN_MSR_SLAK) != CAN_MSR_SLAK)
|
|
{
|
|
/* wake up done : Sleep mode exited */
|
|
wakeupstatus = CAN_WakeUp_Ok;
|
|
}
|
|
/* return wakeup status */
|
|
return (uint8_t)wakeupstatus;
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
|
|
/** @defgroup CAN_Group5 CAN Bus Error management functions
|
|
* @brief CAN Bus Error management functions
|
|
*
|
|
@verbatim
|
|
===============================================================================
|
|
##### CAN Bus Error management functions #####
|
|
===============================================================================
|
|
[..] This section provides functions allowing to
|
|
(+) Return the CANx's last error code (LEC)
|
|
(+) Return the CANx Receive Error Counter (REC)
|
|
(+) Return the LSB of the 9-bit CANx Transmit Error Counter(TEC).
|
|
|
|
-@- If TEC is greater than 255, The CAN is in bus-off state.
|
|
-@- if REC or TEC are greater than 96, an Error warning flag occurs.
|
|
-@- if REC or TEC are greater than 127, an Error Passive Flag occurs.
|
|
|
|
@endverbatim
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* @brief Returns the CANx's last error code (LEC).
|
|
* @param CANx: where x can be 1 or 2 to select the CAN peripheral.
|
|
* @retval Error code:
|
|
* - CAN_ERRORCODE_NoErr: No Error
|
|
* - CAN_ERRORCODE_StuffErr: Stuff Error
|
|
* - CAN_ERRORCODE_FormErr: Form Error
|
|
* - CAN_ERRORCODE_ACKErr : Acknowledgment Error
|
|
* - CAN_ERRORCODE_BitRecessiveErr: Bit Recessive Error
|
|
* - CAN_ERRORCODE_BitDominantErr: Bit Dominant Error
|
|
* - CAN_ERRORCODE_CRCErr: CRC Error
|
|
* - CAN_ERRORCODE_SoftwareSetErr: Software Set Error
|
|
*/
|
|
uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx)
|
|
{
|
|
uint8_t errorcode=0;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
|
|
/* Get the error code*/
|
|
errorcode = (((uint8_t)CANx->ESR) & (uint8_t)CAN_ESR_LEC);
|
|
|
|
/* Return the error code*/
|
|
return errorcode;
|
|
}
|
|
|
|
/**
|
|
* @brief Returns the CANx Receive Error Counter (REC).
|
|
* @note In case of an error during reception, this counter is incremented
|
|
* by 1 or by 8 depending on the error condition as defined by the CAN
|
|
* standard. After every successful reception, the counter is
|
|
* decremented by 1 or reset to 120 if its value was higher than 128.
|
|
* When the counter value exceeds 127, the CAN controller enters the
|
|
* error passive state.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @retval CAN Receive Error Counter.
|
|
*/
|
|
uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx)
|
|
{
|
|
uint8_t counter=0;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
|
|
/* Get the Receive Error Counter*/
|
|
counter = (uint8_t)((CANx->ESR & CAN_ESR_REC)>> 24);
|
|
|
|
/* Return the Receive Error Counter*/
|
|
return counter;
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC).
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @retval LSB of the 9-bit CAN Transmit Error Counter.
|
|
*/
|
|
uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx)
|
|
{
|
|
uint8_t counter=0;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
|
|
/* Get the LSB of the 9-bit CANx Transmit Error Counter(TEC) */
|
|
counter = (uint8_t)((CANx->ESR & CAN_ESR_TEC)>> 16);
|
|
|
|
/* Return the LSB of the 9-bit CANx Transmit Error Counter(TEC) */
|
|
return counter;
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @defgroup CAN_Group6 Interrupts and flags management functions
|
|
* @brief Interrupts and flags management functions
|
|
*
|
|
@verbatim
|
|
===============================================================================
|
|
##### Interrupts and flags management functions #####
|
|
===============================================================================
|
|
|
|
[..] This section provides functions allowing to configure the CAN Interrupts
|
|
and to get the status and clear flags and Interrupts pending bits.
|
|
|
|
The CAN provides 14 Interrupts sources and 15 Flags:
|
|
|
|
|
|
*** Flags ***
|
|
=============
|
|
[..] The 15 flags can be divided on 4 groups:
|
|
|
|
(+) Transmit Flags
|
|
(++) CAN_FLAG_RQCP0,
|
|
(++) CAN_FLAG_RQCP1,
|
|
(++) CAN_FLAG_RQCP2 : Request completed MailBoxes 0, 1 and 2 Flags
|
|
Set when when the last request (transmit or abort)
|
|
has been performed.
|
|
|
|
(+) Receive Flags
|
|
|
|
|
|
(++) CAN_FLAG_FMP0,
|
|
(++) CAN_FLAG_FMP1 : FIFO 0 and 1 Message Pending Flags
|
|
set to signal that messages are pending in the receive
|
|
FIFO.
|
|
These Flags are cleared only by hardware.
|
|
|
|
(++) CAN_FLAG_FF0,
|
|
(++) CAN_FLAG_FF1 : FIFO 0 and 1 Full Flags
|
|
set when three messages are stored in the selected
|
|
FIFO.
|
|
|
|
(++) CAN_FLAG_FOV0
|
|
(++) CAN_FLAG_FOV1 : FIFO 0 and 1 Overrun Flags
|
|
set when a new message has been received and passed
|
|
the filter while the FIFO was full.
|
|
|
|
(+) Operating Mode Flags
|
|
|
|
(++) CAN_FLAG_WKU : Wake up Flag
|
|
set to signal that a SOF bit has been detected while
|
|
the CAN hardware was in Sleep mode.
|
|
|
|
(++) CAN_FLAG_SLAK : Sleep acknowledge Flag
|
|
Set to signal that the CAN has entered Sleep Mode.
|
|
|
|
(+) Error Flags
|
|
|
|
(++) CAN_FLAG_EWG : Error Warning Flag
|
|
Set when the warning limit has been reached (Receive
|
|
Error Counter or Transmit Error Counter greater than 96).
|
|
This Flag is cleared only by hardware.
|
|
|
|
(++) CAN_FLAG_EPV : Error Passive Flag
|
|
Set when the Error Passive limit has been reached
|
|
(Receive Error Counter or Transmit Error Counter
|
|
greater than 127).
|
|
This Flag is cleared only by hardware.
|
|
|
|
(++) CAN_FLAG_BOF : Bus-Off Flag
|
|
set when CAN enters the bus-off state. The bus-off
|
|
state is entered on TEC overflow, greater than 255.
|
|
This Flag is cleared only by hardware.
|
|
|
|
(++) CAN_FLAG_LEC : Last error code Flag
|
|
set If a message has been transferred (reception or
|
|
transmission) with error, and the error code is hold.
|
|
|
|
*** Interrupts ***
|
|
==================
|
|
[..] The 14 interrupts can be divided on 4 groups:
|
|
|
|
(+) Transmit interrupt
|
|
|
|
(++) CAN_IT_TME : Transmit mailbox empty Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
no transmit request are pending for Tx mailboxes.
|
|
|
|
(+) Receive Interrupts
|
|
|
|
(++) CAN_IT_FMP0,
|
|
(++) CAN_IT_FMP1 : FIFO 0 and FIFO1 message pending Interrupts
|
|
if enabled, these interrupt sources are pending
|
|
when messages are pending in the receive FIFO.
|
|
The corresponding interrupt pending bits are cleared
|
|
only by hardware.
|
|
|
|
(++) CAN_IT_FF0,
|
|
(++) CAN_IT_FF1 : FIFO 0 and FIFO1 full Interrupts
|
|
if enabled, these interrupt sources are pending
|
|
when three messages are stored in the selected FIFO.
|
|
|
|
(++) CAN_IT_FOV0,
|
|
(++) CAN_IT_FOV1 : FIFO 0 and FIFO1 overrun Interrupts
|
|
if enabled, these interrupt sources are pending
|
|
when a new message has been received and passed
|
|
the filter while the FIFO was full.
|
|
|
|
(+) Operating Mode Interrupts
|
|
|
|
(++) CAN_IT_WKU : Wake-up Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
a SOF bit has been detected while the CAN hardware
|
|
was in Sleep mode.
|
|
|
|
(++) CAN_IT_SLK : Sleep acknowledge Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
the CAN has entered Sleep Mode.
|
|
|
|
(+) Error Interrupts
|
|
|
|
(++) CAN_IT_EWG : Error warning Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
the warning limit has been reached (Receive Error
|
|
Counter or Transmit Error Counter=96).
|
|
|
|
(++) CAN_IT_EPV : Error passive Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
the Error Passive limit has been reached (Receive
|
|
Error Counter or Transmit Error Counter>127).
|
|
|
|
(++) CAN_IT_BOF : Bus-off Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
CAN enters the bus-off state. The bus-off state is
|
|
entered on TEC overflow, greater than 255.
|
|
This Flag is cleared only by hardware.
|
|
|
|
(++) CAN_IT_LEC : Last error code Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
a message has been transferred (reception or
|
|
transmission) with error, and the error code is hold.
|
|
|
|
(++) CAN_IT_ERR : Error Interrupt
|
|
if enabled, this interrupt source is pending when
|
|
an error condition is pending.
|
|
|
|
[..] Managing the CAN controller events :
|
|
|
|
The user should identify which mode will be used in his application to
|
|
manage the CAN controller events: Polling mode or Interrupt mode.
|
|
|
|
(#) In the Polling Mode it is advised to use the following functions:
|
|
(++) CAN_GetFlagStatus() : to check if flags events occur.
|
|
(++) CAN_ClearFlag() : to clear the flags events.
|
|
|
|
|
|
|
|
(#) In the Interrupt Mode it is advised to use the following functions:
|
|
(++) CAN_ITConfig() : to enable or disable the interrupt source.
|
|
(++) CAN_GetITStatus() : to check if Interrupt occurs.
|
|
(++) CAN_ClearITPendingBit() : to clear the Interrupt pending Bit
|
|
(corresponding Flag).
|
|
-@@- This function has no impact on CAN_IT_FMP0 and CAN_IT_FMP1 Interrupts
|
|
pending bits since there are cleared only by hardware.
|
|
|
|
@endverbatim
|
|
* @{
|
|
*/
|
|
/**
|
|
* @brief Enables or disables the specified CANx interrupts.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param CAN_IT: specifies the CAN interrupt sources to be enabled or disabled.
|
|
* This parameter can be:
|
|
* @arg CAN_IT_TME: Transmit mailbox empty Interrupt
|
|
* @arg CAN_IT_FMP0: FIFO 0 message pending Interrupt
|
|
* @arg CAN_IT_FF0: FIFO 0 full Interrupt
|
|
* @arg CAN_IT_FOV0: FIFO 0 overrun Interrupt
|
|
* @arg CAN_IT_FMP1: FIFO 1 message pending Interrupt
|
|
* @arg CAN_IT_FF1: FIFO 1 full Interrupt
|
|
* @arg CAN_IT_FOV1: FIFO 1 overrun Interrupt
|
|
* @arg CAN_IT_WKU: Wake-up Interrupt
|
|
* @arg CAN_IT_SLK: Sleep acknowledge Interrupt
|
|
* @arg CAN_IT_EWG: Error warning Interrupt
|
|
* @arg CAN_IT_EPV: Error passive Interrupt
|
|
* @arg CAN_IT_BOF: Bus-off Interrupt
|
|
* @arg CAN_IT_LEC: Last error code Interrupt
|
|
* @arg CAN_IT_ERR: Error Interrupt
|
|
* @param NewState: new state of the CAN interrupts.
|
|
* This parameter can be: ENABLE or DISABLE.
|
|
* @retval None
|
|
*/
|
|
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_IT(CAN_IT));
|
|
assert_param(IS_FUNCTIONAL_STATE(NewState));
|
|
|
|
if (NewState != DISABLE)
|
|
{
|
|
/* Enable the selected CANx interrupt */
|
|
CANx->IER |= CAN_IT;
|
|
}
|
|
else
|
|
{
|
|
/* Disable the selected CANx interrupt */
|
|
CANx->IER &= ~CAN_IT;
|
|
}
|
|
}
|
|
/**
|
|
* @brief Checks whether the specified CAN flag is set or not.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param CAN_FLAG: specifies the flag to check.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_FLAG_RQCP0: Request MailBox0 Flag
|
|
* @arg CAN_FLAG_RQCP1: Request MailBox1 Flag
|
|
* @arg CAN_FLAG_RQCP2: Request MailBox2 Flag
|
|
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
|
|
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag
|
|
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
|
|
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
|
|
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag
|
|
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
|
|
* @arg CAN_FLAG_WKU: Wake up Flag
|
|
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
|
|
* @arg CAN_FLAG_EWG: Error Warning Flag
|
|
* @arg CAN_FLAG_EPV: Error Passive Flag
|
|
* @arg CAN_FLAG_BOF: Bus-Off Flag
|
|
* @arg CAN_FLAG_LEC: Last error code Flag
|
|
* @retval The new state of CAN_FLAG (SET or RESET).
|
|
*/
|
|
FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG)
|
|
{
|
|
FlagStatus bitstatus = RESET;
|
|
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_GET_FLAG(CAN_FLAG));
|
|
|
|
|
|
if((CAN_FLAG & CAN_FLAGS_ESR) != (uint32_t)RESET)
|
|
{
|
|
/* Check the status of the specified CAN flag */
|
|
if ((CANx->ESR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
|
|
{
|
|
/* CAN_FLAG is set */
|
|
bitstatus = SET;
|
|
}
|
|
else
|
|
{
|
|
/* CAN_FLAG is reset */
|
|
bitstatus = RESET;
|
|
}
|
|
}
|
|
else if((CAN_FLAG & CAN_FLAGS_MSR) != (uint32_t)RESET)
|
|
{
|
|
/* Check the status of the specified CAN flag */
|
|
if ((CANx->MSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
|
|
{
|
|
/* CAN_FLAG is set */
|
|
bitstatus = SET;
|
|
}
|
|
else
|
|
{
|
|
/* CAN_FLAG is reset */
|
|
bitstatus = RESET;
|
|
}
|
|
}
|
|
else if((CAN_FLAG & CAN_FLAGS_TSR) != (uint32_t)RESET)
|
|
{
|
|
/* Check the status of the specified CAN flag */
|
|
if ((CANx->TSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
|
|
{
|
|
/* CAN_FLAG is set */
|
|
bitstatus = SET;
|
|
}
|
|
else
|
|
{
|
|
/* CAN_FLAG is reset */
|
|
bitstatus = RESET;
|
|
}
|
|
}
|
|
else if((CAN_FLAG & CAN_FLAGS_RF0R) != (uint32_t)RESET)
|
|
{
|
|
/* Check the status of the specified CAN flag */
|
|
if ((CANx->RF0R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
|
|
{
|
|
/* CAN_FLAG is set */
|
|
bitstatus = SET;
|
|
}
|
|
else
|
|
{
|
|
/* CAN_FLAG is reset */
|
|
bitstatus = RESET;
|
|
}
|
|
}
|
|
else /* If(CAN_FLAG & CAN_FLAGS_RF1R != (uint32_t)RESET) */
|
|
{
|
|
/* Check the status of the specified CAN flag */
|
|
if ((uint32_t)(CANx->RF1R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET)
|
|
{
|
|
/* CAN_FLAG is set */
|
|
bitstatus = SET;
|
|
}
|
|
else
|
|
{
|
|
/* CAN_FLAG is reset */
|
|
bitstatus = RESET;
|
|
}
|
|
}
|
|
/* Return the CAN_FLAG status */
|
|
return bitstatus;
|
|
}
|
|
|
|
/**
|
|
* @brief Clears the CAN's pending flags.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param CAN_FLAG: specifies the flag to clear.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_FLAG_RQCP0: Request MailBox0 Flag
|
|
* @arg CAN_FLAG_RQCP1: Request MailBox1 Flag
|
|
* @arg CAN_FLAG_RQCP2: Request MailBox2 Flag
|
|
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag
|
|
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
|
|
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag
|
|
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
|
|
* @arg CAN_FLAG_WKU: Wake up Flag
|
|
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
|
|
* @arg CAN_FLAG_LEC: Last error code Flag
|
|
* @retval None
|
|
*/
|
|
void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG)
|
|
{
|
|
uint32_t flagtmp=0;
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_CLEAR_FLAG(CAN_FLAG));
|
|
|
|
if (CAN_FLAG == CAN_FLAG_LEC) /* ESR register */
|
|
{
|
|
/* Clear the selected CAN flags */
|
|
CANx->ESR = (uint32_t)RESET;
|
|
}
|
|
else /* MSR or TSR or RF0R or RF1R */
|
|
{
|
|
flagtmp = CAN_FLAG & 0x000FFFFF;
|
|
|
|
if ((CAN_FLAG & CAN_FLAGS_RF0R)!=(uint32_t)RESET)
|
|
{
|
|
/* Receive Flags */
|
|
CANx->RF0R = (uint32_t)(flagtmp);
|
|
}
|
|
else if ((CAN_FLAG & CAN_FLAGS_RF1R)!=(uint32_t)RESET)
|
|
{
|
|
/* Receive Flags */
|
|
CANx->RF1R = (uint32_t)(flagtmp);
|
|
}
|
|
else if ((CAN_FLAG & CAN_FLAGS_TSR)!=(uint32_t)RESET)
|
|
{
|
|
/* Transmit Flags */
|
|
CANx->TSR = (uint32_t)(flagtmp);
|
|
}
|
|
else /* If((CAN_FLAG & CAN_FLAGS_MSR)!=(uint32_t)RESET) */
|
|
{
|
|
/* Operating mode Flags */
|
|
CANx->MSR = (uint32_t)(flagtmp);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Checks whether the specified CANx interrupt has occurred or not.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param CAN_IT: specifies the CAN interrupt source to check.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_IT_TME: Transmit mailbox empty Interrupt
|
|
* @arg CAN_IT_FMP0: FIFO 0 message pending Interrupt
|
|
* @arg CAN_IT_FF0: FIFO 0 full Interrupt
|
|
* @arg CAN_IT_FOV0: FIFO 0 overrun Interrupt
|
|
* @arg CAN_IT_FMP1: FIFO 1 message pending Interrupt
|
|
* @arg CAN_IT_FF1: FIFO 1 full Interrupt
|
|
* @arg CAN_IT_FOV1: FIFO 1 overrun Interrupt
|
|
* @arg CAN_IT_WKU: Wake-up Interrupt
|
|
* @arg CAN_IT_SLK: Sleep acknowledge Interrupt
|
|
* @arg CAN_IT_EWG: Error warning Interrupt
|
|
* @arg CAN_IT_EPV: Error passive Interrupt
|
|
* @arg CAN_IT_BOF: Bus-off Interrupt
|
|
* @arg CAN_IT_LEC: Last error code Interrupt
|
|
* @arg CAN_IT_ERR: Error Interrupt
|
|
* @retval The current state of CAN_IT (SET or RESET).
|
|
*/
|
|
ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT)
|
|
{
|
|
ITStatus itstatus = RESET;
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_IT(CAN_IT));
|
|
|
|
/* check the interrupt enable bit */
|
|
if((CANx->IER & CAN_IT) != RESET)
|
|
{
|
|
/* in case the Interrupt is enabled, .... */
|
|
switch (CAN_IT)
|
|
{
|
|
case CAN_IT_TME:
|
|
/* Check CAN_TSR_RQCPx bits */
|
|
itstatus = CheckITStatus(CANx->TSR, CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2);
|
|
break;
|
|
case CAN_IT_FMP0:
|
|
/* Check CAN_RF0R_FMP0 bit */
|
|
itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FMP0);
|
|
break;
|
|
case CAN_IT_FF0:
|
|
/* Check CAN_RF0R_FULL0 bit */
|
|
itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FULL0);
|
|
break;
|
|
case CAN_IT_FOV0:
|
|
/* Check CAN_RF0R_FOVR0 bit */
|
|
itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FOVR0);
|
|
break;
|
|
case CAN_IT_FMP1:
|
|
/* Check CAN_RF1R_FMP1 bit */
|
|
itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FMP1);
|
|
break;
|
|
case CAN_IT_FF1:
|
|
/* Check CAN_RF1R_FULL1 bit */
|
|
itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FULL1);
|
|
break;
|
|
case CAN_IT_FOV1:
|
|
/* Check CAN_RF1R_FOVR1 bit */
|
|
itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FOVR1);
|
|
break;
|
|
case CAN_IT_WKU:
|
|
/* Check CAN_MSR_WKUI bit */
|
|
itstatus = CheckITStatus(CANx->MSR, CAN_MSR_WKUI);
|
|
break;
|
|
case CAN_IT_SLK:
|
|
/* Check CAN_MSR_SLAKI bit */
|
|
itstatus = CheckITStatus(CANx->MSR, CAN_MSR_SLAKI);
|
|
break;
|
|
case CAN_IT_EWG:
|
|
/* Check CAN_ESR_EWGF bit */
|
|
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EWGF);
|
|
break;
|
|
case CAN_IT_EPV:
|
|
/* Check CAN_ESR_EPVF bit */
|
|
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EPVF);
|
|
break;
|
|
case CAN_IT_BOF:
|
|
/* Check CAN_ESR_BOFF bit */
|
|
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_BOFF);
|
|
break;
|
|
case CAN_IT_LEC:
|
|
/* Check CAN_ESR_LEC bit */
|
|
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_LEC);
|
|
break;
|
|
case CAN_IT_ERR:
|
|
/* Check CAN_MSR_ERRI bit */
|
|
itstatus = CheckITStatus(CANx->MSR, CAN_MSR_ERRI);
|
|
break;
|
|
default:
|
|
/* in case of error, return RESET */
|
|
itstatus = RESET;
|
|
break;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* in case the Interrupt is not enabled, return RESET */
|
|
itstatus = RESET;
|
|
}
|
|
|
|
/* Return the CAN_IT status */
|
|
return itstatus;
|
|
}
|
|
|
|
/**
|
|
* @brief Clears the CANx's interrupt pending bits.
|
|
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
|
* @param CAN_IT: specifies the interrupt pending bit to clear.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_IT_TME: Transmit mailbox empty Interrupt
|
|
* @arg CAN_IT_FF0: FIFO 0 full Interrupt
|
|
* @arg CAN_IT_FOV0: FIFO 0 overrun Interrupt
|
|
* @arg CAN_IT_FF1: FIFO 1 full Interrupt
|
|
* @arg CAN_IT_FOV1: FIFO 1 overrun Interrupt
|
|
* @arg CAN_IT_WKU: Wake-up Interrupt
|
|
* @arg CAN_IT_SLK: Sleep acknowledge Interrupt
|
|
* @arg CAN_IT_EWG: Error warning Interrupt
|
|
* @arg CAN_IT_EPV: Error passive Interrupt
|
|
* @arg CAN_IT_BOF: Bus-off Interrupt
|
|
* @arg CAN_IT_LEC: Last error code Interrupt
|
|
* @arg CAN_IT_ERR: Error Interrupt
|
|
* @retval None
|
|
*/
|
|
void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT)
|
|
{
|
|
/* Check the parameters */
|
|
assert_param(IS_CAN_ALL_PERIPH(CANx));
|
|
assert_param(IS_CAN_CLEAR_IT(CAN_IT));
|
|
|
|
switch (CAN_IT)
|
|
{
|
|
case CAN_IT_TME:
|
|
/* Clear CAN_TSR_RQCPx (rc_w1)*/
|
|
CANx->TSR = CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2;
|
|
break;
|
|
case CAN_IT_FF0:
|
|
/* Clear CAN_RF0R_FULL0 (rc_w1)*/
|
|
CANx->RF0R = CAN_RF0R_FULL0;
|
|
break;
|
|
case CAN_IT_FOV0:
|
|
/* Clear CAN_RF0R_FOVR0 (rc_w1)*/
|
|
CANx->RF0R = CAN_RF0R_FOVR0;
|
|
break;
|
|
case CAN_IT_FF1:
|
|
/* Clear CAN_RF1R_FULL1 (rc_w1)*/
|
|
CANx->RF1R = CAN_RF1R_FULL1;
|
|
break;
|
|
case CAN_IT_FOV1:
|
|
/* Clear CAN_RF1R_FOVR1 (rc_w1)*/
|
|
CANx->RF1R = CAN_RF1R_FOVR1;
|
|
break;
|
|
case CAN_IT_WKU:
|
|
/* Clear CAN_MSR_WKUI (rc_w1)*/
|
|
CANx->MSR = CAN_MSR_WKUI;
|
|
break;
|
|
case CAN_IT_SLK:
|
|
/* Clear CAN_MSR_SLAKI (rc_w1)*/
|
|
CANx->MSR = CAN_MSR_SLAKI;
|
|
break;
|
|
case CAN_IT_EWG:
|
|
/* Clear CAN_MSR_ERRI (rc_w1) */
|
|
CANx->MSR = CAN_MSR_ERRI;
|
|
/* @note the corresponding Flag is cleared by hardware depending on the CAN Bus status*/
|
|
break;
|
|
case CAN_IT_EPV:
|
|
/* Clear CAN_MSR_ERRI (rc_w1) */
|
|
CANx->MSR = CAN_MSR_ERRI;
|
|
/* @note the corresponding Flag is cleared by hardware depending on the CAN Bus status*/
|
|
break;
|
|
case CAN_IT_BOF:
|
|
/* Clear CAN_MSR_ERRI (rc_w1) */
|
|
CANx->MSR = CAN_MSR_ERRI;
|
|
/* @note the corresponding Flag is cleared by hardware depending on the CAN Bus status*/
|
|
break;
|
|
case CAN_IT_LEC:
|
|
/* Clear LEC bits */
|
|
CANx->ESR = RESET;
|
|
/* Clear CAN_MSR_ERRI (rc_w1) */
|
|
CANx->MSR = CAN_MSR_ERRI;
|
|
break;
|
|
case CAN_IT_ERR:
|
|
/*Clear LEC bits */
|
|
CANx->ESR = RESET;
|
|
/* Clear CAN_MSR_ERRI (rc_w1) */
|
|
CANx->MSR = CAN_MSR_ERRI;
|
|
/* @note BOFF, EPVF and EWGF Flags are cleared by hardware depending on the CAN Bus status*/
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @brief Checks whether the CAN interrupt has occurred or not.
|
|
* @param CAN_Reg: specifies the CAN interrupt register to check.
|
|
* @param It_Bit: specifies the interrupt source bit to check.
|
|
* @retval The new state of the CAN Interrupt (SET or RESET).
|
|
*/
|
|
static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit)
|
|
{
|
|
ITStatus pendingbitstatus = RESET;
|
|
|
|
if ((CAN_Reg & It_Bit) != (uint32_t)RESET)
|
|
{
|
|
/* CAN_IT is set */
|
|
pendingbitstatus = SET;
|
|
}
|
|
else
|
|
{
|
|
/* CAN_IT is reset */
|
|
pendingbitstatus = RESET;
|
|
}
|
|
return pendingbitstatus;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|