amiro-blt / Target / Modules / DiWheelDrive_1-1 / Boot / lib / STM32F10x_StdPeriph_Driver / src / stm32f10x_can.c @ 367c0652
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/**
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******************************************************************************
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* @file stm32f10x_can.c
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* @author MCD Application Team
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* @version V3.5.0
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* @date 11-March-2011
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* @brief This file provides all the CAN firmware functions.
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******************************************************************************
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* @attention
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*
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* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
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* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
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* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
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* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
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* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
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* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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*
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* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f10x_can.h" |
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#include "stm32f10x_rcc.h" |
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/** @addtogroup STM32F10x_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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/** @defgroup CAN_Private_TypesDefinitions
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup CAN_Private_Defines
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* @{
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*/
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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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/**
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* @}
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*/
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/** @defgroup CAN_Private_Macros
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup CAN_Private_Variables
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup CAN_Private_FunctionPrototypes
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* @{
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*/
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static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit);
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/**
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* @}
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*/
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/** @defgroup CAN_Private_Functions
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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 to select the CAN
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* peripheral.
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* @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
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* contains the configuration information for the
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* 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 Initializes the CAN peripheral 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
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* structure that contains the configuration
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* 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
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* will 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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* @note This function applies only to STM32 Connectivity line devices.
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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
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* be: ENABLE or DISABLE.
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* @retval None.
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*/
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void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState)
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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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assert_param(IS_FUNCTIONAL_STATE(NewState)); |
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if (NewState != DISABLE)
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{
|
| 459 |
/* Enable Debug Freeze */
|
| 460 |
CANx->MCR |= MCR_DBF; |
| 461 |
} |
| 462 |
else
|
| 463 |
{
|
| 464 |
/* Disable Debug Freeze */
|
| 465 |
CANx->MCR &= ~MCR_DBF; |
| 466 |
} |
| 467 |
} |
| 468 |
|
| 469 |
|
| 470 |
/**
|
| 471 |
* @brief Enables or disabes the CAN Time TriggerOperation communication mode.
|
| 472 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 473 |
* @param NewState : Mode new state , can be one of @ref FunctionalState.
|
| 474 |
* @note when enabled, Time stamp (TIME[15:0]) value is sent in the last
|
| 475 |
* two data bytes of the 8-byte message: TIME[7:0] in data byte 6
|
| 476 |
* and TIME[15:8] in data byte 7
|
| 477 |
* @note DLC must be programmed as 8 in order Time Stamp (2 bytes) to be
|
| 478 |
* sent over the CAN bus.
|
| 479 |
* @retval None
|
| 480 |
*/
|
| 481 |
void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState)
|
| 482 |
{
|
| 483 |
/* Check the parameters */
|
| 484 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 485 |
assert_param(IS_FUNCTIONAL_STATE(NewState)); |
| 486 |
if (NewState != DISABLE)
|
| 487 |
{
|
| 488 |
/* Enable the TTCM mode */
|
| 489 |
CANx->MCR |= CAN_MCR_TTCM; |
| 490 |
|
| 491 |
/* Set TGT bits */
|
| 492 |
CANx->sTxMailBox[0].TDTR |= ((uint32_t)CAN_TDT0R_TGT);
|
| 493 |
CANx->sTxMailBox[1].TDTR |= ((uint32_t)CAN_TDT1R_TGT);
|
| 494 |
CANx->sTxMailBox[2].TDTR |= ((uint32_t)CAN_TDT2R_TGT);
|
| 495 |
} |
| 496 |
else
|
| 497 |
{
|
| 498 |
/* Disable the TTCM mode */
|
| 499 |
CANx->MCR &= (uint32_t)(~(uint32_t)CAN_MCR_TTCM); |
| 500 |
|
| 501 |
/* Reset TGT bits */
|
| 502 |
CANx->sTxMailBox[0].TDTR &= ((uint32_t)~CAN_TDT0R_TGT);
|
| 503 |
CANx->sTxMailBox[1].TDTR &= ((uint32_t)~CAN_TDT1R_TGT);
|
| 504 |
CANx->sTxMailBox[2].TDTR &= ((uint32_t)~CAN_TDT2R_TGT);
|
| 505 |
} |
| 506 |
} |
| 507 |
/**
|
| 508 |
* @brief Initiates the transmission of a message.
|
| 509 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 510 |
* @param TxMessage: pointer to a structure which contains CAN Id, CAN
|
| 511 |
* DLC and CAN data.
|
| 512 |
* @retval The number of the mailbox that is used for transmission
|
| 513 |
* or CAN_TxStatus_NoMailBox if there is no empty mailbox.
|
| 514 |
*/
|
| 515 |
uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage) |
| 516 |
{
|
| 517 |
uint8_t transmit_mailbox = 0;
|
| 518 |
/* Check the parameters */
|
| 519 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 520 |
assert_param(IS_CAN_IDTYPE(TxMessage->IDE)); |
| 521 |
assert_param(IS_CAN_RTR(TxMessage->RTR)); |
| 522 |
assert_param(IS_CAN_DLC(TxMessage->DLC)); |
| 523 |
|
| 524 |
/* Select one empty transmit mailbox */
|
| 525 |
if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
|
| 526 |
{
|
| 527 |
transmit_mailbox = 0;
|
| 528 |
} |
| 529 |
else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) |
| 530 |
{
|
| 531 |
transmit_mailbox = 1;
|
| 532 |
} |
| 533 |
else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) |
| 534 |
{
|
| 535 |
transmit_mailbox = 2;
|
| 536 |
} |
| 537 |
else
|
| 538 |
{
|
| 539 |
transmit_mailbox = CAN_TxStatus_NoMailBox; |
| 540 |
} |
| 541 |
|
| 542 |
if (transmit_mailbox != CAN_TxStatus_NoMailBox)
|
| 543 |
{
|
| 544 |
/* Set up the Id */
|
| 545 |
CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ; |
| 546 |
if (TxMessage->IDE == CAN_Id_Standard)
|
| 547 |
{
|
| 548 |
assert_param(IS_CAN_STDID(TxMessage->StdId)); |
| 549 |
CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \
|
| 550 |
TxMessage->RTR); |
| 551 |
} |
| 552 |
else
|
| 553 |
{
|
| 554 |
assert_param(IS_CAN_EXTID(TxMessage->ExtId)); |
| 555 |
CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \
|
| 556 |
TxMessage->IDE | \ |
| 557 |
TxMessage->RTR); |
| 558 |
} |
| 559 |
|
| 560 |
/* Set up the DLC */
|
| 561 |
TxMessage->DLC &= (uint8_t)0x0000000F;
|
| 562 |
CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0;
|
| 563 |
CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC; |
| 564 |
|
| 565 |
/* Set up the data field */
|
| 566 |
CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) | |
| 567 |
((uint32_t)TxMessage->Data[2] << 16) | |
| 568 |
((uint32_t)TxMessage->Data[1] << 8) | |
| 569 |
((uint32_t)TxMessage->Data[0]));
|
| 570 |
CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) | |
| 571 |
((uint32_t)TxMessage->Data[6] << 16) | |
| 572 |
((uint32_t)TxMessage->Data[5] << 8) | |
| 573 |
((uint32_t)TxMessage->Data[4]));
|
| 574 |
/* Request transmission */
|
| 575 |
CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ; |
| 576 |
} |
| 577 |
return transmit_mailbox;
|
| 578 |
} |
| 579 |
|
| 580 |
/**
|
| 581 |
* @brief Checks the transmission of a message.
|
| 582 |
* @param CANx: where x can be 1 or 2 to to select the
|
| 583 |
* CAN peripheral.
|
| 584 |
* @param TransmitMailbox: the number of the mailbox that is used for
|
| 585 |
* transmission.
|
| 586 |
* @retval CAN_TxStatus_Ok if the CAN driver transmits the message, CAN_TxStatus_Failed
|
| 587 |
* in an other case.
|
| 588 |
*/
|
| 589 |
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox) |
| 590 |
{
|
| 591 |
uint32_t state = 0;
|
| 592 |
|
| 593 |
/* Check the parameters */
|
| 594 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 595 |
assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox)); |
| 596 |
|
| 597 |
switch (TransmitMailbox)
|
| 598 |
{
|
| 599 |
case (CAN_TXMAILBOX_0):
|
| 600 |
state = CANx->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); |
| 601 |
break;
|
| 602 |
case (CAN_TXMAILBOX_1):
|
| 603 |
state = CANx->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); |
| 604 |
break;
|
| 605 |
case (CAN_TXMAILBOX_2):
|
| 606 |
state = CANx->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); |
| 607 |
break;
|
| 608 |
default:
|
| 609 |
state = CAN_TxStatus_Failed; |
| 610 |
break;
|
| 611 |
} |
| 612 |
switch (state)
|
| 613 |
{
|
| 614 |
/* transmit pending */
|
| 615 |
case (0x0): state = CAN_TxStatus_Pending; |
| 616 |
break;
|
| 617 |
/* transmit failed */
|
| 618 |
case (CAN_TSR_RQCP0 | CAN_TSR_TME0): state = CAN_TxStatus_Failed;
|
| 619 |
break;
|
| 620 |
case (CAN_TSR_RQCP1 | CAN_TSR_TME1): state = CAN_TxStatus_Failed;
|
| 621 |
break;
|
| 622 |
case (CAN_TSR_RQCP2 | CAN_TSR_TME2): state = CAN_TxStatus_Failed;
|
| 623 |
break;
|
| 624 |
/* transmit succeeded */
|
| 625 |
case (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0):state = CAN_TxStatus_Ok;
|
| 626 |
break;
|
| 627 |
case (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1):state = CAN_TxStatus_Ok;
|
| 628 |
break;
|
| 629 |
case (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2):state = CAN_TxStatus_Ok;
|
| 630 |
break;
|
| 631 |
default: state = CAN_TxStatus_Failed;
|
| 632 |
break;
|
| 633 |
} |
| 634 |
return (uint8_t) state;
|
| 635 |
} |
| 636 |
|
| 637 |
/**
|
| 638 |
* @brief Cancels a transmit request.
|
| 639 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 640 |
* @param Mailbox: Mailbox number.
|
| 641 |
* @retval None.
|
| 642 |
*/
|
| 643 |
void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox)
|
| 644 |
{
|
| 645 |
/* Check the parameters */
|
| 646 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 647 |
assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox)); |
| 648 |
/* abort transmission */
|
| 649 |
switch (Mailbox)
|
| 650 |
{
|
| 651 |
case (CAN_TXMAILBOX_0): CANx->TSR |= CAN_TSR_ABRQ0;
|
| 652 |
break;
|
| 653 |
case (CAN_TXMAILBOX_1): CANx->TSR |= CAN_TSR_ABRQ1;
|
| 654 |
break;
|
| 655 |
case (CAN_TXMAILBOX_2): CANx->TSR |= CAN_TSR_ABRQ2;
|
| 656 |
break;
|
| 657 |
default:
|
| 658 |
break;
|
| 659 |
} |
| 660 |
} |
| 661 |
|
| 662 |
|
| 663 |
/**
|
| 664 |
* @brief Receives a message.
|
| 665 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 666 |
* @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
|
| 667 |
* @param RxMessage: pointer to a structure receive message which contains
|
| 668 |
* CAN Id, CAN DLC, CAN datas and FMI number.
|
| 669 |
* @retval None.
|
| 670 |
*/
|
| 671 |
void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage)
|
| 672 |
{
|
| 673 |
/* Check the parameters */
|
| 674 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 675 |
assert_param(IS_CAN_FIFO(FIFONumber)); |
| 676 |
/* Get the Id */
|
| 677 |
RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONumber].RIR;
|
| 678 |
if (RxMessage->IDE == CAN_Id_Standard)
|
| 679 |
{
|
| 680 |
RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 21); |
| 681 |
} |
| 682 |
else
|
| 683 |
{
|
| 684 |
RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 3); |
| 685 |
} |
| 686 |
|
| 687 |
RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONumber].RIR;
|
| 688 |
/* Get the DLC */
|
| 689 |
RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONumber].RDTR;
|
| 690 |
/* Get the FMI */
|
| 691 |
RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDTR >> 8); |
| 692 |
/* Get the data field */
|
| 693 |
RxMessage->Data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDLR; |
| 694 |
RxMessage->Data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 8); |
| 695 |
RxMessage->Data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 16); |
| 696 |
RxMessage->Data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 24); |
| 697 |
RxMessage->Data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDHR; |
| 698 |
RxMessage->Data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 8); |
| 699 |
RxMessage->Data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 16); |
| 700 |
RxMessage->Data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 24); |
| 701 |
/* Release the FIFO */
|
| 702 |
/* Release FIFO0 */
|
| 703 |
if (FIFONumber == CAN_FIFO0)
|
| 704 |
{
|
| 705 |
CANx->RF0R |= CAN_RF0R_RFOM0; |
| 706 |
} |
| 707 |
/* Release FIFO1 */
|
| 708 |
else /* FIFONumber == CAN_FIFO1 */ |
| 709 |
{
|
| 710 |
CANx->RF1R |= CAN_RF1R_RFOM1; |
| 711 |
} |
| 712 |
} |
| 713 |
|
| 714 |
/**
|
| 715 |
* @brief Releases the specified FIFO.
|
| 716 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 717 |
* @param FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
|
| 718 |
* @retval None.
|
| 719 |
*/
|
| 720 |
void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber)
|
| 721 |
{
|
| 722 |
/* Check the parameters */
|
| 723 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 724 |
assert_param(IS_CAN_FIFO(FIFONumber)); |
| 725 |
/* Release FIFO0 */
|
| 726 |
if (FIFONumber == CAN_FIFO0)
|
| 727 |
{
|
| 728 |
CANx->RF0R |= CAN_RF0R_RFOM0; |
| 729 |
} |
| 730 |
/* Release FIFO1 */
|
| 731 |
else /* FIFONumber == CAN_FIFO1 */ |
| 732 |
{
|
| 733 |
CANx->RF1R |= CAN_RF1R_RFOM1; |
| 734 |
} |
| 735 |
} |
| 736 |
|
| 737 |
/**
|
| 738 |
* @brief Returns the number of pending messages.
|
| 739 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 740 |
* @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
|
| 741 |
* @retval NbMessage : which is the number of pending message.
|
| 742 |
*/
|
| 743 |
uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber) |
| 744 |
{
|
| 745 |
uint8_t message_pending=0;
|
| 746 |
/* Check the parameters */
|
| 747 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 748 |
assert_param(IS_CAN_FIFO(FIFONumber)); |
| 749 |
if (FIFONumber == CAN_FIFO0)
|
| 750 |
{
|
| 751 |
message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03);
|
| 752 |
} |
| 753 |
else if (FIFONumber == CAN_FIFO1) |
| 754 |
{
|
| 755 |
message_pending = (uint8_t)(CANx->RF1R&(uint32_t)0x03);
|
| 756 |
} |
| 757 |
else
|
| 758 |
{
|
| 759 |
message_pending = 0;
|
| 760 |
} |
| 761 |
return message_pending;
|
| 762 |
} |
| 763 |
|
| 764 |
|
| 765 |
/**
|
| 766 |
* @brief Select the CAN Operation mode.
|
| 767 |
* @param CAN_OperatingMode : CAN Operating Mode. This parameter can be one
|
| 768 |
* of @ref CAN_OperatingMode_TypeDef enumeration.
|
| 769 |
* @retval status of the requested mode which can be
|
| 770 |
* - CAN_ModeStatus_Failed CAN failed entering the specific mode
|
| 771 |
* - CAN_ModeStatus_Success CAN Succeed entering the specific mode
|
| 772 |
|
| 773 |
*/
|
| 774 |
uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode) |
| 775 |
{
|
| 776 |
uint8_t status = CAN_ModeStatus_Failed; |
| 777 |
|
| 778 |
/* Timeout for INAK or also for SLAK bits*/
|
| 779 |
uint32_t timeout = INAK_TIMEOUT; |
| 780 |
|
| 781 |
/* Check the parameters */
|
| 782 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 783 |
assert_param(IS_CAN_OPERATING_MODE(CAN_OperatingMode)); |
| 784 |
|
| 785 |
if (CAN_OperatingMode == CAN_OperatingMode_Initialization)
|
| 786 |
{
|
| 787 |
/* Request initialisation */
|
| 788 |
CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_SLEEP)) | CAN_MCR_INRQ); |
| 789 |
|
| 790 |
/* Wait the acknowledge */
|
| 791 |
while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) && (timeout != 0)) |
| 792 |
{
|
| 793 |
timeout--; |
| 794 |
} |
| 795 |
if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK)
|
| 796 |
{
|
| 797 |
status = CAN_ModeStatus_Failed; |
| 798 |
} |
| 799 |
else
|
| 800 |
{
|
| 801 |
status = CAN_ModeStatus_Success; |
| 802 |
} |
| 803 |
} |
| 804 |
else if (CAN_OperatingMode == CAN_OperatingMode_Normal) |
| 805 |
{
|
| 806 |
/* Request leave initialisation and sleep mode and enter Normal mode */
|
| 807 |
CANx->MCR &= (uint32_t)(~(CAN_MCR_SLEEP|CAN_MCR_INRQ)); |
| 808 |
|
| 809 |
/* Wait the acknowledge */
|
| 810 |
while (((CANx->MSR & CAN_MODE_MASK) != 0) && (timeout!=0)) |
| 811 |
{
|
| 812 |
timeout--; |
| 813 |
} |
| 814 |
if ((CANx->MSR & CAN_MODE_MASK) != 0) |
| 815 |
{
|
| 816 |
status = CAN_ModeStatus_Failed; |
| 817 |
} |
| 818 |
else
|
| 819 |
{
|
| 820 |
status = CAN_ModeStatus_Success; |
| 821 |
} |
| 822 |
} |
| 823 |
else if (CAN_OperatingMode == CAN_OperatingMode_Sleep) |
| 824 |
{
|
| 825 |
/* Request Sleep mode */
|
| 826 |
CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); |
| 827 |
|
| 828 |
/* Wait the acknowledge */
|
| 829 |
while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) && (timeout!=0)) |
| 830 |
{
|
| 831 |
timeout--; |
| 832 |
} |
| 833 |
if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK)
|
| 834 |
{
|
| 835 |
status = CAN_ModeStatus_Failed; |
| 836 |
} |
| 837 |
else
|
| 838 |
{
|
| 839 |
status = CAN_ModeStatus_Success; |
| 840 |
} |
| 841 |
} |
| 842 |
else
|
| 843 |
{
|
| 844 |
status = CAN_ModeStatus_Failed; |
| 845 |
} |
| 846 |
|
| 847 |
return (uint8_t) status;
|
| 848 |
} |
| 849 |
|
| 850 |
/**
|
| 851 |
* @brief Enters the low power mode.
|
| 852 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 853 |
* @retval status: CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed in an
|
| 854 |
* other case.
|
| 855 |
*/
|
| 856 |
uint8_t CAN_Sleep(CAN_TypeDef* CANx) |
| 857 |
{
|
| 858 |
uint8_t sleepstatus = CAN_Sleep_Failed; |
| 859 |
|
| 860 |
/* Check the parameters */
|
| 861 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 862 |
|
| 863 |
/* Request Sleep mode */
|
| 864 |
CANx->MCR = (((CANx->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); |
| 865 |
|
| 866 |
/* Sleep mode status */
|
| 867 |
if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK)
|
| 868 |
{
|
| 869 |
/* Sleep mode not entered */
|
| 870 |
sleepstatus = CAN_Sleep_Ok; |
| 871 |
} |
| 872 |
/* return sleep mode status */
|
| 873 |
return (uint8_t)sleepstatus;
|
| 874 |
} |
| 875 |
|
| 876 |
/**
|
| 877 |
* @brief Wakes the CAN up.
|
| 878 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 879 |
* @retval status: CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed in an
|
| 880 |
* other case.
|
| 881 |
*/
|
| 882 |
uint8_t CAN_WakeUp(CAN_TypeDef* CANx) |
| 883 |
{
|
| 884 |
uint32_t wait_slak = SLAK_TIMEOUT; |
| 885 |
uint8_t wakeupstatus = CAN_WakeUp_Failed; |
| 886 |
|
| 887 |
/* Check the parameters */
|
| 888 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 889 |
|
| 890 |
/* Wake up request */
|
| 891 |
CANx->MCR &= ~(uint32_t)CAN_MCR_SLEEP; |
| 892 |
|
| 893 |
/* Sleep mode status */
|
| 894 |
while(((CANx->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)&&(wait_slak!=0x00)) |
| 895 |
{
|
| 896 |
wait_slak--; |
| 897 |
} |
| 898 |
if((CANx->MSR & CAN_MSR_SLAK) != CAN_MSR_SLAK)
|
| 899 |
{
|
| 900 |
/* wake up done : Sleep mode exited */
|
| 901 |
wakeupstatus = CAN_WakeUp_Ok; |
| 902 |
} |
| 903 |
/* return wakeup status */
|
| 904 |
return (uint8_t)wakeupstatus;
|
| 905 |
} |
| 906 |
|
| 907 |
|
| 908 |
/**
|
| 909 |
* @brief Returns the CANx's last error code (LEC).
|
| 910 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 911 |
* @retval CAN_ErrorCode: specifies the Error code :
|
| 912 |
* - CAN_ERRORCODE_NoErr No Error
|
| 913 |
* - CAN_ERRORCODE_StuffErr Stuff Error
|
| 914 |
* - CAN_ERRORCODE_FormErr Form Error
|
| 915 |
* - CAN_ERRORCODE_ACKErr Acknowledgment Error
|
| 916 |
* - CAN_ERRORCODE_BitRecessiveErr Bit Recessive Error
|
| 917 |
* - CAN_ERRORCODE_BitDominantErr Bit Dominant Error
|
| 918 |
* - CAN_ERRORCODE_CRCErr CRC Error
|
| 919 |
* - CAN_ERRORCODE_SoftwareSetErr Software Set Error
|
| 920 |
*/
|
| 921 |
|
| 922 |
uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx) |
| 923 |
{
|
| 924 |
uint8_t errorcode=0;
|
| 925 |
|
| 926 |
/* Check the parameters */
|
| 927 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 928 |
|
| 929 |
/* Get the error code*/
|
| 930 |
errorcode = (((uint8_t)CANx->ESR) & (uint8_t)CAN_ESR_LEC); |
| 931 |
|
| 932 |
/* Return the error code*/
|
| 933 |
return errorcode;
|
| 934 |
} |
| 935 |
/**
|
| 936 |
* @brief Returns the CANx Receive Error Counter (REC).
|
| 937 |
* @note In case of an error during reception, this counter is incremented
|
| 938 |
* by 1 or by 8 depending on the error condition as defined by the CAN
|
| 939 |
* standard. After every successful reception, the counter is
|
| 940 |
* decremented by 1 or reset to 120 if its value was higher than 128.
|
| 941 |
* When the counter value exceeds 127, the CAN controller enters the
|
| 942 |
* error passive state.
|
| 943 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 944 |
* @retval CAN Receive Error Counter.
|
| 945 |
*/
|
| 946 |
uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx) |
| 947 |
{
|
| 948 |
uint8_t counter=0;
|
| 949 |
|
| 950 |
/* Check the parameters */
|
| 951 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 952 |
|
| 953 |
/* Get the Receive Error Counter*/
|
| 954 |
counter = (uint8_t)((CANx->ESR & CAN_ESR_REC)>> 24);
|
| 955 |
|
| 956 |
/* Return the Receive Error Counter*/
|
| 957 |
return counter;
|
| 958 |
} |
| 959 |
|
| 960 |
|
| 961 |
/**
|
| 962 |
* @brief Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC).
|
| 963 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 964 |
* @retval LSB of the 9-bit CAN Transmit Error Counter.
|
| 965 |
*/
|
| 966 |
uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx) |
| 967 |
{
|
| 968 |
uint8_t counter=0;
|
| 969 |
|
| 970 |
/* Check the parameters */
|
| 971 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 972 |
|
| 973 |
/* Get the LSB of the 9-bit CANx Transmit Error Counter(TEC) */
|
| 974 |
counter = (uint8_t)((CANx->ESR & CAN_ESR_TEC)>> 16);
|
| 975 |
|
| 976 |
/* Return the LSB of the 9-bit CANx Transmit Error Counter(TEC) */
|
| 977 |
return counter;
|
| 978 |
} |
| 979 |
|
| 980 |
|
| 981 |
/**
|
| 982 |
* @brief Enables or disables the specified CANx interrupts.
|
| 983 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 984 |
* @param CAN_IT: specifies the CAN interrupt sources to be enabled or disabled.
|
| 985 |
* This parameter can be:
|
| 986 |
* - CAN_IT_TME,
|
| 987 |
* - CAN_IT_FMP0,
|
| 988 |
* - CAN_IT_FF0,
|
| 989 |
* - CAN_IT_FOV0,
|
| 990 |
* - CAN_IT_FMP1,
|
| 991 |
* - CAN_IT_FF1,
|
| 992 |
* - CAN_IT_FOV1,
|
| 993 |
* - CAN_IT_EWG,
|
| 994 |
* - CAN_IT_EPV,
|
| 995 |
* - CAN_IT_LEC,
|
| 996 |
* - CAN_IT_ERR,
|
| 997 |
* - CAN_IT_WKU or
|
| 998 |
* - CAN_IT_SLK.
|
| 999 |
* @param NewState: new state of the CAN interrupts.
|
| 1000 |
* This parameter can be: ENABLE or DISABLE.
|
| 1001 |
* @retval None.
|
| 1002 |
*/
|
| 1003 |
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState)
|
| 1004 |
{
|
| 1005 |
/* Check the parameters */
|
| 1006 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 1007 |
assert_param(IS_CAN_IT(CAN_IT)); |
| 1008 |
assert_param(IS_FUNCTIONAL_STATE(NewState)); |
| 1009 |
|
| 1010 |
if (NewState != DISABLE)
|
| 1011 |
{
|
| 1012 |
/* Enable the selected CANx interrupt */
|
| 1013 |
CANx->IER |= CAN_IT; |
| 1014 |
} |
| 1015 |
else
|
| 1016 |
{
|
| 1017 |
/* Disable the selected CANx interrupt */
|
| 1018 |
CANx->IER &= ~CAN_IT; |
| 1019 |
} |
| 1020 |
} |
| 1021 |
/**
|
| 1022 |
* @brief Checks whether the specified CAN flag is set or not.
|
| 1023 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 1024 |
* @param CAN_FLAG: specifies the flag to check.
|
| 1025 |
* This parameter can be one of the following flags:
|
| 1026 |
* - CAN_FLAG_EWG
|
| 1027 |
* - CAN_FLAG_EPV
|
| 1028 |
* - CAN_FLAG_BOF
|
| 1029 |
* - CAN_FLAG_RQCP0
|
| 1030 |
* - CAN_FLAG_RQCP1
|
| 1031 |
* - CAN_FLAG_RQCP2
|
| 1032 |
* - CAN_FLAG_FMP1
|
| 1033 |
* - CAN_FLAG_FF1
|
| 1034 |
* - CAN_FLAG_FOV1
|
| 1035 |
* - CAN_FLAG_FMP0
|
| 1036 |
* - CAN_FLAG_FF0
|
| 1037 |
* - CAN_FLAG_FOV0
|
| 1038 |
* - CAN_FLAG_WKU
|
| 1039 |
* - CAN_FLAG_SLAK
|
| 1040 |
* - CAN_FLAG_LEC
|
| 1041 |
* @retval The new state of CAN_FLAG (SET or RESET).
|
| 1042 |
*/
|
| 1043 |
FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG) |
| 1044 |
{
|
| 1045 |
FlagStatus bitstatus = RESET; |
| 1046 |
|
| 1047 |
/* Check the parameters */
|
| 1048 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 1049 |
assert_param(IS_CAN_GET_FLAG(CAN_FLAG)); |
| 1050 |
|
| 1051 |
|
| 1052 |
if((CAN_FLAG & CAN_FLAGS_ESR) != (uint32_t)RESET)
|
| 1053 |
{
|
| 1054 |
/* Check the status of the specified CAN flag */
|
| 1055 |
if ((CANx->ESR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) |
| 1056 |
{
|
| 1057 |
/* CAN_FLAG is set */
|
| 1058 |
bitstatus = SET; |
| 1059 |
} |
| 1060 |
else
|
| 1061 |
{
|
| 1062 |
/* CAN_FLAG is reset */
|
| 1063 |
bitstatus = RESET; |
| 1064 |
} |
| 1065 |
} |
| 1066 |
else if((CAN_FLAG & CAN_FLAGS_MSR) != (uint32_t)RESET) |
| 1067 |
{
|
| 1068 |
/* Check the status of the specified CAN flag */
|
| 1069 |
if ((CANx->MSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) |
| 1070 |
{
|
| 1071 |
/* CAN_FLAG is set */
|
| 1072 |
bitstatus = SET; |
| 1073 |
} |
| 1074 |
else
|
| 1075 |
{
|
| 1076 |
/* CAN_FLAG is reset */
|
| 1077 |
bitstatus = RESET; |
| 1078 |
} |
| 1079 |
} |
| 1080 |
else if((CAN_FLAG & CAN_FLAGS_TSR) != (uint32_t)RESET) |
| 1081 |
{
|
| 1082 |
/* Check the status of the specified CAN flag */
|
| 1083 |
if ((CANx->TSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) |
| 1084 |
{
|
| 1085 |
/* CAN_FLAG is set */
|
| 1086 |
bitstatus = SET; |
| 1087 |
} |
| 1088 |
else
|
| 1089 |
{
|
| 1090 |
/* CAN_FLAG is reset */
|
| 1091 |
bitstatus = RESET; |
| 1092 |
} |
| 1093 |
} |
| 1094 |
else if((CAN_FLAG & CAN_FLAGS_RF0R) != (uint32_t)RESET) |
| 1095 |
{
|
| 1096 |
/* Check the status of the specified CAN flag */
|
| 1097 |
if ((CANx->RF0R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) |
| 1098 |
{
|
| 1099 |
/* CAN_FLAG is set */
|
| 1100 |
bitstatus = SET; |
| 1101 |
} |
| 1102 |
else
|
| 1103 |
{
|
| 1104 |
/* CAN_FLAG is reset */
|
| 1105 |
bitstatus = RESET; |
| 1106 |
} |
| 1107 |
} |
| 1108 |
else /* If(CAN_FLAG & CAN_FLAGS_RF1R != (uint32_t)RESET) */ |
| 1109 |
{
|
| 1110 |
/* Check the status of the specified CAN flag */
|
| 1111 |
if ((uint32_t)(CANx->RF1R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) |
| 1112 |
{
|
| 1113 |
/* CAN_FLAG is set */
|
| 1114 |
bitstatus = SET; |
| 1115 |
} |
| 1116 |
else
|
| 1117 |
{
|
| 1118 |
/* CAN_FLAG is reset */
|
| 1119 |
bitstatus = RESET; |
| 1120 |
} |
| 1121 |
} |
| 1122 |
/* Return the CAN_FLAG status */
|
| 1123 |
return bitstatus;
|
| 1124 |
} |
| 1125 |
|
| 1126 |
/**
|
| 1127 |
* @brief Clears the CAN's pending flags.
|
| 1128 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 1129 |
* @param CAN_FLAG: specifies the flag to clear.
|
| 1130 |
* This parameter can be one of the following flags:
|
| 1131 |
* - CAN_FLAG_RQCP0
|
| 1132 |
* - CAN_FLAG_RQCP1
|
| 1133 |
* - CAN_FLAG_RQCP2
|
| 1134 |
* - CAN_FLAG_FF1
|
| 1135 |
* - CAN_FLAG_FOV1
|
| 1136 |
* - CAN_FLAG_FF0
|
| 1137 |
* - CAN_FLAG_FOV0
|
| 1138 |
* - CAN_FLAG_WKU
|
| 1139 |
* - CAN_FLAG_SLAK
|
| 1140 |
* - CAN_FLAG_LEC
|
| 1141 |
* @retval None.
|
| 1142 |
*/
|
| 1143 |
void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG)
|
| 1144 |
{
|
| 1145 |
uint32_t flagtmp=0;
|
| 1146 |
/* Check the parameters */
|
| 1147 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 1148 |
assert_param(IS_CAN_CLEAR_FLAG(CAN_FLAG)); |
| 1149 |
|
| 1150 |
if (CAN_FLAG == CAN_FLAG_LEC) /* ESR register */ |
| 1151 |
{
|
| 1152 |
/* Clear the selected CAN flags */
|
| 1153 |
CANx->ESR = (uint32_t)RESET; |
| 1154 |
} |
| 1155 |
else /* MSR or TSR or RF0R or RF1R */ |
| 1156 |
{
|
| 1157 |
flagtmp = CAN_FLAG & 0x000FFFFF;
|
| 1158 |
|
| 1159 |
if ((CAN_FLAG & CAN_FLAGS_RF0R)!=(uint32_t)RESET)
|
| 1160 |
{
|
| 1161 |
/* Receive Flags */
|
| 1162 |
CANx->RF0R = (uint32_t)(flagtmp); |
| 1163 |
} |
| 1164 |
else if ((CAN_FLAG & CAN_FLAGS_RF1R)!=(uint32_t)RESET) |
| 1165 |
{
|
| 1166 |
/* Receive Flags */
|
| 1167 |
CANx->RF1R = (uint32_t)(flagtmp); |
| 1168 |
} |
| 1169 |
else if ((CAN_FLAG & CAN_FLAGS_TSR)!=(uint32_t)RESET) |
| 1170 |
{
|
| 1171 |
/* Transmit Flags */
|
| 1172 |
CANx->TSR = (uint32_t)(flagtmp); |
| 1173 |
} |
| 1174 |
else /* If((CAN_FLAG & CAN_FLAGS_MSR)!=(uint32_t)RESET) */ |
| 1175 |
{
|
| 1176 |
/* Operating mode Flags */
|
| 1177 |
CANx->MSR = (uint32_t)(flagtmp); |
| 1178 |
} |
| 1179 |
} |
| 1180 |
} |
| 1181 |
|
| 1182 |
/**
|
| 1183 |
* @brief Checks whether the specified CANx interrupt has occurred or not.
|
| 1184 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 1185 |
* @param CAN_IT: specifies the CAN interrupt source to check.
|
| 1186 |
* This parameter can be one of the following flags:
|
| 1187 |
* - CAN_IT_TME
|
| 1188 |
* - CAN_IT_FMP0
|
| 1189 |
* - CAN_IT_FF0
|
| 1190 |
* - CAN_IT_FOV0
|
| 1191 |
* - CAN_IT_FMP1
|
| 1192 |
* - CAN_IT_FF1
|
| 1193 |
* - CAN_IT_FOV1
|
| 1194 |
* - CAN_IT_WKU
|
| 1195 |
* - CAN_IT_SLK
|
| 1196 |
* - CAN_IT_EWG
|
| 1197 |
* - CAN_IT_EPV
|
| 1198 |
* - CAN_IT_BOF
|
| 1199 |
* - CAN_IT_LEC
|
| 1200 |
* - CAN_IT_ERR
|
| 1201 |
* @retval The current state of CAN_IT (SET or RESET).
|
| 1202 |
*/
|
| 1203 |
ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT) |
| 1204 |
{
|
| 1205 |
ITStatus itstatus = RESET; |
| 1206 |
/* Check the parameters */
|
| 1207 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 1208 |
assert_param(IS_CAN_IT(CAN_IT)); |
| 1209 |
|
| 1210 |
/* check the enable interrupt bit */
|
| 1211 |
if((CANx->IER & CAN_IT) != RESET)
|
| 1212 |
{
|
| 1213 |
/* in case the Interrupt is enabled, .... */
|
| 1214 |
switch (CAN_IT)
|
| 1215 |
{
|
| 1216 |
case CAN_IT_TME:
|
| 1217 |
/* Check CAN_TSR_RQCPx bits */
|
| 1218 |
itstatus = CheckITStatus(CANx->TSR, CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2); |
| 1219 |
break;
|
| 1220 |
case CAN_IT_FMP0:
|
| 1221 |
/* Check CAN_RF0R_FMP0 bit */
|
| 1222 |
itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FMP0); |
| 1223 |
break;
|
| 1224 |
case CAN_IT_FF0:
|
| 1225 |
/* Check CAN_RF0R_FULL0 bit */
|
| 1226 |
itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FULL0); |
| 1227 |
break;
|
| 1228 |
case CAN_IT_FOV0:
|
| 1229 |
/* Check CAN_RF0R_FOVR0 bit */
|
| 1230 |
itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FOVR0); |
| 1231 |
break;
|
| 1232 |
case CAN_IT_FMP1:
|
| 1233 |
/* Check CAN_RF1R_FMP1 bit */
|
| 1234 |
itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FMP1); |
| 1235 |
break;
|
| 1236 |
case CAN_IT_FF1:
|
| 1237 |
/* Check CAN_RF1R_FULL1 bit */
|
| 1238 |
itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FULL1); |
| 1239 |
break;
|
| 1240 |
case CAN_IT_FOV1:
|
| 1241 |
/* Check CAN_RF1R_FOVR1 bit */
|
| 1242 |
itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FOVR1); |
| 1243 |
break;
|
| 1244 |
case CAN_IT_WKU:
|
| 1245 |
/* Check CAN_MSR_WKUI bit */
|
| 1246 |
itstatus = CheckITStatus(CANx->MSR, CAN_MSR_WKUI); |
| 1247 |
break;
|
| 1248 |
case CAN_IT_SLK:
|
| 1249 |
/* Check CAN_MSR_SLAKI bit */
|
| 1250 |
itstatus = CheckITStatus(CANx->MSR, CAN_MSR_SLAKI); |
| 1251 |
break;
|
| 1252 |
case CAN_IT_EWG:
|
| 1253 |
/* Check CAN_ESR_EWGF bit */
|
| 1254 |
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EWGF); |
| 1255 |
break;
|
| 1256 |
case CAN_IT_EPV:
|
| 1257 |
/* Check CAN_ESR_EPVF bit */
|
| 1258 |
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EPVF); |
| 1259 |
break;
|
| 1260 |
case CAN_IT_BOF:
|
| 1261 |
/* Check CAN_ESR_BOFF bit */
|
| 1262 |
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_BOFF); |
| 1263 |
break;
|
| 1264 |
case CAN_IT_LEC:
|
| 1265 |
/* Check CAN_ESR_LEC bit */
|
| 1266 |
itstatus = CheckITStatus(CANx->ESR, CAN_ESR_LEC); |
| 1267 |
break;
|
| 1268 |
case CAN_IT_ERR:
|
| 1269 |
/* Check CAN_MSR_ERRI bit */
|
| 1270 |
itstatus = CheckITStatus(CANx->MSR, CAN_MSR_ERRI); |
| 1271 |
break;
|
| 1272 |
default :
|
| 1273 |
/* in case of error, return RESET */
|
| 1274 |
itstatus = RESET; |
| 1275 |
break;
|
| 1276 |
} |
| 1277 |
} |
| 1278 |
else
|
| 1279 |
{
|
| 1280 |
/* in case the Interrupt is not enabled, return RESET */
|
| 1281 |
itstatus = RESET; |
| 1282 |
} |
| 1283 |
|
| 1284 |
/* Return the CAN_IT status */
|
| 1285 |
return itstatus;
|
| 1286 |
} |
| 1287 |
|
| 1288 |
/**
|
| 1289 |
* @brief Clears the CANx's interrupt pending bits.
|
| 1290 |
* @param CANx: where x can be 1 or 2 to to select the CAN peripheral.
|
| 1291 |
* @param CAN_IT: specifies the interrupt pending bit to clear.
|
| 1292 |
* - CAN_IT_TME
|
| 1293 |
* - CAN_IT_FF0
|
| 1294 |
* - CAN_IT_FOV0
|
| 1295 |
* - CAN_IT_FF1
|
| 1296 |
* - CAN_IT_FOV1
|
| 1297 |
* - CAN_IT_WKU
|
| 1298 |
* - CAN_IT_SLK
|
| 1299 |
* - CAN_IT_EWG
|
| 1300 |
* - CAN_IT_EPV
|
| 1301 |
* - CAN_IT_BOF
|
| 1302 |
* - CAN_IT_LEC
|
| 1303 |
* - CAN_IT_ERR
|
| 1304 |
* @retval None.
|
| 1305 |
*/
|
| 1306 |
void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT)
|
| 1307 |
{
|
| 1308 |
/* Check the parameters */
|
| 1309 |
assert_param(IS_CAN_ALL_PERIPH(CANx)); |
| 1310 |
assert_param(IS_CAN_CLEAR_IT(CAN_IT)); |
| 1311 |
|
| 1312 |
switch (CAN_IT)
|
| 1313 |
{
|
| 1314 |
case CAN_IT_TME:
|
| 1315 |
/* Clear CAN_TSR_RQCPx (rc_w1)*/
|
| 1316 |
CANx->TSR = CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2; |
| 1317 |
break;
|
| 1318 |
case CAN_IT_FF0:
|
| 1319 |
/* Clear CAN_RF0R_FULL0 (rc_w1)*/
|
| 1320 |
CANx->RF0R = CAN_RF0R_FULL0; |
| 1321 |
break;
|
| 1322 |
case CAN_IT_FOV0:
|
| 1323 |
/* Clear CAN_RF0R_FOVR0 (rc_w1)*/
|
| 1324 |
CANx->RF0R = CAN_RF0R_FOVR0; |
| 1325 |
break;
|
| 1326 |
case CAN_IT_FF1:
|
| 1327 |
/* Clear CAN_RF1R_FULL1 (rc_w1)*/
|
| 1328 |
CANx->RF1R = CAN_RF1R_FULL1; |
| 1329 |
break;
|
| 1330 |
case CAN_IT_FOV1:
|
| 1331 |
/* Clear CAN_RF1R_FOVR1 (rc_w1)*/
|
| 1332 |
CANx->RF1R = CAN_RF1R_FOVR1; |
| 1333 |
break;
|
| 1334 |
case CAN_IT_WKU:
|
| 1335 |
/* Clear CAN_MSR_WKUI (rc_w1)*/
|
| 1336 |
CANx->MSR = CAN_MSR_WKUI; |
| 1337 |
break;
|
| 1338 |
case CAN_IT_SLK:
|
| 1339 |
/* Clear CAN_MSR_SLAKI (rc_w1)*/
|
| 1340 |
CANx->MSR = CAN_MSR_SLAKI; |
| 1341 |
break;
|
| 1342 |
case CAN_IT_EWG:
|
| 1343 |
/* Clear CAN_MSR_ERRI (rc_w1) */
|
| 1344 |
CANx->MSR = CAN_MSR_ERRI; |
| 1345 |
/* Note : the corresponding Flag is cleared by hardware depending
|
| 1346 |
of the CAN Bus status*/
|
| 1347 |
break;
|
| 1348 |
case CAN_IT_EPV:
|
| 1349 |
/* Clear CAN_MSR_ERRI (rc_w1) */
|
| 1350 |
CANx->MSR = CAN_MSR_ERRI; |
| 1351 |
/* Note : the corresponding Flag is cleared by hardware depending
|
| 1352 |
of the CAN Bus status*/
|
| 1353 |
break;
|
| 1354 |
case CAN_IT_BOF:
|
| 1355 |
/* Clear CAN_MSR_ERRI (rc_w1) */
|
| 1356 |
CANx->MSR = CAN_MSR_ERRI; |
| 1357 |
/* Note : the corresponding Flag is cleared by hardware depending
|
| 1358 |
of the CAN Bus status*/
|
| 1359 |
break;
|
| 1360 |
case CAN_IT_LEC:
|
| 1361 |
/* Clear LEC bits */
|
| 1362 |
CANx->ESR = RESET; |
| 1363 |
/* Clear CAN_MSR_ERRI (rc_w1) */
|
| 1364 |
CANx->MSR = CAN_MSR_ERRI; |
| 1365 |
break;
|
| 1366 |
case CAN_IT_ERR:
|
| 1367 |
/*Clear LEC bits */
|
| 1368 |
CANx->ESR = RESET; |
| 1369 |
/* Clear CAN_MSR_ERRI (rc_w1) */
|
| 1370 |
CANx->MSR = CAN_MSR_ERRI; |
| 1371 |
/* Note : BOFF, EPVF and EWGF Flags are cleared by hardware depending
|
| 1372 |
of the CAN Bus status*/
|
| 1373 |
break;
|
| 1374 |
default :
|
| 1375 |
break;
|
| 1376 |
} |
| 1377 |
} |
| 1378 |
|
| 1379 |
/**
|
| 1380 |
* @brief Checks whether the CAN interrupt has occurred or not.
|
| 1381 |
* @param CAN_Reg: specifies the CAN interrupt register to check.
|
| 1382 |
* @param It_Bit: specifies the interrupt source bit to check.
|
| 1383 |
* @retval The new state of the CAN Interrupt (SET or RESET).
|
| 1384 |
*/
|
| 1385 |
static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit)
|
| 1386 |
{
|
| 1387 |
ITStatus pendingbitstatus = RESET; |
| 1388 |
|
| 1389 |
if ((CAN_Reg & It_Bit) != (uint32_t)RESET)
|
| 1390 |
{
|
| 1391 |
/* CAN_IT is set */
|
| 1392 |
pendingbitstatus = SET; |
| 1393 |
} |
| 1394 |
else
|
| 1395 |
{
|
| 1396 |
/* CAN_IT is reset */
|
| 1397 |
pendingbitstatus = RESET; |
| 1398 |
} |
| 1399 |
return pendingbitstatus;
|
| 1400 |
} |
| 1401 |
|
| 1402 |
|
| 1403 |
/**
|
| 1404 |
* @}
|
| 1405 |
*/
|
| 1406 |
|
| 1407 |
/**
|
| 1408 |
* @}
|
| 1409 |
*/
|
| 1410 |
|
| 1411 |
/**
|
| 1412 |
* @}
|
| 1413 |
*/
|
| 1414 |
|
| 1415 |
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
|