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00041 #include "chip.h"
00042
00043 #include <assert.h>
00044
00045 #if defined(REG_CAN0_MR) || defined(REG_CAN_MR)
00046
00047
00048
00049
00050
00051
00052
00053 void CAN_ConfigureMode(Can *pCan, uint32_t dwMr)
00054 {
00055 pCan->CAN_MR = dwMr;
00056 }
00057
00058
00059
00060
00061
00062
00063 void CAN_Enable(Can *pCan, uint8_t bEnDis)
00064 {
00065 if (bEnDis) pCan->CAN_MR |= CAN_MR_CANEN;
00066 else pCan->CAN_MR &= ~CAN_MR_CANEN;
00067 }
00068
00069
00070
00071
00072
00073
00074 void CAN_EnableLowPower(Can *pCan, uint8_t bEnDis)
00075 {
00076 if (bEnDis) pCan->CAN_MR |= CAN_MR_LPM;
00077 else pCan->CAN_MR &= ~CAN_MR_LPM;
00078 }
00079
00080
00081
00082
00083
00084
00085 void CAN_EnableAutobaud(Can *pCan, uint8_t bEnDis)
00086 {
00087 if (bEnDis) pCan->CAN_MR |= CAN_MR_ABM;
00088 else pCan->CAN_MR &= ~CAN_MR_ABM;
00089 }
00090
00091
00092
00093
00094
00095
00096 void CAN_EnableOverloadFrame(Can *pCan, uint8_t bEnDis)
00097 {
00098 if (bEnDis) pCan->CAN_MR |= CAN_MR_OVL;
00099 else pCan->CAN_MR &= ~CAN_MR_OVL;
00100 }
00101
00102
00103
00104
00105
00106
00107 void CAN_EnableTimeStampEof(Can *pCan, uint8_t bEofSof)
00108 {
00109 if (bEofSof) pCan->CAN_MR |= CAN_MR_TEOF;
00110 else pCan->CAN_MR &= ~CAN_MR_TEOF;
00111 }
00112
00113
00114
00115
00116
00117
00118 void CAN_EnableTimeTriggerMode(Can *pCan, uint8_t bEnDis)
00119 {
00120 if (bEnDis) pCan->CAN_MR |= CAN_MR_TTM;
00121 else pCan->CAN_MR &= ~CAN_MR_TTM;
00122 }
00123
00124
00125
00126
00127
00128
00129 void CAN_EnableTimerFreeze(Can *pCan, uint8_t bEnDis)
00130 {
00131 if (bEnDis) pCan->CAN_MR |= CAN_MR_TIMFRZ;
00132 else pCan->CAN_MR &= ~CAN_MR_TIMFRZ;
00133 }
00134
00135
00136
00137
00138
00139
00140 void CAN_DisableRepeat(Can *pCan, uint8_t bDisEn)
00141 {
00142 if (bDisEn) pCan->CAN_MR |= CAN_MR_DRPT;
00143 else pCan->CAN_MR &= ~CAN_MR_DRPT;
00144 }
00145
00146
00147
00148
00149
00150
00151
00152
00153 void CAN_EnableIt(Can *pCan, uint32_t dwSources)
00154 {
00155 pCan->CAN_IER = dwSources;
00156 }
00157
00158
00159
00160
00161
00162
00163 void CAN_DisableIt(Can *pCan, uint32_t dwSources)
00164 {
00165 pCan->CAN_IDR = dwSources;
00166 }
00167
00168
00169
00170
00171
00172 uint32_t CAN_GetItMask(Can *pCan)
00173 {
00174 return pCan->CAN_IMR;
00175 }
00176
00177
00178
00179
00180
00181 uint32_t CAN_GetStatus(Can *pCan)
00182 {
00183 return pCan->CAN_SR;
00184 }
00185
00186
00187
00188
00189
00190
00191
00192
00193
00194 uint8_t CAN_CalcBaudrate(Can *pCan, uint32_t dwBaudrate, uint32_t dwMck)
00195 {
00196 uint32_t BRP, PROPAG, PHASE1, PHASE2, SJW;
00197 uint8_t TQ;
00198 uint32_t t1t2;
00199 uint32_t maxClock;
00200 uint32_t id = ID_CAN0;
00201
00202 if ((uint32_t)pCan == (uint32_t)CAN0) id = ID_CAN0;
00203 else if ((uint32_t)pCan == (uint32_t)CAN1) id = ID_CAN1;
00204 maxClock = PMC_SetPeriMaxClock(id, dwMck);
00205
00206 if (dwBaudrate >= 1000) TQ = 8;
00207 else TQ = 16;
00208 BRP = (maxClock / (dwBaudrate * 1000 * TQ)) - 1;
00209 if (BRP == 0) {
00210 return 0;
00211 }
00212
00213
00214
00215
00216
00217 if ( (TQ * dwBaudrate * 2 * (50+30+110)/1000000) >= 1 )
00218 PROPAG = (TQ * dwBaudrate * 2 * (50+30+110)/1000000) - 1;
00219 else
00220 PROPAG = 0;
00221 t1t2 = TQ - 1 - (PROPAG + 1);
00222
00223 if ( (t1t2 & 0x01) == 0x01 ) {
00224 PHASE1 = ((t1t2 - 1) / 2) - 1;
00225 PHASE2 = PHASE1 + 1;
00226 }
00227 else {
00228 PHASE1 = ((t1t2) / 2) - 1;
00229 PHASE2 = PHASE1;
00230 }
00231
00232 if ( 1 > (4/(PHASE1 + 1)) ) SJW = 3;
00233 else SJW = PHASE1;
00234
00235 if ( (PROPAG + PHASE1 + PHASE2) != (uint32_t)(TQ - 4) ) {
00236 return 0;
00237 }
00238
00239 pCan->CAN_BR = CAN_BR_PHASE2(PHASE2)
00240 | CAN_BR_PHASE1(PHASE1)
00241 | CAN_BR_PROPAG(PROPAG)
00242 | CAN_BR_SJW(SJW)
00243 | CAN_BR_BRP(BRP)
00244 | CAN_BR_SMP_ONCE;
00245 return 1;
00246 }
00247
00248
00249
00250
00251
00252
00253 void CAN_ConfigureBaudrate(Can *pCan, uint32_t dwBr)
00254 {
00255 pCan->CAN_BR = dwBr;
00256 }
00257
00258
00259
00260
00261
00262
00263 void CAN_SetSamplingMode(Can *pCan, uint8_t bAvg3)
00264 {
00265 if (bAvg3) pCan->CAN_BR |= CAN_BR_SMP;
00266 else pCan->CAN_BR &= ~CAN_BR_SMP;
00267 }
00268
00269
00270
00271
00272
00273 uint32_t CAN_GetTimer(Can *pCan)
00274 {
00275 return pCan->CAN_TIM;
00276 }
00277
00278
00279
00280
00281
00282 uint32_t CAN_GetTimestamp(Can *pCan)
00283 {
00284 return pCan->CAN_TIMESTP;
00285 }
00286
00287
00288
00289
00290
00291 uint32_t CAN_GetErrorCount(Can *pCan)
00292 {
00293 return pCan->CAN_ECR;
00294 }
00295
00296
00297
00298
00299
00300 uint32_t CAN_GetRxErrorCount(Can *pCan)
00301 {
00302 return (pCan->CAN_ECR & CAN_ECR_REC_Msk) >> CAN_ECR_REC_Pos;
00303 }
00304
00305
00306
00307
00308
00309 uint32_t CAN_GetTxErrorCount(Can *pCan)
00310 {
00311 return (pCan->CAN_ECR & CAN_ECR_TEC_Msk) >> CAN_ECR_TEC_Pos;
00312 }
00313
00314
00315
00316
00317
00318
00319 void CAN_Command(Can *pCan, uint32_t dwRequests)
00320 {
00321 pCan->CAN_TCR = dwRequests;
00322 }
00323
00324
00325
00326
00327
00328 void CAN_ResetTimer(Can *pCan)
00329 {
00330 pCan->CAN_TCR = CAN_TCR_TIMRST;
00331 }
00332
00333
00334
00335
00336
00337
00338 void CAN_Tx(Can *pCan, uint8_t bMb)
00339 {
00340 pCan->CAN_TCR = CAN_TCR_MB0 << bMb;
00341 }
00342
00343
00344
00345
00346
00347
00348 void CAN_Abort(Can *pCan, uint32_t dwAborts)
00349 {
00350 pCan->CAN_ACR = dwAborts;
00351 }
00352
00353
00354
00355
00356
00357
00358 void CAN_AbortMailbox(Can *pCan, uint8_t bMb)
00359 {
00360 pCan->CAN_ACR = CAN_ACR_MB0 << bMb;
00361 }
00362
00363
00364
00365
00366
00367
00368
00369 void CAN_ConfigureMessageMode(Can *pCan, uint8_t bMb, uint32_t dwMr)
00370 {
00371 pCan->CAN_MB[bMb].CAN_MMR = dwMr;
00372 }
00373
00374
00375
00376
00377
00378
00379 uint32_t CAN_GetMessageMode(Can *pCan, uint8_t bMb)
00380 {
00381 return pCan->CAN_MB[bMb].CAN_MMR;
00382 }
00383
00384
00385
00386
00387
00388
00389
00390 void CAN_SetTimemark(Can *pCan, uint8_t bMb, uint8_t bTimemarks)
00391 {
00392 uint32_t dwMmr = (pCan->CAN_MB[bMb].CAN_MMR) & (~0xFFu);
00393 pCan->CAN_MB[bMb].CAN_MMR = dwMmr | ((bTimemarks << 0) & 0xFF);
00394 }
00395
00396
00397
00398
00399
00400
00401
00402 void CAN_SetPriority(Can *pCan, uint8_t bMb, uint8_t bPriority)
00403 {
00404 uint32_t dwMmr = (pCan->CAN_MB[bMb].CAN_MMR & ~CAN_MMR_PRIOR_Msk);
00405 pCan->CAN_MB[bMb].CAN_MMR = dwMmr | CAN_MMR_PRIOR(bPriority);
00406 }
00407
00408
00409
00410
00411
00412
00413
00414 void CAN_SetObjectType(Can *pCan, uint8_t bMb, uint8_t bType)
00415 {
00416 uint32_t dwMr = (pCan->CAN_MB[bMb].CAN_MMR & CAN_MMR_MOT_Msk) >> CAN_MMR_MOT_Pos;
00417 pCan->CAN_MB[bMb].CAN_MMR |= dwMr | ((bType << CAN_MMR_MOT_Pos) & CAN_MMR_MOT_Msk);
00418 }
00419
00420
00421
00422
00423
00424
00425
00426 void CAN_ConfigureMessageAcceptanceMask(Can *pCan, uint8_t bMb, uint32_t dwMAM)
00427 {
00428 pCan->CAN_MB[bMb].CAN_MAM = dwMAM;
00429 }
00430
00431
00432
00433
00434
00435
00436 uint32_t CAN_GetMessageAcceptanceMask(Can *pCan, uint8_t bMb)
00437 {
00438 return pCan->CAN_MB[bMb].CAN_MAM;
00439 }
00440
00441
00442
00443
00444
00445
00446
00447 void CAN_ConfigureIdentifierMask(Can *pCan, uint8_t bMb, uint8_t bIdCfg)
00448 {
00449 if (bIdCfg) pCan->CAN_MB[bMb].CAN_MAM |= CAN_MAM_MIDE;
00450 else pCan->CAN_MB[bMb].CAN_MAM &= ~CAN_MAM_MIDE;
00451 }
00452
00453
00454
00455
00456
00457
00458
00459 void CAN_SetMIDvAMask(Can *pCan, uint8_t bMb, uint32_t dwIDvA)
00460 {
00461 uint32_t dwMam = pCan->CAN_MB[bMb].CAN_MAM & CAN_MAM_MIDvA_Msk;
00462 pCan->CAN_MB[bMb].CAN_MAM = dwMam | CAN_MAM_MIDvA(dwIDvA);
00463 }
00464
00465
00466
00467
00468
00469
00470
00471 void CAN_SetMIDvBMask(Can *pCan, uint8_t bMb, uint32_t dwIDvA)
00472 {
00473 uint32_t dwMam = pCan->CAN_MB[bMb].CAN_MAM & CAN_MAM_MIDvB_Msk;
00474 pCan->CAN_MB[bMb].CAN_MAM = dwMam | CAN_MAM_MIDvB(dwIDvA);
00475 }
00476
00477
00478
00479
00480
00481
00482
00483 void CAN_ConfigureMessageID(Can *pCan, uint8_t bMb, uint32_t dwMID)
00484 {
00485 pCan->CAN_MB[bMb].CAN_MID = dwMID;
00486 }
00487
00488
00489
00490
00491
00492
00493 uint32_t CAN_GetMessageID(Can *pCan, uint8_t bMb)
00494 {
00495 return pCan->CAN_MB[bMb].CAN_MID;
00496 }
00497
00498
00499
00500
00501
00502
00503
00504 void CAN_ConfigureIdVer(Can *pCan, uint8_t bMb, uint8_t bIdVer)
00505 {
00506 uint32_t dwMid = pCan->CAN_MB[bMb].CAN_MID & CAN_MID_MIDE;
00507 pCan->CAN_MB[bMb].CAN_MID = dwMid | (bIdVer ? CAN_MID_MIDE : 0);
00508 }
00509
00510
00511
00512
00513
00514
00515
00516 void CAN_SetMIDvA(Can *pCan, uint8_t bMb, uint32_t dwIDvA)
00517 {
00518 uint32_t dwMam = pCan->CAN_MB[bMb].CAN_MID & CAN_MID_MIDvA_Msk;
00519 pCan->CAN_MB[bMb].CAN_MID = dwMam | CAN_MID_MIDvA(dwIDvA);
00520 }
00521
00522
00523
00524
00525
00526
00527
00528 void CAN_SetMIDvB(Can *pCan, uint8_t bMb, uint32_t dwIDvA)
00529 {
00530 uint32_t dwMam = pCan->CAN_MB[bMb].CAN_MID & CAN_MID_MIDvB_Msk;
00531 pCan->CAN_MB[bMb].CAN_MID = dwMam | CAN_MID_MIDvB(dwIDvA);
00532 }
00533
00534
00535
00536
00537
00538
00539 uint32_t CAN_GetFamilyID(Can *pCan, uint8_t bMb)
00540 {
00541 return pCan->CAN_MB[bMb].CAN_MFID;
00542 }
00543
00544
00545
00546
00547
00548
00549 uint32_t CAN_GetMessageStatus(Can *pCan, uint8_t bMb)
00550 {
00551 return pCan->CAN_MB[bMb].CAN_MSR;
00552 }
00553
00554
00555
00556
00557
00558
00559 uint32_t CAN_GetMessageDataL(Can *pCan, uint8_t bMb)
00560 {
00561 return pCan->CAN_MB[bMb].CAN_MDL;
00562 }
00563
00564
00565
00566
00567
00568
00569
00570 void CAN_SetMessageDataL(Can *pCan, uint8_t bMb, uint32_t dwL)
00571 {
00572 pCan->CAN_MB[bMb].CAN_MDL = dwL;
00573 }
00574
00575
00576
00577
00578
00579
00580
00581 void CAN_SetMessageDataH(Can *pCan, uint8_t bMb, uint32_t dwH)
00582 {
00583 pCan->CAN_MB[bMb].CAN_MDH = dwH;
00584 }
00585
00586
00587
00588
00589
00590
00591 uint32_t CAN_GetMessageDataH(Can *pCan, uint8_t bMb)
00592 {
00593 return pCan->CAN_MB[bMb].CAN_MDH;
00594 }
00595
00596
00597
00598
00599
00600
00601
00602 void CAN_SetMessage(Can *pCan, uint8_t bMb, uint32_t *pDwData)
00603 {
00604 pCan->CAN_MB[bMb].CAN_MDL = pDwData[0];
00605 pCan->CAN_MB[bMb].CAN_MDH = pDwData[1];
00606 }
00607
00608
00609
00610
00611
00612
00613
00614 void CAN_GetMessage(Can *pCan, uint8_t bMb, uint32_t *pDwData)
00615 {
00616 pDwData[0] = pCan->CAN_MB[bMb].CAN_MDL;
00617 pDwData[1] = pCan->CAN_MB[bMb].CAN_MDH;
00618 }
00619
00620
00621
00622
00623
00624
00625 void CAN_SetMessageData64(Can *pCan, uint8_t bMb, uint64_t u64)
00626 {
00627 pCan->CAN_MB[bMb].CAN_MDL = (uint32_t)u64;
00628 pCan->CAN_MB[bMb].CAN_MDH = (u64 >> 32);
00629 }
00630
00631
00632
00633
00634
00635
00636 uint64_t CAN_GetMessageData64(Can *pCan, uint8_t bMb)
00637 {
00638 uint64_t ddwMd = (uint64_t)pCan->CAN_MB[bMb].CAN_MDH << 32;
00639 ddwMd += pCan->CAN_MB[bMb].CAN_MDL;
00640 return ddwMd;
00641 }
00642
00643
00644
00645
00646
00647
00648
00649 void CAN_MessageControl(Can *pCan, uint8_t bMb, uint32_t dwCtrl)
00650 {
00651 pCan->CAN_MB[bMb].CAN_MCR = dwCtrl;
00652 }
00653
00654
00655
00656
00657
00658
00659 void CAN_MessageRemote(Can *pCan, uint8_t bMb)
00660 {
00661 pCan->CAN_MB[bMb].CAN_MCR = CAN_MCR_MRTR;
00662 }
00663
00664
00665
00666
00667
00668
00669 void CAN_MessageAbort(Can *pCan, uint8_t bMb)
00670 {
00671 pCan->CAN_MB[bMb].CAN_MCR = CAN_MCR_MACR;
00672 }
00673
00674
00675
00676
00677
00678
00679
00680 void CAN_MessageTx(Can *pCan, uint8_t bMb, uint8_t bLen)
00681 {
00682 pCan->CAN_MB[bMb].CAN_MCR = CAN_MCR_MTCR | CAN_MCR_MDLC(bLen);
00683 }
00684
00685
00686
00687
00688
00689
00690 void CAN_MessageRx(Can *pCan, uint8_t bMb)
00691 {
00692 pCan->CAN_MB[bMb].CAN_MCR = CAN_MCR_MTCR;
00693 }
00694
00695 #endif
00696
00697