/**
* @brief Clears the CANx reception buffer interrupt pending bit,
* does nothing if transmission interrupt pending bit is specified.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: The number of the buffer
* @param Status_Flag: specifies the interrupt pending bit to clear.
* This parameter can be of the following values:
CAN_STATUS_RX_READY: Flag indicating that there are messages received
CAN_STATUS_TX_READY: Flag indicating that there are buffers for transmitting
* @retval None.
*/
void CAN_ITClearRxTxPendingBit(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, uint32_t Status_Flag)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_CAN_IT_RXTX_FLAG(Status_Flag));
tmpreg = CANx->BUF_CON[BufferNumber];
if (Status_Flag == CAN_STATUS_RX_READY)
{
tmpreg &= ~CAN_STATUS_RX_FULL;
}
/* FIXME: Setting of TX_REQ bit here, initiates a retransmission of a previous
message. For this reason, the following branch has been commented out.
The transmission interrupt pending bit will be automatically cleared when you
start the next transmission.
else if (Status_Flag == CAN_STATUS_TX_READY)
{
tmpreg |= CAN_STATUS_TX_REQ;
}
*/
CANx->BUF_CON[BufferNumber] = tmpreg;
}
/**
* @brief Reads received message (containing both header and data) from buffer.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: the number of the buffer that is used for reception.
* @param RxMessage: pointer to a CAN_RxMsgTypeDef.
* @retval None
*/
void CAN_GetRawReceivedData(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, CAN_RxMsgTypeDef* RxMessage)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
/* Get the DLC */
tmpreg = CAN_ReadBufferSFR(&(CANx->CAN_BUF[BufferNumber].DLC));
RxMessage->Rx_Header.DLC = (uint8_t)(tmpreg & CAN_DLC_DATA_LENGTH);
/* Get the IDE */
RxMessage->Rx_Header.IDE = CAN_ID_STD;
if ((tmpreg & CAN_DLC_IDE) != 0)
{
RxMessage->Rx_Header.IDE = CAN_ID_EXT;
}
/* Get the OVER_EN */
RxMessage->Rx_Header.OVER_EN = DISABLE;
tmpreg = CAN_ReadBufferSFR(&(CANx->BUF_CON[BufferNumber]));
if ((tmpreg & CAN_BUF_CON_OVER_EN) != 0)
{
RxMessage->Rx_Header.OVER_EN = ENABLE;
}
/* Get the Id */
RxMessage->Rx_Header.ID = CAN_ReadBufferSFR(&(CANx->CAN_BUF[BufferNumber].ID));
/* Get the data field */
RxMessage->Data[0] = CAN_ReadBufferSFR(&(CANx->CAN_BUF[BufferNumber].DATAL));
RxMessage->Data[1] = CAN_ReadBufferSFR(&(CANx->CAN_BUF[BufferNumber].DATAH));
}
/**
* @brief Returns the CANx_BUF_xx_CON Register value.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: The number of the buffer.
* @retval The CANx_BUF_xx_CON Register value.
*/
uint32_t CAN_GetBufferStatus(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber)
{
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
return CANx->BUF_CON[BufferNumber];
}
/**
* @brief Reads the received data from buffer.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: the number of the buffer that is used for reception.
* @param RxBuffer: CAN_DataTypeDef array to place received data to.
* @retval None
*/
void CAN_GetReceivedData(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, CAN_DataTypeDef RxBuffer)
{
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
RxBuffer[0] = CAN_ReadBufferSFR(&(CANx->CAN_BUF[BufferNumber].DATAL));
RxBuffer[1] = CAN_ReadBufferSFR(&(CANx->CAN_BUF[BufferNumber].DATAH));
}
/**
* @brief Initializes the CANx Buffer filter and mask according to the specified
* parameters in the CAN_FilterInitStruct.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values: CAN1, CAN2.
* @param BufferNumber: the number of the buffer that is used for reception.
* @param CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
* structure that contains the configuration information.
* @retval None.
*/
void CAN_FilterInit(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, CAN_FilterInitTypeDef* CAN_FilterInitStruct)
{
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_CAN_ID(CAN_FilterInitStruct->Filter_ID));
assert_param(IS_CAN_ID(CAN_FilterInitStruct->Mask_ID));
CANx->CAN_BUF_FILTER[BufferNumber].FILTER = CAN_FilterInitStruct->Filter_ID;
CANx->CAN_BUF_FILTER[BufferNumber].MASK = CAN_FilterInitStruct->Mask_ID;
}
/**
* @brief Releases the buffer.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: the number of the buffer to be released.
* @retval None.
*/
void CAN_BufferRelease(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
tmpreg = CANx->BUF_CON[BufferNumber];
tmpreg &= ~CAN_STATUS_EN;
CANx->BUF_CON[BufferNumber] = tmpreg;
}
/**
* @brief Initiates the transmission of a message.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: the number of the buffer that is used for transmission.
* @param TxMessage: pointer to a CAN_TxMsgTypeDef structure.
* @retval None
*/
void CAN_Transmit(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, CAN_TxMsgTypeDef* TxMessage)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
assert_param(IS_CAN_DLC(TxMessage->DLC));
assert_param(IS_FUNCTIONAL_STATE(TxMessage->PRIOR_0));
assert_param(IS_CAN_ID(TxMessage->ID));
/* Configure CAN_BUF_ID and CAN_BUF_DLC registers */
/* Packet format */
if (TxMessage->IDE == CAN_ID_STD)
{
/* Standard */
tmpreg = CAN_BUF_DLC_STD + TxMessage->DLC;
}
else
{
/* Extended */
tmpreg = CAN_BUF_DLC_EXT + TxMessage->DLC;
}
CANx->CAN_BUF[BufferNumber].DLC = tmpreg;
CANx->CAN_BUF[BufferNumber].ID = TxMessage->ID;
/* Buffer data unit */
CANx->CAN_BUF[BufferNumber].DATAL = TxMessage->Data[0];
CANx->CAN_BUF[BufferNumber].DATAH = TxMessage->Data[1];
/* Configure CAN_BUF_CON register */
tmpreg = 0;
/* Transmission priority */
if (TxMessage->PRIOR_0 != DISABLE)
{
tmpreg |= CAN_BUF_CON_PRIOR_0;
}
/* Set transmission request bit */
tmpreg |= CAN_BUF_CON_TX_REQ;
/* Enable buffer */
tmpreg |= CAN_BUF_CON_EN;
CANx->BUF_CON[BufferNumber] = tmpreg;
}
/**
* @brief Checks whether the specified transmission buffer interrupt has occurred or not.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: The number of the buffer
* @retval The new state of ~TX_REQ[BufferNumber] flag (SET or RESET).
*/
ITStatus CAN_GetTxITStatus(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber)
{
FlagStatus bitstatus;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
if ((CANx->TX & CANx->INT_TX & (((uint32_t)0x1) << BufferNumber)) == 0)
{
bitstatus = RESET;
}
else
{
bitstatus = SET;
}
return bitstatus;
}
/**
* @brief Starts the waiting for the receiving of a message.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: the number of the buffer that is used for reception.
* @param OverWrite: Enables or disables overwrite mode.
* This parameter can be one of the following values:
* ENABLE, DISABLE.
* @retval None
*/
void CAN_Receive(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, FunctionalState OverWrite)
{
uint32_t tmpreg = 0;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_FUNCTIONAL_STATE(OverWrite));
/* Configure CAN_BUF_CON register */
/* Overwrite mode */
if (OverWrite != DISABLE)
{
tmpreg = CAN_BUF_CON_OVER_EN;
}
/* Configure buffer for receiving and enable it */
tmpreg |= CAN_BUF_CON_RX_TXN | CAN_BUF_CON_EN;
CANx->BUF_CON[BufferNumber] = tmpreg;
}
/**
* @brief Initiates the Remote Transfer Request.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: the number of the buffer that is used for transmission.
* @param RTRMessage: pointer to a CAN_RTRMessageTypeDef structure.
* @retval None
*/
void CAN_SendRTR(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, CAN_RTRMessageTypeDef* RTRMessage)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_CAN_IDTYPE(RTRMessage->IDE));
assert_param(IS_FUNCTIONAL_STATE(RTRMessage->PRIOR_0));
assert_param(IS_CAN_ID(RTRMessage->ID));
/* Configure CAN_BUF_ID and CAN_BUF_DLC registers */
/* Packet format */
if (RTRMessage->IDE == CAN_ID_STD)
{
/* Standard */
tmpreg = CAN_BUF_DLC_STD;
}
else
{
/* Extended */
tmpreg = CAN_BUF_DLC_EXT;
}
CANx->CAN_BUF[BufferNumber].DLC = tmpreg + CAN_RTR_REMOTE;
CANx->CAN_BUF[BufferNumber].ID = RTRMessage->ID;
/* Configure CAN_BUF_CON register */
tmpreg = 0;
/* Transmission priority */
if (RTRMessage->PRIOR_0 != DISABLE)
{
tmpreg |= CAN_BUF_CON_PRIOR_0;
}
/* Set transmission request bit */
tmpreg |= CAN_BUF_CON_TX_REQ;
/* Enable buffer */
tmpreg |= CAN_BUF_CON_EN;
CANx->BUF_CON[BufferNumber] = tmpreg;
}
void CAN_RTRReply(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, CAN_RTRReplyTypeDef* RTRReplyMessage)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_CAN_IDTYPE(RTRReplyMessage->IDE));
assert_param(IS_CAN_ID(RTRReplyMessage->ID));
assert_param(IS_CAN_DLC(RTRReplyMessage->DLC));
/* Configure CAN_BUF_ID and CAN_BUF_DLC registers */
/* Configure CAN_BUF_ID and CAN_BUF_DLC registers */
/* Packet format */
if (RTRReplyMessage->IDE == CAN_ID_STD)
{
/* Standard */
tmpreg = CAN_BUF_DLC_STD + RTRReplyMessage->DLC;
}
else
{
/* Extended */
tmpreg = CAN_BUF_DLC_EXT + RTRReplyMessage->DLC;
}
CANx->CAN_BUF[BufferNumber].DLC = tmpreg;
CANx->CAN_BUF[BufferNumber].ID = RTRReplyMessage->ID;
/* Buffer data unit */
CANx->CAN_BUF[BufferNumber].DATAL = RTRReplyMessage->Data[0];
CANx->CAN_BUF[BufferNumber].DATAH = RTRReplyMessage->Data[1];
/* Configure CAN_BUF_CON register */
/* Set RTR_EN bit */
tmpreg = CAN_STATUS_RTR_EN;
/* Enable buffer */
tmpreg |= CAN_BUF_CON_EN;
CANx->BUF_CON[BufferNumber] = tmpreg;
}
/**
* @brief Clears the CANx transmission or reception buffer interrupt
* pending bits.
* @param CANx: Select the CAN peripheral.
* This parameter can be one of the following values:
* CAN1, CAN2.
* @param BufferNumber: The number of the buffer
* @param Status_Flag: specifies the interrupt pending bit to clear.
* This parameter can be of the following values:
CAN_STATUS_RX_READY: Flag indicating that there are messages received
CAN_STATUS_TX_READY: Flag indicating that there are buffers for transmitting
* @retval None.
*/
void CAN_ITClearRxTxPendingBit(MDR_CAN_TypeDef* CANx, uint32_t BufferNumber, uint32_t Status_Flag)
{
uint32_t tmpreg;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_BUFFER(BufferNumber));
assert_param(IS_CAN_IT_RXTX_FLAG(Status_Flag));
tmpreg = CANx->BUF_CON[BufferNumber];
if (Status_Flag == CAN_STATUS_RX_READY)
{
tmpreg &= ~CAN_STATUS_RX_FULL;
}
else if (Status_Flag == CAN_STATUS_TX_READY)
{
tmpreg |= CAN_STATUS_TX_REQ;
}
CANx->BUF_CON[BufferNumber] = tmpreg;
}
