status_t CAN001_ReadMsgObj
(
const CAN001_HandleType* Handle,
CAN001_MessageHandleType* SwMsgObjptr,
uint8_t MsgObjnr
)
{
uint32_t Error = (uint32_t)CAN001_ERROR;
uint32_t Count = 0U;
bool RxPnd = 0U;
bool NewData = 0U;
uint8_t MsgNo = (uint8_t)(Handle->FirstMOMapping+(MsgObjnr-1U));
/* Mapping to message object offset value*/
CAN_MO_TypeDef* CAN_MOxRegs = \
GET_MO_OFFSET(MsgNo);
DBG002_N((MsgObjnr == 0U)||(MsgObjnr > Handle->NodeMONo));
/* check if message object is a receive message object */
/*<<<DD_CAN001_API_6_1>>>*/
if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_DIR_Msk, \
CAN_MO_MOSTAT_DIR_Pos) != (uint32_t)RECMSGOBJ)
{
Error = (uint32_t)CAN001_MO_NOT_ACCEPTABLE;
DBG002_ERROR(APP_GID, DBG002_MESSAGEID_LITERAL, sizeof(Error), &Error);
}
/* check if reception is ongoing on message object */
/*<<<DD_CAN001_API_6_2>>>*/
else if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_RXUPD_Msk, \
CAN_MO_MOSTAT_RXUPD_Pos) == 1U)
{
Error = (uint32_t)CAN001_MO_BUSY;
DBG002_ERROR(APP_GID, DBG002_MESSAGEID_LITERAL, sizeof(Error), &Error);
}
else
{
/* read message parameters */
/*<<<DD_CAN001_API_6_3>>>*/
do
{
CAN_MOxRegs->MOCTR = CAN_MO_MOCTR_RESNEWDAT_Msk;
if((RD_REG(CAN_MOxRegs->MOAR, CAN_MO_MOAR_IDE_Msk , \
CAN_MO_MOAR_IDE_Pos)) == 0U)
{
SwMsgObjptr->IDExten = (uint8_t)STANDARDTYPE;
SwMsgObjptr->Identifier = (CAN_MOxRegs->MOAR & (uint32_t)CAN_MO_MOAR_STDID_Msk) >> \
CAN_MO_MOAR_STDID_Pos;
SwMsgObjptr->IDEMask = (uint8_t)((uint32_t)(CAN_MOxRegs->MOAMR & (uint32_t)CAN_MO_MOAMR_MIDE_Msk) >> \
CAN_MO_MOAMR_MIDE_Pos);
if(SwMsgObjptr->IDEMask == 1U)
{
SwMsgObjptr->IDMask = (CAN_MOxRegs->MOAMR & (uint32_t)CAN_MO_MOAR_STDID_Msk) >> \
CAN_MO_MOAR_STDID_Pos;
}
else
{
SwMsgObjptr->IDMask = CAN_MOxRegs->MOAMR & (uint32_t)CAN_MO_MOAMR_AM_Msk;
}
}
else
{
/* This function will initialize node with the given handle */
static void CAN001_lNodeInit(const CAN001_HandleType* Handle)
{
uint32_t Count = 0U;
uint8_t MsgNo;
CAN_MO_TypeDef* CAN_MOxRegs = CAN_MO0;
/* <<<DD_CAN001_nonAPI_4>>> */
/* Map to node register offset as per node ID */
CAN_NODE_TypeDef* CAN_NodexRegs = Handle->CanNodeRegs;
DBG002_FUNCTION_ENTRY(DBG002_GID_CAN001,CAN001_FUNCTION_ENTRY);
/*<<<DD_CAN001_API_1>>>*/
/* wait until panel has finished initialization */
while ( (CAN->PANCTR & CAN_PANCTR_BUSY_Msk))
{}
/* set CCE and INIT bit NCR for node configuration */
/* Enable Alert and last error code interrupt */
CAN_NodexRegs->NCR |= ((uint32_t)CAN_NODE_NCR_INIT_Msk | (uint32_t)CAN_NODE_NCR_CCE_Msk);
/* Configure bit timing register */
CAN_NodexRegs->NBTR = ((uint32_t)Handle->BaudRate.DIV8 << \
CAN_NODE_NBTR_DIV8_Pos) | \
((uint32_t)Handle->BaudRate.TimeSEG2 << \
CAN_NODE_NBTR_TSEG2_Pos) | \
((uint32_t)Handle->BaudRate.TimeSEG1 << \
CAN_NODE_NBTR_TSEG1_Pos) | \
((uint32_t)Handle->BaudRate.SyncJumpWidth << \
CAN_NODE_NBTR_SJW_Pos) | \
(uint32_t)Handle->BaudRate.BaudRatePresc;
/* Check whether loop back mode is to be enabled */
if ( Handle->LoopBackModeEn == CAN001_ENABLE)
{
SET_BIT(CAN_NodexRegs->NPCR, CAN_NODE_NPCR_LBM_Pos);
}
/* Allocate required number of message object to node list
* and configure message object */
for(Count = 0U; Count < Handle->NodeMONo; Count++)
{
CAN001_lAllocateMOtoNodeList(Handle->NodeID, (uint8_t)(Handle->FirstMOMapping + Count));
MsgNo = (uint8_t)(Handle->FirstMOMapping + Count);
CAN_MOxRegs = GET_MO_OFFSET(MsgNo);
/* Configure MPN */
CAN_MOxRegs->MOIPR = (((uint32_t)Handle->NodeID << \
(CAN_MO_MOIPR_MPN_Pos + 5)) | \
(Count << CAN_MO_MOIPR_MPN_Pos));
}
DBG002_FUNCTION_EXIT(DBG002_GID_CAN001,CAN001_FUNCTION_EXIT);
}
status_t CAN001_SendRemoteFrame(const CAN001_HandleType* Handle, uint8_t MsgObjnr)
{
uint32_t Error = 0U;
uint8_t MsgNo = (uint8_t)(Handle->FirstMOMapping+(MsgObjnr-1U));
/* Mapping to message object offset value*/
CAN_MO_TypeDef* CAN_MOxRegs = \
GET_MO_OFFSET(MsgNo);
/*<<<DD_CAN001_API_5>>>*/
DBG002_FUNCTION_ENTRY(DBG002_GID_CAN001,CAN001_FUNCTION_ENTRY);
DBG002_N ((MsgObjnr == 0U)||(MsgObjnr > Handle->NodeMONo));
/* check if message object is a receive message object */
/*<<<DD_CAN001_API_5_1>>>*/
if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_DIR_Msk, \
CAN_MO_MOSTAT_DIR_Pos) != (uint32_t)RECMSGOBJ)
{
Error = (uint32_t)CAN001_MO_NOT_ACCEPTABLE;
DBG002_ERROR(DBG002_GID_CAN001,Error, 0, NULL);
}
/* check if message is disabled */
else if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_MSGVAL_Msk, \
CAN_MO_MOSTAT_MSGVAL_Pos) == 0U)
{
Error = (uint32_t)CAN001_MSGOBJ_DISABLED;
DBG002_INFO(DBG002_GID_CAN001,Error, 0, NULL);
}
/* check if transmission is ongoing on message object */
/*<<<DD_CAN001_API_5_2>>>*/
else if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_TXRQ_Msk, \
CAN_MO_MOSTAT_TXRQ_Pos) == 1U)
{
Error = (uint32_t)CAN001_MO_BUSY;
DBG002_INFO(DBG002_GID_CAN001,Error, 0, NULL);
}
else
{
/* Put transmit request to message object */
/*<<<DD_CAN001_API_5_3>>>*/
CAN_MOxRegs->MOCTR = CAN_MO_MOCTR_SETTXRQ_Msk;
Error = (uint32_t)DAVEApp_SUCCESS;
}
DBG002_FUNCTION_EXIT(DBG002_GID_CAN001,CAN001_FUNCTION_EXIT);
return Error;
}
status_t CAN001_SendDataFrame(const CAN001_HandleType* Handle, uint8_t MsgObjnr)
{
uint32_t Error = (uint32_t)CAN001_ERROR;
uint8_t MsgNo = (uint8_t)(Handle->FirstMOMapping+(MsgObjnr-1U));
/* Mapping to message object offset value*/
CAN_MO_TypeDef* CAN_MOxRegs = \
GET_MO_OFFSET(MsgNo);
DBG002_N((MsgObjnr == 0U)||(MsgObjnr > Handle->NodeMONo));
/* check if message object is not a transmit message object */
/*<<<DD_CAN001_API_4_1>>>*/
if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_DIR_Msk, \
CAN_MO_MOSTAT_DIR_Pos) != (uint32_t)TRANSMSGOBJ)
{
Error = (uint32_t)CAN001_MO_NOT_ACCEPTABLE;
DBG002_ERROR(APP_GID, DBG002_MESSAGEID_LITERAL, sizeof(Error), &Error);
}
/* check if message is disabled */
else if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_MSGVAL_Msk, \
CAN_MO_MOSTAT_MSGVAL_Pos) == 0U)
{
Error = (uint32_t)CAN001_MSGOBJ_DISABLED;
DBG002_INFO(APP_GID, DBG002_MESSAGEID_LITERAL, sizeof(Error), &Error);
}
/* check if transmission is ongoing on message object */
/*<<<DD_CAN001_API_4_2>>>*/
else if( RD_REG(CAN_MOxRegs->MOSTAT, CAN_MO_MOSTAT_TXRQ_Msk, \
CAN_MO_MOSTAT_TXRQ_Pos) == 1U)
{
Error = (uint32_t)CAN001_MO_BUSY;
DBG002_INFO(APP_GID, DBG002_MESSAGEID_LITERAL, sizeof(Error), &Error);
}
else
{
/* set TXRQ bit */
/*<<<DD_CAN001_API_4_3>>>*/
CAN_MOxRegs->MOCTR = CAN_MO_MOCTR_SETTXRQ_Msk;
Error = (uint32_t)DAVEApp_SUCCESS;
}
return Error;
}
status_t CAN001_ConfigMsgObj
(
const CAN001_HandleType* Handle,
const CAN001_MessageHandleType* SwMsgObjptr,
uint8_t MsgObjnr
)
{
uint32_t Error = (uint32_t)CAN001_MO_NOT_FOUND;
uint8_t MsgNo = (uint8_t)(Handle->FirstMOMapping+(MsgObjnr-1U));
/* Mapping to message object offset value*/
CAN_MO_TypeDef* CAN_MOxRegs = \
GET_MO_OFFSET(MsgNo);
/* <<<DD_CAN001_API_3>>> */
DBG002_FUNCTION_ENTRY(DBG002_GID_CAN001,CAN001_FUNCTION_ENTRY);
DBG002_N((MsgObjnr == 0U)||(MsgObjnr > Handle->NodeMONo));
if (((SwMsgObjptr->IDExten != (uint8_t)STANDARDTYPE) && \
(SwMsgObjptr->IDExten != (uint8_t)EXTENDEDTYPE))
||((SwMsgObjptr->MsgObjEN != CAN001_ENABLE) && (SwMsgObjptr->MsgObjEN != CAN001_DISABLE))
||((SwMsgObjptr->MsgObjType != RECMSGOBJ) && (SwMsgObjptr->MsgObjType != TRANSMSGOBJ)))
{
Error = (uint32_t)CAN001_INVALID_INPUT;
ERROR(DBG002_GID_CAN001,Error, 0, NULL);
}
/* check if message object is to be disabled */
/*<<<DD_CAN001_API_3_1>>>*/
else if (SwMsgObjptr->MsgObjEN == CAN001_DISABLE)
{
/* Reset MSGVAL bit */
CAN_MOxRegs->MOCTR = CAN_MO_MOCTR_RESMSGVAL_Msk;
Error = (uint32_t)DAVEApp_SUCCESS;
} /* if (SwMsgObjptr->MsgObjEN == CAN001_DISABLE) */
else
{
CAN001_lConfigMORegs(SwMsgObjptr, (uint8_t)(Handle->FirstMOMapping+(MsgObjnr-1U)));
Error = (uint32_t)DAVEApp_SUCCESS;
} /*if (SwMsgObjptr->MsgObjEN == CAN001_ENABLE)*/
DBG002_FUNCTION_EXIT(DBG002_GID_CAN001,CAN001_FUNCTION_EXIT);
return Error;
}
/*<<<DD_CAN001_API_2>>>*/
void CAN001_NodeDeInit(const CAN001_HandleType* Handle)
{
int32_t Count = 0;
uint8_t MsgNo;
uint32_t* MsgPndRegOffset = 0;
CAN_MO_TypeDef* CAN_MOxRegs = CAN_MO0;
/* Map to node register offser as per node ID */
CAN_NODE_TypeDef* CAN_NodexRegs = Handle->CanNodeRegs;
/* Reset all message object registers and deallocate to free list */
for(Count = (int32_t)(Handle->NodeMONo)-1; Count >= 0; Count--)
{
MsgNo = (uint8_t)(Handle->FirstMOMapping+(uint32_t)Count);
/* Mapping to message object offset value*/
CAN_MOxRegs = GET_MO_OFFSET(MsgNo);
/* Reset all message objects registers */
CAN_MOxRegs->MOFCR = (0x00000000U);
CAN_MOxRegs->MOIPR &= (0x000000FFU);
CAN_MOxRegs->MOAMR = (0x3FFFFFFFU);
CAN_MOxRegs->MODATAL = (0x00000000U);
CAN_MOxRegs->MODATAH = (0x00000000U);
CAN_MOxRegs->MOAR = (0x00000000U);
CAN_MOxRegs->MOCTR = (0x00000FFFU);
CAN001_lDeallocateMsgObj(Handle->FirstMOMapping+(uint32_t)Count);
}
/* set CCE and INIT bit NCR for disconnecting the node */
CAN_NodexRegs->NCR = (0x00000041U);
/* reset all node registers */
CAN_NodexRegs->NSR = (0x00000000U);
CAN_NodexRegs->NPCR &= (0x0000000FU);
CAN_NodexRegs->NECNT = (0x00600000U);
CAN_NodexRegs->NFCR = (0x00000000U);
CAN_NodexRegs->NBTR = (0x00000000U);
MsgPndRegOffset = GET_MSGPND_OFFSET(Handle->NodeID);
(*MsgPndRegOffset) = (0x00000000U);
}
/* Function to configure message object registers */
static void CAN001_lConfigMORegs(const CAN001_MessageHandleType* MsgObjptr, uint8_t MsgObjnr)
{
CAN_MO_TypeDef* CAN_MOxRegs = GET_MO_OFFSET(MsgObjnr);
uint32_t Count = 0U;
/* <<<DD_CAN001_nonAPI_3>>> */
/* Disable Message object */
CAN_MOxRegs->MOCTR = CAN_MO_MOCTR_RESMSGVAL_Msk;
if ((CAN_FrameType)MsgObjptr->IDExten == STANDARDTYPE)
{
/* Configure standard identifier and identifier mask*/
CAN_MOxRegs->MOAR = ((((uint32_t)2UL << CAN_MO_MOAR_PRI_Pos) & \
(uint32_t)CAN_MO_MOAR_PRI_Msk) | \
((uint32_t)(MsgObjptr->Identifier << CAN_MO_MOAR_STDID_Pos) \
& (uint32_t)CAN_MO_MOAR_STDID_Msk));
if(MsgObjptr->IDEMask == 1U)
{
CAN_MOxRegs->MOAMR = ((((uint32_t)1UL << CAN_MO_MOAMR_MIDE_Pos) & \
(uint32_t)CAN_MO_MOAMR_MIDE_Msk) | \
((uint32_t)(MsgObjptr->IDMask << CAN_MO_MOAR_STDID_Pos) \
& (uint32_t)CAN_MO_MOAR_STDID_Msk));
}
else
{
CAN_MOxRegs->MOAMR = ((((uint32_t)0UL << CAN_MO_MOAMR_MIDE_Pos) & \
(uint32_t)CAN_MO_MOAMR_MIDE_Msk) | \
((uint32_t)CAN_MO_MOAMR_AM_Msk & (uint32_t)MsgObjptr->IDMask));
}
} /* if (MsgObjptr->IDExten == STANDARDTYPE) */
else
{
/* Configure Extended identifier and identifier mask*/
CAN_MOxRegs->MOAR = ((((uint32_t)2UL << CAN_MO_MOAR_PRI_Pos) & \
(uint32_t)CAN_MO_MOAR_PRI_Msk) | \
((uint32_t)(CAN_MO_MOAR_ID_Msk & MsgObjptr->Identifier)) | \
(((uint32_t)1UL << CAN_MO_MOAR_IDE_Pos ) & \
(uint32_t)CAN_MO_MOAR_IDE_Msk));
CAN_MOxRegs->MOAMR = (((uint32_t)((uint32_t)MsgObjptr->IDEMask << CAN_MO_MOAMR_MIDE_Pos) & \
(uint32_t)CAN_MO_MOAMR_MIDE_Msk) | \
(uint32_t)(CAN_MO_MOAMR_AM_Msk & MsgObjptr->IDMask));
}
/* Check whether message object is transmit message object */
/*<<<DD_CAN001_API_3_2>>>*/
if (MsgObjptr->MsgObjType == TRANSMSGOBJ)
{
/* Configure data length */
WR_REG(CAN_MOxRegs->MOFCR, (uint32_t)CAN_MO_MOFCR_DLC_Msk, \
CAN_MO_MOFCR_DLC_Pos, (uint32_t)MsgObjptr->DataLength);
/* Configure Data registers*/
for(Count = 0U; Count < MsgObjptr->DataLength; Count++)
{
if(Count < 4U)
{
WR_REG(CAN_MOxRegs->MODATAL, (uint32_t)((uint32_t)CAN_MO_MODATAL_DB0_Msk << (Count*8U)), \
(Count*8U),(uint32_t)MsgObjptr->data[Count]);
}
else
{
WR_REG(CAN_MOxRegs->MODATAH, (uint32_t)(CAN_MO_MODATAL_DB0_Msk << ((Count-4U)*8U)), \
((Count-4U)*8U), (uint32_t)MsgObjptr->data[Count]);
} /* if(Count < 4) */
} /* for(Count = 0; Count < MsgObjptr->DataLength; Count++) */
/* Set MO as Transmit message object and set NEWDAT bit */
CAN_MOxRegs->MOCTR = (CAN_MO_MOCTR_SETDIR_Msk | \
CAN_MO_MOCTR_SETNEWDAT_Msk);
}/*if (MsgType == TRANSMSGOBJ)*/
/*<<<DD_CAN001_API_3_3>>>*/
else
{
/* Set MO as Receive message object and set RXEN bit */
CAN_MOxRegs->MOCTR = CAN_MO_MOCTR_RESDIR_Msk;
} /*if(MsgType == RECMSGOBJ)*/
/* Reset RTSEL and Set MSGVAL ,TXEN0 and TXEN1 bits */
CAN_MOxRegs->MOCTR = (CAN_MO_MOCTR_SETTXEN0_Msk | \
CAN_MO_MOCTR_SETTXEN1_Msk | \
CAN_MO_MOCTR_SETRXEN_Msk | \
CAN_MO_MOCTR_SETMSGVAL_Msk );
}
