shinichi nakazawa / mbed-src

mbed library sources

Dependents:   Nucleo_blink_led

Fork of mbed-src by mbed official

targets/hal/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c@462:e03396e14338, 2015-02-03 (annotated)

Committer:
mbed_official
Date:
Tue Feb 03 13:15:07 2015 +0000
Revision:
462:e03396e14338
Synchronized with git revision ae7e2e76ed57b9ca11dc05f51f097df1de144fe2



Full URL: https://github.com/mbedmicro/mbed/commit/ae7e2e76ed57b9ca11dc05f51f097df1de144fe2/



Add support for EA LPC4088_DM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 462:e03396e14338 1 /* mbed Microcontroller Library
mbed_official 462:e03396e14338 2 * Copyright (c) 2006-2013 ARM Limited
mbed_official 462:e03396e14338 3 *
mbed_official 462:e03396e14338 4 * Licensed under the Apache License, Version 2.0 (the "License");
mbed_official 462:e03396e14338 5 * you may not use this file except in compliance with the License.
mbed_official 462:e03396e14338 6 * You may obtain a copy of the License at
mbed_official 462:e03396e14338 7 *
mbed_official 462:e03396e14338 8 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 462:e03396e14338 9 *
mbed_official 462:e03396e14338 10 * Unless required by applicable law or agreed to in writing, software
mbed_official 462:e03396e14338 11 * distributed under the License is distributed on an "AS IS" BASIS,
mbed_official 462:e03396e14338 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mbed_official 462:e03396e14338 13 * See the License for the specific language governing permissions and
mbed_official 462:e03396e14338 14 * limitations under the License.
mbed_official 462:e03396e14338 15 */
mbed_official 462:e03396e14338 16 #include "can_api.h"
mbed_official 462:e03396e14338 17
mbed_official 462:e03396e14338 18 #include "cmsis.h"
mbed_official 462:e03396e14338 19 #include "pinmap.h"
mbed_official 462:e03396e14338 20
mbed_official 462:e03396e14338 21 #include <math.h>
mbed_official 462:e03396e14338 22 #include <string.h>
mbed_official 462:e03396e14338 23
mbed_official 462:e03396e14338 24 #define CAN_NUM 2
mbed_official 462:e03396e14338 25
mbed_official 462:e03396e14338 26 /* Acceptance filter mode in AFMR register */
mbed_official 462:e03396e14338 27 #define ACCF_OFF 0x01
mbed_official 462:e03396e14338 28 #define ACCF_BYPASS 0x02
mbed_official 462:e03396e14338 29 #define ACCF_ON 0x00
mbed_official 462:e03396e14338 30 #define ACCF_FULLCAN 0x04
mbed_official 462:e03396e14338 31
mbed_official 462:e03396e14338 32 /* There are several bit timing calculators on the internet.
mbed_official 462:e03396e14338 33 http://www.port.de/engl/canprod/sv_req_form.html
mbed_official 462:e03396e14338 34 http://www.kvaser.com/can/index.htm
mbed_official 462:e03396e14338 35 */
mbed_official 462:e03396e14338 36
mbed_official 462:e03396e14338 37 static const PinMap PinMap_CAN_RD[] = {
mbed_official 462:e03396e14338 38 {P0_0 , CAN_1, 1},
mbed_official 462:e03396e14338 39 {P0_4 , CAN_2, 2},
mbed_official 462:e03396e14338 40 {P0_21, CAN_1, 4},
mbed_official 462:e03396e14338 41 {NC , NC , 0}
mbed_official 462:e03396e14338 42 };
mbed_official 462:e03396e14338 43
mbed_official 462:e03396e14338 44 static const PinMap PinMap_CAN_TD[] = {
mbed_official 462:e03396e14338 45 {P0_1 , CAN_1, 1},
mbed_official 462:e03396e14338 46 {P0_5 , CAN_2, 2},
mbed_official 462:e03396e14338 47 {NC , NC , 0}
mbed_official 462:e03396e14338 48 };
mbed_official 462:e03396e14338 49
mbed_official 462:e03396e14338 50 // Type definition to hold a CAN message
mbed_official 462:e03396e14338 51 struct CANMsg {
mbed_official 462:e03396e14338 52 unsigned int reserved1 : 16;
mbed_official 462:e03396e14338 53 unsigned int dlc : 4; // Bits 16..19: DLC - Data Length Counter
mbed_official 462:e03396e14338 54 unsigned int reserved0 : 10;
mbed_official 462:e03396e14338 55 unsigned int rtr : 1; // Bit 30: Set if this is a RTR message
mbed_official 462:e03396e14338 56 unsigned int type : 1; // Bit 31: Set if this is a 29-bit ID message
mbed_official 462:e03396e14338 57 unsigned int id; // CAN Message ID (11-bit or 29-bit)
mbed_official 462:e03396e14338 58 unsigned char data[8]; // CAN Message Data Bytes 0-7
mbed_official 462:e03396e14338 59 };
mbed_official 462:e03396e14338 60 typedef struct CANMsg CANMsg;
mbed_official 462:e03396e14338 61
mbed_official 462:e03396e14338 62 static uint32_t can_irq_ids[CAN_NUM] = {0};
mbed_official 462:e03396e14338 63 static can_irq_handler irq_handler;
mbed_official 462:e03396e14338 64
mbed_official 462:e03396e14338 65 static uint32_t can_disable(can_t *obj) {
mbed_official 462:e03396e14338 66 uint32_t sm = obj->dev->MOD;
mbed_official 462:e03396e14338 67 obj->dev->MOD |= 1;
mbed_official 462:e03396e14338 68 return sm;
mbed_official 462:e03396e14338 69 }
mbed_official 462:e03396e14338 70
mbed_official 462:e03396e14338 71 static inline void can_enable(can_t *obj) {
mbed_official 462:e03396e14338 72 if (obj->dev->MOD & 1) {
mbed_official 462:e03396e14338 73 obj->dev->MOD &= ~(1);
mbed_official 462:e03396e14338 74 }
mbed_official 462:e03396e14338 75 }
mbed_official 462:e03396e14338 76
mbed_official 462:e03396e14338 77 int can_mode(can_t *obj, CanMode mode)
mbed_official 462:e03396e14338 78 {
mbed_official 462:e03396e14338 79 return 0; // not implemented
mbed_official 462:e03396e14338 80 }
mbed_official 462:e03396e14338 81
mbed_official 462:e03396e14338 82 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
mbed_official 462:e03396e14338 83 return 0; // not implemented
mbed_official 462:e03396e14338 84 }
mbed_official 462:e03396e14338 85
mbed_official 462:e03396e14338 86 static inline void can_irq(uint32_t icr, uint32_t index) {
mbed_official 462:e03396e14338 87 uint32_t i;
mbed_official 462:e03396e14338 88
mbed_official 462:e03396e14338 89 for(i = 0; i < 8; i++)
mbed_official 462:e03396e14338 90 {
mbed_official 462:e03396e14338 91 if((can_irq_ids[index] != 0) && (icr & (1 << i)))
mbed_official 462:e03396e14338 92 {
mbed_official 462:e03396e14338 93 switch (i) {
mbed_official 462:e03396e14338 94 case 0: irq_handler(can_irq_ids[index], IRQ_RX); break;
mbed_official 462:e03396e14338 95 case 1: irq_handler(can_irq_ids[index], IRQ_TX); break;
mbed_official 462:e03396e14338 96 case 2: irq_handler(can_irq_ids[index], IRQ_ERROR); break;
mbed_official 462:e03396e14338 97 case 3: irq_handler(can_irq_ids[index], IRQ_OVERRUN); break;
mbed_official 462:e03396e14338 98 case 4: irq_handler(can_irq_ids[index], IRQ_WAKEUP); break;
mbed_official 462:e03396e14338 99 case 5: irq_handler(can_irq_ids[index], IRQ_PASSIVE); break;
mbed_official 462:e03396e14338 100 case 6: irq_handler(can_irq_ids[index], IRQ_ARB); break;
mbed_official 462:e03396e14338 101 case 7: irq_handler(can_irq_ids[index], IRQ_BUS); break;
mbed_official 462:e03396e14338 102 case 8: irq_handler(can_irq_ids[index], IRQ_READY); break;
mbed_official 462:e03396e14338 103 }
mbed_official 462:e03396e14338 104 }
mbed_official 462:e03396e14338 105 }
mbed_official 462:e03396e14338 106 }
mbed_official 462:e03396e14338 107
mbed_official 462:e03396e14338 108 // Have to check that the CAN block is active before reading the Interrupt
mbed_official 462:e03396e14338 109 // Control Register, or the mbed hangs
mbed_official 462:e03396e14338 110 void can_irq_n() {
mbed_official 462:e03396e14338 111 uint32_t icr;
mbed_official 462:e03396e14338 112
mbed_official 462:e03396e14338 113 if(LPC_SC->PCONP & (1 << 13)) {
mbed_official 462:e03396e14338 114 icr = LPC_CAN1->ICR & 0x1FF;
mbed_official 462:e03396e14338 115 can_irq(icr, 0);
mbed_official 462:e03396e14338 116 }
mbed_official 462:e03396e14338 117
mbed_official 462:e03396e14338 118 if(LPC_SC->PCONP & (1 << 14)) {
mbed_official 462:e03396e14338 119 icr = LPC_CAN2->ICR & 0x1FF;
mbed_official 462:e03396e14338 120 can_irq(icr, 1);
mbed_official 462:e03396e14338 121 }
mbed_official 462:e03396e14338 122 }
mbed_official 462:e03396e14338 123
mbed_official 462:e03396e14338 124 // Register CAN object's irq handler
mbed_official 462:e03396e14338 125 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
mbed_official 462:e03396e14338 126 irq_handler = handler;
mbed_official 462:e03396e14338 127 can_irq_ids[obj->index] = id;
mbed_official 462:e03396e14338 128 }
mbed_official 462:e03396e14338 129
mbed_official 462:e03396e14338 130 // Unregister CAN object's irq handler
mbed_official 462:e03396e14338 131 void can_irq_free(can_t *obj) {
mbed_official 462:e03396e14338 132 obj->dev->IER &= ~(1);
mbed_official 462:e03396e14338 133 can_irq_ids[obj->index] = 0;
mbed_official 462:e03396e14338 134
mbed_official 462:e03396e14338 135 if ((can_irq_ids[0] == 0) && (can_irq_ids[1] == 0)) {
mbed_official 462:e03396e14338 136 NVIC_DisableIRQ(CAN_IRQn);
mbed_official 462:e03396e14338 137 }
mbed_official 462:e03396e14338 138 }
mbed_official 462:e03396e14338 139
mbed_official 462:e03396e14338 140 // Clear or set a irq
mbed_official 462:e03396e14338 141 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
mbed_official 462:e03396e14338 142 uint32_t ier;
mbed_official 462:e03396e14338 143
mbed_official 462:e03396e14338 144 switch (type) {
mbed_official 462:e03396e14338 145 case IRQ_RX: ier = (1 << 0); break;
mbed_official 462:e03396e14338 146 case IRQ_TX: ier = (1 << 1); break;
mbed_official 462:e03396e14338 147 case IRQ_ERROR: ier = (1 << 2); break;
mbed_official 462:e03396e14338 148 case IRQ_OVERRUN: ier = (1 << 3); break;
mbed_official 462:e03396e14338 149 case IRQ_WAKEUP: ier = (1 << 4); break;
mbed_official 462:e03396e14338 150 case IRQ_PASSIVE: ier = (1 << 5); break;
mbed_official 462:e03396e14338 151 case IRQ_ARB: ier = (1 << 6); break;
mbed_official 462:e03396e14338 152 case IRQ_BUS: ier = (1 << 7); break;
mbed_official 462:e03396e14338 153 case IRQ_READY: ier = (1 << 8); break;
mbed_official 462:e03396e14338 154 default: return;
mbed_official 462:e03396e14338 155 }
mbed_official 462:e03396e14338 156
mbed_official 462:e03396e14338 157 obj->dev->MOD |= 1;
mbed_official 462:e03396e14338 158 if(enable == 0) {
mbed_official 462:e03396e14338 159 obj->dev->IER &= ~ier;
mbed_official 462:e03396e14338 160 }
mbed_official 462:e03396e14338 161 else {
mbed_official 462:e03396e14338 162 obj->dev->IER |= ier;
mbed_official 462:e03396e14338 163 }
mbed_official 462:e03396e14338 164 obj->dev->MOD &= ~(1);
mbed_official 462:e03396e14338 165
mbed_official 462:e03396e14338 166 // Enable NVIC if at least 1 interrupt is active
mbed_official 462:e03396e14338 167 if(((LPC_SC->PCONP & (1 << 13)) && LPC_CAN1->IER) || ((LPC_SC->PCONP & (1 << 14)) && LPC_CAN2->IER)) {
mbed_official 462:e03396e14338 168 NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq_n);
mbed_official 462:e03396e14338 169 NVIC_EnableIRQ(CAN_IRQn);
mbed_official 462:e03396e14338 170 }
mbed_official 462:e03396e14338 171 else {
mbed_official 462:e03396e14338 172 NVIC_DisableIRQ(CAN_IRQn);
mbed_official 462:e03396e14338 173 }
mbed_official 462:e03396e14338 174 }
mbed_official 462:e03396e14338 175
mbed_official 462:e03396e14338 176 // This table has the sampling points as close to 75% as possible. The first
mbed_official 462:e03396e14338 177 // value is TSEG1, the second TSEG2.
mbed_official 462:e03396e14338 178 static const int timing_pts[23][2] = {
mbed_official 462:e03396e14338 179 {0x0, 0x0}, // 2, 50%
mbed_official 462:e03396e14338 180 {0x1, 0x0}, // 3, 67%
mbed_official 462:e03396e14338 181 {0x2, 0x0}, // 4, 75%
mbed_official 462:e03396e14338 182 {0x3, 0x0}, // 5, 80%
mbed_official 462:e03396e14338 183 {0x3, 0x1}, // 6, 67%
mbed_official 462:e03396e14338 184 {0x4, 0x1}, // 7, 71%
mbed_official 462:e03396e14338 185 {0x5, 0x1}, // 8, 75%
mbed_official 462:e03396e14338 186 {0x6, 0x1}, // 9, 78%
mbed_official 462:e03396e14338 187 {0x6, 0x2}, // 10, 70%
mbed_official 462:e03396e14338 188 {0x7, 0x2}, // 11, 73%
mbed_official 462:e03396e14338 189 {0x8, 0x2}, // 12, 75%
mbed_official 462:e03396e14338 190 {0x9, 0x2}, // 13, 77%
mbed_official 462:e03396e14338 191 {0x9, 0x3}, // 14, 71%
mbed_official 462:e03396e14338 192 {0xA, 0x3}, // 15, 73%
mbed_official 462:e03396e14338 193 {0xB, 0x3}, // 16, 75%
mbed_official 462:e03396e14338 194 {0xC, 0x3}, // 17, 76%
mbed_official 462:e03396e14338 195 {0xD, 0x3}, // 18, 78%
mbed_official 462:e03396e14338 196 {0xD, 0x4}, // 19, 74%
mbed_official 462:e03396e14338 197 {0xE, 0x4}, // 20, 75%
mbed_official 462:e03396e14338 198 {0xF, 0x4}, // 21, 76%
mbed_official 462:e03396e14338 199 {0xF, 0x5}, // 22, 73%
mbed_official 462:e03396e14338 200 {0xF, 0x6}, // 23, 70%
mbed_official 462:e03396e14338 201 {0xF, 0x7}, // 24, 67%
mbed_official 462:e03396e14338 202 };
mbed_official 462:e03396e14338 203
mbed_official 462:e03396e14338 204 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw) {
mbed_official 462:e03396e14338 205 uint32_t btr;
mbed_official 462:e03396e14338 206 uint16_t brp = 0;
mbed_official 462:e03396e14338 207 uint32_t calcbit;
mbed_official 462:e03396e14338 208 uint32_t bitwidth;
mbed_official 462:e03396e14338 209 int hit = 0;
mbed_official 462:e03396e14338 210 int bits;
mbed_official 462:e03396e14338 211
mbed_official 462:e03396e14338 212 bitwidth = (pclk / cclk);
mbed_official 462:e03396e14338 213
mbed_official 462:e03396e14338 214 brp = bitwidth / 0x18;
mbed_official 462:e03396e14338 215 while ((!hit) && (brp < bitwidth / 4)) {
mbed_official 462:e03396e14338 216 brp++;
mbed_official 462:e03396e14338 217 for (bits = 22; bits > 0; bits--) {
mbed_official 462:e03396e14338 218 calcbit = (bits + 3) * (brp + 1);
mbed_official 462:e03396e14338 219 if (calcbit == bitwidth) {
mbed_official 462:e03396e14338 220 hit = 1;
mbed_official 462:e03396e14338 221 break;
mbed_official 462:e03396e14338 222 }
mbed_official 462:e03396e14338 223 }
mbed_official 462:e03396e14338 224 }
mbed_official 462:e03396e14338 225
mbed_official 462:e03396e14338 226 if (hit) {
mbed_official 462:e03396e14338 227 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
mbed_official 462:e03396e14338 228 | ((timing_pts[bits][0] << 16) & 0x000F0000)
mbed_official 462:e03396e14338 229 | ((psjw << 14) & 0x0000C000)
mbed_official 462:e03396e14338 230 | ((brp << 0) & 0x000003FF);
mbed_official 462:e03396e14338 231 } else {
mbed_official 462:e03396e14338 232 btr = 0xFFFFFFFF;
mbed_official 462:e03396e14338 233 }
mbed_official 462:e03396e14338 234
mbed_official 462:e03396e14338 235 return btr;
mbed_official 462:e03396e14338 236
mbed_official 462:e03396e14338 237 }
mbed_official 462:e03396e14338 238
mbed_official 462:e03396e14338 239 void can_init(can_t *obj, PinName rd, PinName td) {
mbed_official 462:e03396e14338 240 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
mbed_official 462:e03396e14338 241 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
mbed_official 462:e03396e14338 242 obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
mbed_official 462:e03396e14338 243 MBED_ASSERT((int)obj->dev != NC);
mbed_official 462:e03396e14338 244
mbed_official 462:e03396e14338 245 switch ((int)obj->dev) {
mbed_official 462:e03396e14338 246 case CAN_1: LPC_SC->PCONP |= 1 << 13; break;
mbed_official 462:e03396e14338 247 case CAN_2: LPC_SC->PCONP |= 1 << 14; break;
mbed_official 462:e03396e14338 248 }
mbed_official 462:e03396e14338 249
mbed_official 462:e03396e14338 250 pinmap_pinout(rd, PinMap_CAN_RD);
mbed_official 462:e03396e14338 251 pinmap_pinout(td, PinMap_CAN_TD);
mbed_official 462:e03396e14338 252
mbed_official 462:e03396e14338 253 switch ((int)obj->dev) {
mbed_official 462:e03396e14338 254 case CAN_1: obj->index = 0; break;
mbed_official 462:e03396e14338 255 case CAN_2: obj->index = 1; break;
mbed_official 462:e03396e14338 256 }
mbed_official 462:e03396e14338 257
mbed_official 462:e03396e14338 258 can_reset(obj);
mbed_official 462:e03396e14338 259 obj->dev->IER = 0; // Disable Interrupts
mbed_official 462:e03396e14338 260 can_frequency(obj, 100000);
mbed_official 462:e03396e14338 261
mbed_official 462:e03396e14338 262 LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
mbed_official 462:e03396e14338 263 }
mbed_official 462:e03396e14338 264
mbed_official 462:e03396e14338 265 void can_free(can_t *obj) {
mbed_official 462:e03396e14338 266 switch ((int)obj->dev) {
mbed_official 462:e03396e14338 267 case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;
mbed_official 462:e03396e14338 268 case CAN_2: LPC_SC->PCONP &= ~(1 << 14); break;
mbed_official 462:e03396e14338 269 }
mbed_official 462:e03396e14338 270 }
mbed_official 462:e03396e14338 271
mbed_official 462:e03396e14338 272 int can_frequency(can_t *obj, int f) {
mbed_official 462:e03396e14338 273 int pclk = PeripheralClock;
mbed_official 462:e03396e14338 274
mbed_official 462:e03396e14338 275 int btr = can_speed(pclk, (unsigned int)f, 1);
mbed_official 462:e03396e14338 276
mbed_official 462:e03396e14338 277 if (btr > 0) {
mbed_official 462:e03396e14338 278 uint32_t modmask = can_disable(obj);
mbed_official 462:e03396e14338 279 obj->dev->BTR = btr;
mbed_official 462:e03396e14338 280 obj->dev->MOD = modmask;
mbed_official 462:e03396e14338 281 return 1;
mbed_official 462:e03396e14338 282 } else {
mbed_official 462:e03396e14338 283 return 0;
mbed_official 462:e03396e14338 284 }
mbed_official 462:e03396e14338 285 }
mbed_official 462:e03396e14338 286
mbed_official 462:e03396e14338 287 int can_write(can_t *obj, CAN_Message msg, int cc) {
mbed_official 462:e03396e14338 288 unsigned int CANStatus;
mbed_official 462:e03396e14338 289 CANMsg m;
mbed_official 462:e03396e14338 290
mbed_official 462:e03396e14338 291 can_enable(obj);
mbed_official 462:e03396e14338 292
mbed_official 462:e03396e14338 293 m.id = msg.id ;
mbed_official 462:e03396e14338 294 m.dlc = msg.len & 0xF;
mbed_official 462:e03396e14338 295 m.rtr = msg.type;
mbed_official 462:e03396e14338 296 m.type = msg.format;
mbed_official 462:e03396e14338 297 memcpy(m.data, msg.data, msg.len);
mbed_official 462:e03396e14338 298 const unsigned int *buf = (const unsigned int *)&m;
mbed_official 462:e03396e14338 299
mbed_official 462:e03396e14338 300 CANStatus = obj->dev->SR;
mbed_official 462:e03396e14338 301 if (CANStatus & 0x00000004) {
mbed_official 462:e03396e14338 302 obj->dev->TFI1 = buf[0] & 0xC00F0000;
mbed_official 462:e03396e14338 303 obj->dev->TID1 = buf[1];
mbed_official 462:e03396e14338 304 obj->dev->TDA1 = buf[2];
mbed_official 462:e03396e14338 305 obj->dev->TDB1 = buf[3];
mbed_official 462:e03396e14338 306 if(cc) {
mbed_official 462:e03396e14338 307 obj->dev->CMR = 0x30;
mbed_official 462:e03396e14338 308 } else {
mbed_official 462:e03396e14338 309 obj->dev->CMR = 0x21;
mbed_official 462:e03396e14338 310 }
mbed_official 462:e03396e14338 311 return 1;
mbed_official 462:e03396e14338 312
mbed_official 462:e03396e14338 313 } else if (CANStatus & 0x00000400) {
mbed_official 462:e03396e14338 314 obj->dev->TFI2 = buf[0] & 0xC00F0000;
mbed_official 462:e03396e14338 315 obj->dev->TID2 = buf[1];
mbed_official 462:e03396e14338 316 obj->dev->TDA2 = buf[2];
mbed_official 462:e03396e14338 317 obj->dev->TDB2 = buf[3];
mbed_official 462:e03396e14338 318 if (cc) {
mbed_official 462:e03396e14338 319 obj->dev->CMR = 0x50;
mbed_official 462:e03396e14338 320 } else {
mbed_official 462:e03396e14338 321 obj->dev->CMR = 0x41;
mbed_official 462:e03396e14338 322 }
mbed_official 462:e03396e14338 323 return 1;
mbed_official 462:e03396e14338 324
mbed_official 462:e03396e14338 325 } else if (CANStatus & 0x00040000) {
mbed_official 462:e03396e14338 326 obj->dev->TFI3 = buf[0] & 0xC00F0000;
mbed_official 462:e03396e14338 327 obj->dev->TID3 = buf[1];
mbed_official 462:e03396e14338 328 obj->dev->TDA3 = buf[2];
mbed_official 462:e03396e14338 329 obj->dev->TDB3 = buf[3];
mbed_official 462:e03396e14338 330 if (cc) {
mbed_official 462:e03396e14338 331 obj->dev->CMR = 0x90;
mbed_official 462:e03396e14338 332 } else {
mbed_official 462:e03396e14338 333 obj->dev->CMR = 0x81;
mbed_official 462:e03396e14338 334 }
mbed_official 462:e03396e14338 335 return 1;
mbed_official 462:e03396e14338 336 }
mbed_official 462:e03396e14338 337
mbed_official 462:e03396e14338 338 return 0;
mbed_official 462:e03396e14338 339 }
mbed_official 462:e03396e14338 340
mbed_official 462:e03396e14338 341 int can_read(can_t *obj, CAN_Message *msg, int handle) {
mbed_official 462:e03396e14338 342 CANMsg x;
mbed_official 462:e03396e14338 343 unsigned int *i = (unsigned int *)&x;
mbed_official 462:e03396e14338 344
mbed_official 462:e03396e14338 345 can_enable(obj);
mbed_official 462:e03396e14338 346
mbed_official 462:e03396e14338 347 if (obj->dev->GSR & 0x1) {
mbed_official 462:e03396e14338 348 *i++ = obj->dev->RFS; // Frame
mbed_official 462:e03396e14338 349 *i++ = obj->dev->RID; // ID
mbed_official 462:e03396e14338 350 *i++ = obj->dev->RDA; // Data A
mbed_official 462:e03396e14338 351 *i++ = obj->dev->RDB; // Data B
mbed_official 462:e03396e14338 352 obj->dev->CMR = 0x04; // release receive buffer
mbed_official 462:e03396e14338 353
mbed_official 462:e03396e14338 354 msg->id = x.id;
mbed_official 462:e03396e14338 355 msg->len = x.dlc;
mbed_official 462:e03396e14338 356 msg->format = (x.type)? CANExtended : CANStandard;
mbed_official 462:e03396e14338 357 msg->type = (x.rtr)? CANRemote: CANData;
mbed_official 462:e03396e14338 358 memcpy(msg->data,x.data,x.dlc);
mbed_official 462:e03396e14338 359 return 1;
mbed_official 462:e03396e14338 360 }
mbed_official 462:e03396e14338 361
mbed_official 462:e03396e14338 362 return 0;
mbed_official 462:e03396e14338 363 }
mbed_official 462:e03396e14338 364
mbed_official 462:e03396e14338 365 void can_reset(can_t *obj) {
mbed_official 462:e03396e14338 366 can_disable(obj);
mbed_official 462:e03396e14338 367 obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset
mbed_official 462:e03396e14338 368 }
mbed_official 462:e03396e14338 369
mbed_official 462:e03396e14338 370 unsigned char can_rderror(can_t *obj) {
mbed_official 462:e03396e14338 371 return (obj->dev->GSR >> 16) & 0xFF;
mbed_official 462:e03396e14338 372 }
mbed_official 462:e03396e14338 373
mbed_official 462:e03396e14338 374 unsigned char can_tderror(can_t *obj) {
mbed_official 462:e03396e14338 375 return (obj->dev->GSR >> 24) & 0xFF;
mbed_official 462:e03396e14338 376 }
mbed_official 462:e03396e14338 377
mbed_official 462:e03396e14338 378 void can_monitor(can_t *obj, int silent) {
mbed_official 462:e03396e14338 379 uint32_t mod_mask = can_disable(obj);
mbed_official 462:e03396e14338 380 if (silent) {
mbed_official 462:e03396e14338 381 obj->dev->MOD |= (1 << 1);
mbed_official 462:e03396e14338 382 } else {
mbed_official 462:e03396e14338 383 obj->dev->MOD &= ~(1 << 1);
mbed_official 462:e03396e14338 384 }
mbed_official 462:e03396e14338 385 if (!(mod_mask & 1)) {
mbed_official 462:e03396e14338 386 can_enable(obj);
mbed_official 462:e03396e14338 387 }
mbed_official 462:e03396e14338 388 }