744 lines
25 KiB
C
744 lines
25 KiB
C
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/*
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******************************************************************************
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* @file driver_can.c
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* @author FreqChip Firmware Team
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* @version V1.0.0
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* @date 2022
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* @brief SD controller HAL module driver.
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* This file provides firmware functions to manage the
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* Controller Area Network (CAN) peripheral
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 FreqChip.
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* All rights reserved.
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******************************************************************************
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*/
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#include "fr30xx.h"
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/************************************************************************************
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* @fn can_init
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*
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* @brief Initializes the CAN peripheral according to the specified
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* parameters in the struct_CANInit_t
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*
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* @param hcan: CAN handle.
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*/
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void can_init(CAN_HandleTypeDef *hcan)
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{
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/* Initialization start */
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__CAN_INIT_START(hcan->CANx);
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__CAN_CHANGE_ENABLE(hcan->CANx);
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/* Timestamp enable */
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__CAN_SET_TIMESTAMP_SELECT_INTERNAL(hcan->CANx);
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/* Bit Rate Prescaler */
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__CAN_SET_NOMINAL_RATE_PRESCALER(hcan->CANx, hcan->Init.Prescaler);
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/* Data time segment1/segment2 */
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__CAN_SET_NOMINAL_TIME_SEG_1(hcan->CANx, hcan->Init.TimeSeg1);
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__CAN_SET_NOMINAL_TIME_SEG_2(hcan->CANx, hcan->Init.TimeSeg2);
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/* Synchronization Jump Width */
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__CAN_SET_NOMINAL_SYNC_WIDTH(hcan->CANx, hcan->Init.SyncJumpWidth);
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/* Bus Monitor Mode */
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hcan->CANx->CCCtrl.MON = hcan->Init.BusMonitorMode ? 1 : 0;
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/* Auto Retransmission mode */
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hcan->CANx->CCCtrl.DAR = hcan->Init.AutoRetransmission ? 0 : 1;
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/* default transmit Pause enable */
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hcan->CANx->CCCtrl.TXP = 1;
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hcan->CANx->CCCtrl.BRSE = CAN_FUNC_DISABLE;
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/* Global Filter Config */
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__CAN_STANDARD_REJECT_UNMATCHED_FRAME(hcan->CANx);
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__CAN_EXTENDED_REJECT_UNMATCHED_FRAME(hcan->CANx);
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__CAN_STANDARD_FILTER_REMOTE_FRAME(hcan->CANx);
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__CAN_EXTENDED_FILTER_REMOTE_FRAME(hcan->CANx);
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/* Tx Buffer Transmission Occurred enable */
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__CAN_Tx_OCCURRED_INT_ENABLE(hcan->CANx, 0xFFFFFFFF);
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/* Int status enable */
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__CAN_INT_LINE_ENABLE(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_message_ram_init
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*
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* @brief initialize standard ID filter / extended ID filter /
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* Tx queue Buffer /
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* Rx FIFO 0/1 / Rx Buffer
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* element size, Nums and start address.
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*
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* @param hcan: CAN handle.
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*/
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void can_message_ram_init(CAN_HandleTypeDef *hcan)
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{
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uint16_t lu16_AddrOffset;
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uint16_t lu16_ElementSize;
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/* Set message ram high 16bit address */
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__CAN_SET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx, hcan->RAMConfig.StartAddress >> 16);
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/* ---------------------------------------------*/
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/* ----- standard ID filter Buffer config ------*/
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/* ---------------------------------------------*/
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/* Calculate Start address */
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lu16_AddrOffset = hcan->RAMConfig.StartAddress;
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/* Set the number of standard message ID filter element */
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__CAN_SET_STANDARD_ID_FILTER_LIST_NUMS(hcan->CANx, hcan->RAMConfig.StandardIDFilterNums);
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/* Set the start address of standard Message ID filter list */
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__CAN_SET_STANDARD_ID_FILTER_LIST_START_ADDRESS(hcan->CANx, lu16_AddrOffset);
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/* ---------------------------------------------*/
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/* ----- extended ID filter Buffer config ------*/
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/* ---------------------------------------------*/
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/* Calculate offset address */
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lu16_AddrOffset += hcan->RAMConfig.StandardIDFilterNums * 4;
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/* Set the number of extended message ID filter element */
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__CAN_SET_EXTENDED_ID_FILTER_LIST_NUMS(hcan->CANx, hcan->RAMConfig.ExtendedIDFilterNums);
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/* Set the start address of extended Message ID filter list */
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__CAN_SET_EXTENDED_ID_FILTER_LIST_START_ADDRESS(hcan->CANx, lu16_AddrOffset);
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/* ---------------------------------------------*/
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/* ---------- Tx queue Buffer congfig ----------*/
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/* ---------------------------------------------*/
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/* Calculate offset address */
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lu16_AddrOffset += hcan->RAMConfig.ExtendedIDFilterNums * 8;
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/* Tx queue operation */
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__CAN_SET_Tx_QUEUE_OPERATION(hcan->CANx);
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/* Set the Number of Tx Queue element */
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__CAN_SET_Tx_FIFO_QUEUE_NUMS(hcan->CANx, hcan->RAMConfig.TxQueueNums);
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__CAN_SET_Tx_BUFFER_NUMS(hcan->CANx, 0);
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/* Set the start address of Tx Queue section in Message RAM */
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__CAN_SET_Tx_BUFFER_START_ADDRESS(hcan->CANx, lu16_AddrOffset);
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/* Tx queue element size /
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Rx FIFO0 element size /
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Rx FIFO1 element size /
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Rx Buffer element size */
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lu16_ElementSize = 16;
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/* classical CAN fixed 16byte */
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/* Record element size */
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hcan->ElementSize = lu16_ElementSize;
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/* ---------------------------------------------*/
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/* ------------- Rx FIFO 0 congfig -------------*/
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/* ---------------------------------------------*/
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/* Calculate offset address */
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lu16_AddrOffset += hcan->RAMConfig.TxQueueNums * lu16_ElementSize;
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/* FIFO 0 blocking mode */
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__CAN_SET_Rx_FIFO0_BLOCKING_MODE(hcan->CANx);
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/* Set the Number of Rx FIFO0 element */
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__CAN_SET_Rx_FIFO0_NUMS(hcan->CANx, hcan->RAMConfig.RxFIFO0Nums);
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/* Set the start address of Rx FIFO 0 section in Message RAM */
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__CAN_SET_Rx_FIFO0_START_ADDRESS(hcan->CANx, lu16_AddrOffset);
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/* ---------------------------------------------*/
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/* ------------- Rx FIFO 1 congfig -------------*/
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/* ---------------------------------------------*/
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/* Calculate offset address */
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lu16_AddrOffset += hcan->RAMConfig.RxFIFO0Nums * lu16_ElementSize;
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/* FIFO 1 blocking mode */
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__CAN_SET_Rx_FIFO1_BLOCKING_MODE(hcan->CANx);
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/* Set the Number of Rx FIFO1 element */
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__CAN_SET_Rx_FIFO1_NUMS(hcan->CANx, hcan->RAMConfig.RxFIFO1Nums);
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/* Set the start address of Rx FIFO 1 section in Message RAM */
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__CAN_SET_Rx_FIFO1_START_ADDRESS(hcan->CANx, lu16_AddrOffset);
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/* ---------------------------------------------*/
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/* -------- Rx dedicated buffer congfig --------*/
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/* ---------------------------------------------*/
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/* Calculate offset address */
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lu16_AddrOffset += hcan->RAMConfig.RxFIFO1Nums * lu16_ElementSize;
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/* Set the start address of Rx dedicated buffer section in Message RAM */
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__CAN_SET_Rx_BUFFER_START_ADDRESS(hcan->CANx, lu16_AddrOffset);
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/* Initialization stop */
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__CAN_CHANGE_DISABLE(hcan->CANx);
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__CAN_INIT_STOP(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_ram_watch_dog_config
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*
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* @brief ram watch dog config.
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*
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* @param fu8_InitValue: Start value of the Message RAM Watchdog Counter.
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* if the value config '00' the counter is disabled.
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*/
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void can_ram_watch_dog_config(CAN_HandleTypeDef *hcan, uint8_t fu8_InitValue)
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{
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/* Initialization start */
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__CAN_INIT_START(hcan->CANx);
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__CAN_CHANGE_ENABLE(hcan->CANx);
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__CAM_SET_RAM_WATCHDOG_INITIAL_VALUE(hcan->CANx, fu8_InitValue);
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/* Initialization stop */
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__CAN_CHANGE_DISABLE(hcan->CANx);
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__CAN_INIT_STOP(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_get_ram_watch_dog_value
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*
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* @brief get ram watch dog counter value.
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*/
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uint8_t can_get_ram_watch_dog_value(CAN_HandleTypeDef *hcan)
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{
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return __CAM_GET_RAM_WATCHDOG_VALUE(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_timestamp_Prescaler_config
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*
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* @brief Configures the timestamp unit in multiples of CAN bit times 1 ~ 16.
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*
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* @param fu8_prescaler: prescaler value can be 1 ~ 16.
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*/
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void can_timestamp_prescaler_config(CAN_HandleTypeDef *hcan, uint8_t fu8_prescaler)
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{
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/* Initialization start */
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__CAN_INIT_START(hcan->CANx);
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__CAN_CHANGE_ENABLE(hcan->CANx);
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__CAN_SET_TIMESTAMP_PRESCALER(hcan->CANx, fu8_prescaler);
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/* Initialization stop */
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__CAN_CHANGE_DISABLE(hcan->CANx);
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__CAN_INIT_STOP(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_timestamp_counter_reset
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*
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* @brief timestamp counter reset 0.
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*/
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void can_timestamp_counter_reset(CAN_HandleTypeDef *hcan)
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{
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__CAN_SET_TIMESTAMP(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_timestamp_counter_reset
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*
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* @brief get timestamp counter value.
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*/
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uint16_t can_get_timestamp_counter(CAN_HandleTypeDef *hcan)
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{
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return __CAN_GET_TIMESTAMP(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_get_transmit_error_counter
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* @fn can_get_receive_error_counter
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*
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* @brief get transmit/receive error counter value.
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*/
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uint8_t can_get_transmit_error_counter(CAN_HandleTypeDef *hcan)
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{
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return __CAN_GET_TRANSMIT_ERROR_COUNTER(hcan->CANx);
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}
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uint8_t can_get_receive_error_counter(CAN_HandleTypeDef *hcan)
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{
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return __CAN_GET_RECEIVE_ERROR_COUNTER(hcan->CANx);
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}
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/************************************************************************************
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* @fn can_add_tx_message
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*
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* @brief Add a message to the Tx queue.(classics can)
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*
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* @param hcan: CAN handle.
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* fstr_TxHeader: Tx message header.
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* Data: Data buffer pointer.
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* @return lu32_PutIndex > 0: Put index in Tx queue.
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* Error < 0.
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*/
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int32_t can_add_tx_message(CAN_HandleTypeDef *hcan, struct_CANTxHeaderDef_t fstr_TxHeader, uint8_t *Data)
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{
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uint32_t i;
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struct_CanTxElement_t *CanTxElement;
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uint32_t lu32_Address;
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uint32_t lu32_PutIndex;
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/* Tx queue full */
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if (__CAN_IS_TxFIFO_QUEUE_FULL(hcan->CANx))
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return CAN_ERR_TXFIFO_FULL;
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/* the start address of Tx Queue section in Message RAM */
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lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
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lu32_Address |= __CAN_GET_Tx_BUFFER_START_ADDRESS(hcan->CANx);
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/* Calculate element offset address */
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lu32_PutIndex = __CAN_GET_TxFIFO_QUEUE_PUT_INDEX(hcan->CANx);
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lu32_Address += lu32_PutIndex * hcan->ElementSize;
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/* write param/data to message ram */
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CanTxElement = (struct_CanTxElement_t *)lu32_Address;
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/* Frame type, data or remote */
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CanTxElement->FrameCFG.XTD = fstr_TxHeader.IdType;
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if (fstr_TxHeader.IdType == CAN_ID_STANDARD)
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CanTxElement->FrameCFG.ID = fstr_TxHeader.Identifier << 18;
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else
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CanTxElement->FrameCFG.ID = fstr_TxHeader.Identifier;
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/* Data frame */
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if (fstr_TxHeader.FrameType == CAN_DATA_FRAME)
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{
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CanTxElement->FrameCFG.DLC = fstr_TxHeader.DLC;
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CanTxElement->FrameCFG.RTR = CAN_DATA_FRAME;
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for (i = 0; i < fstr_TxHeader.DLC; i++)
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{
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CanTxElement->Data[i] = Data[i];
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}
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}
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/* Remote frame */
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else
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{
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CanTxElement->FrameCFG.DLC = 0;
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CanTxElement->FrameCFG.RTR = CAN_REMOTE_FRAM;
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}
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/* Add request */
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__CAN_ADD_Tx_REQUEST(hcan->CANx, 1 << lu32_PutIndex);
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return lu32_PutIndex;
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}
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/************************************************************************************
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* @fn can_is_tx_message_pending
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*
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* @brief Check if a transmission request is pending.
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*
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* @param hcan: CAN handle.
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* fu32_PutIndex: tx message index in Tx queue.
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* @return true: tx message pending.
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* false: tx message not pending.
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*/
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bool can_is_tx_message_pending(CAN_HandleTypeDef *hcan, uint32_t fu32_PutIndex)
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{
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bool lb_status;
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return lb_status = (__CAN_GET_Tx_REQUEST_PENDING(hcan->CANx) & (1 << fu32_PutIndex)) ? true : false;
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}
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/************************************************************************************
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* @fn can_abort_tx_message
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*
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* @brief abort a message from the Tx queue.
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*
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* @param hcan: CAN handle.
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* fu32_PutIndex: tx message index in Tx queue.
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*/
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void can_abort_tx_message(CAN_HandleTypeDef *hcan, uint32_t fu32_PutIndex)
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{
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/* Tx Buffer Cancellation Request */
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__CAN_CANCELLATION_Tx_REQUEST(hcan->CANx, 1 << fu32_PutIndex);
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}
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/************************************************************************************
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* @fn can_add_standard_filter
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*
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* @brief Added standard filter config.
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*
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* @param hcan: CAN handle.
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* fstr_FilterCfg: standard filter config param.
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* fu32_Index: filter number index.
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||
|
|
*/
|
||
|
|
void can_add_standard_filter(CAN_HandleTypeDef *hcan, struct_FilterCfg_t fstr_FilterCfg, uint32_t fu32_Index)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address;
|
||
|
|
|
||
|
|
struct_StdFilterElement_t *StdFilterElement;
|
||
|
|
|
||
|
|
/* Set the start address of standard Message ID filter list */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_STANDARD_ID_FILTER_LIST_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += fu32_Index * 4;
|
||
|
|
|
||
|
|
/* write param/data to message ram */
|
||
|
|
StdFilterElement = (struct_StdFilterElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
StdFilterElement->SFT = fstr_FilterCfg.FilterType;
|
||
|
|
StdFilterElement->SFEC = fstr_FilterCfg.ProcessMode;
|
||
|
|
StdFilterElement->SFID1 = fstr_FilterCfg.StdFilterID_1;
|
||
|
|
StdFilterElement->SFID2 = fstr_FilterCfg.StdFilterID_2;
|
||
|
|
|
||
|
|
if (fstr_FilterCfg.ProcessMode == FILTER_PROCESS_STORE_IN_RxBUFFER)
|
||
|
|
{
|
||
|
|
StdFilterElement->SFID2 = fstr_FilterCfg.RxBufferIndex;
|
||
|
|
|
||
|
|
if (fstr_FilterCfg.RxBufferIndex < 32)
|
||
|
|
hcan->RxBufferUsed_L |= 1 << fstr_FilterCfg.RxBufferIndex;
|
||
|
|
else
|
||
|
|
hcan->RxBufferUsed_H |= 1 << (fstr_FilterCfg.RxBufferIndex - 32);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_add_extended_filter
|
||
|
|
*
|
||
|
|
* @brief Added extended filter config.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
* fstr_FilterCfg: extended filter config param.
|
||
|
|
* fu32_Index: filter number index.
|
||
|
|
*/
|
||
|
|
void can_add_extended_filter(CAN_HandleTypeDef *hcan, struct_FilterCfg_t fstr_FilterCfg, uint32_t fu32_Index)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address;
|
||
|
|
|
||
|
|
struct_ExtFilterElement_t *ExtFilterElement;
|
||
|
|
|
||
|
|
/* Set the start address of extended Message ID filter list */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_EXTENDED_ID_FILTER_LIST_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += fu32_Index * 8;
|
||
|
|
|
||
|
|
/* write param/data to message ram */
|
||
|
|
ExtFilterElement = (struct_ExtFilterElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
ExtFilterElement->EFT = fstr_FilterCfg.FilterType;
|
||
|
|
ExtFilterElement->EFEC = fstr_FilterCfg.ProcessMode;
|
||
|
|
ExtFilterElement->EFID1 = fstr_FilterCfg.StdFilterID_1;
|
||
|
|
ExtFilterElement->EFID2 = fstr_FilterCfg.StdFilterID_2;
|
||
|
|
|
||
|
|
if (fstr_FilterCfg.ProcessMode == FILTER_PROCESS_STORE_IN_RxBUFFER)
|
||
|
|
{
|
||
|
|
ExtFilterElement->EFID2 = fstr_FilterCfg.RxBufferIndex;
|
||
|
|
|
||
|
|
if (fstr_FilterCfg.RxBufferIndex < 32)
|
||
|
|
hcan->RxBufferUsed_L |= 1 << fstr_FilterCfg.RxBufferIndex;
|
||
|
|
else
|
||
|
|
hcan->RxBufferUsed_H |= 1 << (fstr_FilterCfg.RxBufferIndex - 32);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_remove_standard_filter
|
||
|
|
*
|
||
|
|
* @brief Remove standard filter config.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
* fu32_Index: filter number index.
|
||
|
|
*/
|
||
|
|
void can_remove_standard_filter(CAN_HandleTypeDef *hcan, uint32_t fu32_Index)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address;
|
||
|
|
|
||
|
|
struct_StdFilterElement_t *StdFilterElement;
|
||
|
|
|
||
|
|
/* Set the start address of standard Message ID filter list */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_STANDARD_ID_FILTER_LIST_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += fu32_Index * 4;
|
||
|
|
|
||
|
|
/* write param/data to message ram */
|
||
|
|
StdFilterElement = (struct_StdFilterElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
/* Disable selected element */
|
||
|
|
if (StdFilterElement->SFEC == FILTER_PROCESS_STORE_IN_RxBUFFER)
|
||
|
|
{
|
||
|
|
if (StdFilterElement->SFID2 < 32)
|
||
|
|
hcan->RxBufferUsed_L &= ~(1 << StdFilterElement->SFID2);
|
||
|
|
else
|
||
|
|
hcan->RxBufferUsed_H &= ~(1 << (StdFilterElement->SFID2 - 32));
|
||
|
|
}
|
||
|
|
|
||
|
|
StdFilterElement->SFT = CAN_FILTER_DISABLE;
|
||
|
|
StdFilterElement->SFEC = FILTER_PROCESS_DISABLE;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_remove_extended_filter
|
||
|
|
*
|
||
|
|
* @brief Remove extended filter config.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
* fu32_Index: filter number index.
|
||
|
|
*/
|
||
|
|
void can_remove_extended_filter(CAN_HandleTypeDef *hcan, uint32_t fu32_Index)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address;
|
||
|
|
|
||
|
|
struct_ExtFilterElement_t *ExtFilterElement;
|
||
|
|
|
||
|
|
/* Set the start address of extended Message ID filter list */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_EXTENDED_ID_FILTER_LIST_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += fu32_Index * 8;
|
||
|
|
|
||
|
|
/* write param/data to message ram */
|
||
|
|
ExtFilterElement = (struct_ExtFilterElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
/* Disable selected element */
|
||
|
|
if (ExtFilterElement->EFEC == FILTER_PROCESS_STORE_IN_RxBUFFER)
|
||
|
|
{
|
||
|
|
if (ExtFilterElement->EFID2 < 32)
|
||
|
|
hcan->RxBufferUsed_L &= ~(1 << ExtFilterElement->EFID2);
|
||
|
|
else
|
||
|
|
hcan->RxBufferUsed_H &= ~(1 << (ExtFilterElement->EFID2 - 32));
|
||
|
|
}
|
||
|
|
|
||
|
|
ExtFilterElement->EFEC = FILTER_PROCESS_DISABLE;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxbuffer_message
|
||
|
|
*
|
||
|
|
* @brief Get an CAN frame from the Rx buffer.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
* fu32_RxBufferIndex: The message index in the RxBuffer.
|
||
|
|
*/
|
||
|
|
void can_get_rxbuffer_message(CAN_HandleTypeDef *hcan, uint32_t fu32_RxBufferIndex, struct_CANRxHeaderDef_t *RxHeader, uint8_t *Data)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address;
|
||
|
|
|
||
|
|
struct_CanRxElement_t *CanRxElement;
|
||
|
|
|
||
|
|
/* Get the start address of Rx dedicated buffer section in Message RAM */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_Rx_BUFFER_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += fu32_RxBufferIndex * hcan->ElementSize;
|
||
|
|
|
||
|
|
/* Read message param/data from RxBuffer ram */
|
||
|
|
CanRxElement = (struct_CanRxElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
RxHeader->IdType = CanRxElement->FrameCFG.XTD ? CAN_ID_EXTENDED : CAN_ID_STANDARD;
|
||
|
|
RxHeader->Identifier = CanRxElement->FrameCFG.ID;
|
||
|
|
RxHeader->FrameType = CanRxElement->FrameCFG.RTR ? CAN_REMOTE_FRAM : CAN_DATA_FRAME;
|
||
|
|
|
||
|
|
if (RxHeader->FrameType == CAN_DATA_FRAME)
|
||
|
|
{
|
||
|
|
RxHeader->DLC = CanRxElement->FrameCFG.DLC;
|
||
|
|
|
||
|
|
for (int i = 0; i < RxHeader->DLC; i++)
|
||
|
|
{
|
||
|
|
Data[i] = CanRxElement->Data[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
RxHeader->Timestamp = CanRxElement->FrameCFG.RXTS;
|
||
|
|
|
||
|
|
if (CanRxElement->FrameCFG.ANMF == 0)
|
||
|
|
{
|
||
|
|
RxHeader->FilterMatchIndex = CanRxElement->FrameCFG.FIDX;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxfifo0_message
|
||
|
|
*
|
||
|
|
* @brief Get an CAN frame from the Rx FIFO 0.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
*/
|
||
|
|
uint32_t can_get_rxfifo0_message(CAN_HandleTypeDef *hcan, struct_CANRxHeaderDef_t *RxHeader, uint8_t *Data)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address, lu32_GetIndex;
|
||
|
|
|
||
|
|
struct_CanRxElement_t *CanRxElement;
|
||
|
|
|
||
|
|
/* Rx FIFO0 get index */
|
||
|
|
lu32_GetIndex = __CAN_GET_Rx_FIFO0_GET_INDEX(hcan->CANx);
|
||
|
|
|
||
|
|
/* Get the start address of Rx FIFO 0 section in Message RAM */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_Rx_FIFO0_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += lu32_GetIndex * hcan->ElementSize;
|
||
|
|
|
||
|
|
/* Read message param/data from RxBuffer ram */
|
||
|
|
CanRxElement = (struct_CanRxElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
RxHeader->IdType = CanRxElement->FrameCFG.XTD ? CAN_ID_EXTENDED : CAN_ID_STANDARD;
|
||
|
|
RxHeader->FrameType = CanRxElement->FrameCFG.RTR ? CAN_REMOTE_FRAM : CAN_DATA_FRAME;
|
||
|
|
|
||
|
|
if (RxHeader->IdType == CAN_ID_STANDARD)
|
||
|
|
RxHeader->Identifier = CanRxElement->FrameCFG.ID >> 18;
|
||
|
|
else
|
||
|
|
RxHeader->Identifier = CanRxElement->FrameCFG.ID;
|
||
|
|
|
||
|
|
if (RxHeader->FrameType == CAN_DATA_FRAME)
|
||
|
|
{
|
||
|
|
RxHeader->DLC = CanRxElement->FrameCFG.DLC;
|
||
|
|
|
||
|
|
for (int i = 0; i < RxHeader->DLC; i++)
|
||
|
|
{
|
||
|
|
Data[i] = CanRxElement->Data[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
RxHeader->Timestamp = CanRxElement->FrameCFG.RXTS;
|
||
|
|
|
||
|
|
if (CanRxElement->FrameCFG.ANMF == 0)
|
||
|
|
{
|
||
|
|
RxHeader->FilterMatchIndex = CanRxElement->FrameCFG.FIDX;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Read message ack */
|
||
|
|
__CAN_SET_Rx_FIFO0_ACKNOWLEDGE(hcan->CANx, lu32_GetIndex);
|
||
|
|
|
||
|
|
return lu32_GetIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxfifo1_message
|
||
|
|
*
|
||
|
|
* @brief Get an CAN frame from the Rx FIFO 1.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
*/
|
||
|
|
uint32_t can_get_rxfifo1_message(CAN_HandleTypeDef *hcan, struct_CANRxHeaderDef_t *RxHeader, uint8_t *Data)
|
||
|
|
{
|
||
|
|
uint32_t lu32_Address, lu32_GetIndex;
|
||
|
|
|
||
|
|
struct_CanRxElement_t *CanRxElement;
|
||
|
|
|
||
|
|
/* Rx FIFO1 get index */
|
||
|
|
lu32_GetIndex = __CAN_GET_Rx_FIFO1_GET_INDEX(hcan->CANx);
|
||
|
|
|
||
|
|
/* Get the start address of Rx FIFO 1 section in Message RAM */
|
||
|
|
lu32_Address = __CAN_GET_MESSAGE_RAM_HIGHH_16BIT_ADDR(hcan->CANx) << 16;
|
||
|
|
lu32_Address |= __CAN_GET_Rx_FIFO1_START_ADDRESS(hcan->CANx);
|
||
|
|
/* Calculate element offset address */
|
||
|
|
lu32_Address += lu32_GetIndex * hcan->ElementSize;
|
||
|
|
|
||
|
|
/* Read message param/data from RxBuffer ram */
|
||
|
|
CanRxElement = (struct_CanRxElement_t *)lu32_Address;
|
||
|
|
|
||
|
|
RxHeader->IdType = CanRxElement->FrameCFG.XTD ? CAN_ID_EXTENDED : CAN_ID_STANDARD;
|
||
|
|
RxHeader->FrameType = CanRxElement->FrameCFG.RTR ? CAN_REMOTE_FRAM : CAN_DATA_FRAME;
|
||
|
|
|
||
|
|
if (RxHeader->IdType == CAN_ID_STANDARD)
|
||
|
|
RxHeader->Identifier = CanRxElement->FrameCFG.ID >> 18;
|
||
|
|
else
|
||
|
|
RxHeader->Identifier = CanRxElement->FrameCFG.ID;
|
||
|
|
|
||
|
|
if (RxHeader->FrameType == CAN_DATA_FRAME)
|
||
|
|
{
|
||
|
|
RxHeader->DLC = CanRxElement->FrameCFG.DLC;
|
||
|
|
|
||
|
|
for (int i = 0; i < RxHeader->DLC; i++)
|
||
|
|
{
|
||
|
|
Data[i] = CanRxElement->Data[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
RxHeader->Timestamp = CanRxElement->FrameCFG.RXTS;
|
||
|
|
|
||
|
|
if (CanRxElement->FrameCFG.ANMF == 0)
|
||
|
|
{
|
||
|
|
RxHeader->FilterMatchIndex = CanRxElement->FrameCFG.FIDX;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Read message ack */
|
||
|
|
__CAN_SET_Rx_FIFO1_ACKNOWLEDGE(hcan->CANx, lu32_GetIndex);
|
||
|
|
|
||
|
|
return lu32_GetIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxfifo0_fill_level
|
||
|
|
*
|
||
|
|
* @brief Get number of elements stored in Rx FIFO 0, range 0 to 64.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
*/
|
||
|
|
uint32_t can_get_rxfifo0_fill_level(CAN_HandleTypeDef *hcan)
|
||
|
|
{
|
||
|
|
return __CAN_GET_Rx_FIFO0_FILL_LEVEL(hcan->CANx);
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxfifo1_fill_level
|
||
|
|
*
|
||
|
|
* @brief Get number of elements stored in Rx FIFO 0, range 0 to 64.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
*/
|
||
|
|
uint32_t can_get_rxfifo1_fill_level(CAN_HandleTypeDef *hcan)
|
||
|
|
{
|
||
|
|
return __CAN_GET_Rx_FIFO1_FILL_LEVEL(hcan->CANx);
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxbuffer_0_31_status
|
||
|
|
*
|
||
|
|
* @brief get rx buffer new data 0~31 status.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
*/
|
||
|
|
uint32_t can_get_rxbuffer_0_31_status(CAN_HandleTypeDef *hcan)
|
||
|
|
{
|
||
|
|
return hcan->CANx->NewData1;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_rxbuffer_32_63_status
|
||
|
|
*
|
||
|
|
* @brief get rx buffer new data 32~63 status.
|
||
|
|
*
|
||
|
|
* @param hcan: CAN handle.
|
||
|
|
*/
|
||
|
|
uint32_t can_get_rxbuffer_32_63_status(CAN_HandleTypeDef *hcan)
|
||
|
|
{
|
||
|
|
return hcan->CANx->NewData2;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_int_enable
|
||
|
|
*
|
||
|
|
* @brief can interrupt enable.
|
||
|
|
*/
|
||
|
|
void can_int_enable(CAN_HandleTypeDef *hcan, enum_CAN_INT_Status_t fe_INT_Index)
|
||
|
|
{
|
||
|
|
__CAN_INT_ENABLE(hcan->CANx, fe_INT_Index);
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_int_disable
|
||
|
|
*
|
||
|
|
* @brief can interrupt disable.
|
||
|
|
*/
|
||
|
|
void can_int_disable(CAN_HandleTypeDef *hcan, enum_CAN_INT_Status_t fe_INT_Index)
|
||
|
|
{
|
||
|
|
__CAN_INT_DISABLE(hcan->CANx, fe_INT_Index);
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_get_int_status
|
||
|
|
*
|
||
|
|
* @brief get interrupt status.
|
||
|
|
*/
|
||
|
|
bool can_get_int_status(CAN_HandleTypeDef *hcan, enum_CAN_INT_Status_t fe_INT_Index)
|
||
|
|
{
|
||
|
|
bool lb_Status = (__CAN_INT_GET_STATUS(hcan->CANx) & fe_INT_Index) ? true : false;
|
||
|
|
|
||
|
|
return lb_Status;
|
||
|
|
}
|
||
|
|
|
||
|
|
/************************************************************************************
|
||
|
|
* @fn can_clear_int_status
|
||
|
|
*
|
||
|
|
* @brief clear interrupt status.
|
||
|
|
*/
|
||
|
|
void can_clear_int_status(CAN_HandleTypeDef *hcan, enum_CAN_INT_Status_t fe_INT_Index)
|
||
|
|
{
|
||
|
|
__CAN_INT_CLEAR(hcan->CANx, fe_INT_Index);
|
||
|
|
}
|