/****************************************************************************** * Shanghai ChipON Micro-Electronic Co.,Ltd * ****************************************************************************** * $File Name$ : kf32a156_CANFD.c * * $Author$ : ChipON AE/FAE Group * * $Data$ : 2021-07-08 * * $Chip Version : A02 * * $AutoSAR Version : V1.0 * * $Description$ : This file provides functions related to the CANFD bus * * bus (CANFD) , including: * * + CAN Bus(CANFD)initialization function * * + CAN Bus(CANFD)function configuration function * * + CAN Bus(CANFD)transmit-receive function * * + CAN Bus(CANFD)interrupt management function * ****************************************************************************** * Copyright (C) by Shanghai ChipON Micro-Electronic Co.,Ltd * * All rights reserved. * * * * This software is copyright protected and proprietary to * * Shanghai ChipON Micro-Electronic Co.,Ltd. * ****************************************************************************** * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * * REVISON HISTORY * * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * * Data Version Author Description * * ~~~~~~~~~~ ~~~~~~~~ ~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * * 2021-07-08 00.02.00 FAE Group Version 2.0 update * * * * * *****************************************************************************/ /****************************************************************************** ** Include Files ** ******************************************************************************/ #include "kf32a156_rst.h" #include "kf32a156_pclk.h" #include "kf32a156_canfd.h" /****************************************************************************** * Variables Declarations * ******************************************************************************/ volatile uint8_t CANFD_SCLK_MHZ = 0; volatile uint8_t CANFD_HFCLK_MHZ = 0; const Can_ControllerInfoType Can_m_ControllersInfo[2] = { {CAN_HW_CONTROLLER_BASEADDRESS_CANFD6, CAN_HW_CONTROLLER_MBADDRESS_CANFD6, CAN_HW_CONTROLLER_FILTERADDRESS_CANFD6, CAN_CONTROLLER_FD}, {CAN_HW_CONTROLLER_BASEADDRESS_CANFD7, CAN_HW_CONTROLLER_MBADDRESS_CANFD7, CAN_HW_CONTROLLER_FILTERADDRESS_CANFD7, CAN_CONTROLLER_FD}}; Kf32a_Canfd_Reg *const CANFD_PTR[2] = { (Kf32a_Canfd_Reg *)CAN_HW_CONTROLLER_BASEADDRESS_CANFD6, (Kf32a_Canfd_Reg *)CAN_HW_CONTROLLER_BASEADDRESS_CANFD7, }; /****************************************************************************** * Private Function Declarations * ******************************************************************************/ static void Can_m_FdBaudrateSet(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const uint8_t IntIndex); static void Can_m_FdClearAllFlag(const uint8_t Can_Controller_Index); static void Can_m_FdIntSet(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const uint8_t IntIndex); static void Read_Code(Canfd_MailboxHeaderType *Can_MailboxHeader, DataBuffer_8byteType *DataBuffer); static void Std_Reverse_Data(Canfd_MailboxHeaderType *Can_MailboxHeader, DataBuffer_8byteType *DataBuffer, uint8_t type); static uint32_t Reverse_Int(uint32_t DATA32); static Code_Segment Can_m_FdCsCodeSet(Canfd_MailboxHeaderType *Can_MailboxHeader); static Can_ReturnType Can_m_FdWaitConfilct(const uint8_t Can_Controller_Index,const uint8_t Loop); static Can_ReturnType Can_m_FdCopyDataTo8MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader); static Can_ReturnType Can_m_FdCopyDataFrom8MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBoxType); static Can_ReturnType Can_m_FdCopyDataTo16MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader); static Can_ReturnType Can_m_FdCopyDataFrom16MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBoxType); static Can_ReturnType Can_m_FdCopyDataTo32MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader); static Can_ReturnType Can_m_FdCopyDataFrom32MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBoxType); static Can_ReturnType Can_m_FdCopyDataTo64MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader); static Can_ReturnType Can_m_FdCopyDataFrom64MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBoxType); #if (HARDWARE_FILTER == STD_ON) static void Can_m_FdFilterInit(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const uint8_t IntIndex); #endif #if (TRANSMIT_DELAY_CONPENSATION == STD_ON) static void Can_m_FdTDCSet(const uint8_t Can_Controller_Index); #endif /****************************************************************************** * Private Function Declarations * ******************************************************************************/ /* Set CAN Default baudrate */ static void Can_m_FdBaudrateSet(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const uint8_t IntIndex) { /* Set CAN Default baudrate */ /* [$Block Start$] */ /* Set Can Controller Sample time */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.SAM = Can_ControllerConfig[IntIndex].Canfd_Controller_AllClockAndBDRConfig->SampleTimes; /* Set Can Controller Synchronization Jump Width */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.SJW = Can_ControllerConfig[IntIndex].Canfd_Controller_AllClockAndBDRConfig->Sjw; /* Set Can Controller Baud Rate Clock Prescale */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.CANBRP = Can_ControllerConfig[IntIndex].Canfd_Controller_AllClockAndBDRConfig->PreScale; /* Set T Segment 1 */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.TSEG1 = Can_ControllerConfig[IntIndex].Canfd_Controller_AllClockAndBDRConfig->TSeg1; /* Set T Segment 2 */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.TSEG2 = Can_ControllerConfig[IntIndex].Canfd_Controller_AllClockAndBDRConfig->TSeg2; /* [$Block End$] */ /* [$Block Start$] */ /* Set Can Controller Baud Rate Switch Prescale */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.BRSBRP = Can_ControllerConfig[IntIndex].Canfd_Controller_ALLFdBDRConfig->BrsPrescale; /* Set Can Controller Baud Rate Switch T Segment 1 */ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.HTSEG1 = Can_ControllerConfig[IntIndex].Canfd_Controller_ALLFdBDRConfig->HtSeg1; /* Set Can Controller Baud Rate Switch T Segment 2*/ CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.HTSEG2 = Can_ControllerConfig[IntIndex].Canfd_Controller_ALLFdBDRConfig->HtSeg2; /* [$Block End$] */ } /* Clear all interrupt flag */ static void Can_m_FdClearAllFlag(const uint8_t Can_Controller_Index) { volatile uint32_t Rcr_Value = 0; volatile uint8_t delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.ALIF == STD_ON) { Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ALIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.ALIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ALIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.BEIF == STD_ON) { Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BEIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.BEIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BEIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.BOFFIF == STD_ON) { Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BOFFIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.BOFFIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BOFFIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.EAIF == STD_ON) { Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.EAIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.EAIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.EAIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.ENIF == STD_ON) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ENIC = STD_ON; Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.ENIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ENIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.DOVFIF == STD_ON) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.DOVFIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.DOVFIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.DOVFIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.TDCFAILIF == STD_ON) { Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.TDCFAILIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.TDCFAILIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.TDCFAILIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.CANTXIF == STD_ON) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANTXIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.CANTXIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANTXIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.CANRXIF == STD_ON) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANRXIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.CANRXIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANRXIC = 0x00; } delay_time = FUNCTION_ENABEL_TIME; if (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.WUIF == STD_ON) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.WUIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.WUIF == STD_ON) &&(delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.WUIC = 0x00; } } /* Set The Can Intterrupt Enable And Clear The Interrupt Flag*/ static void Can_m_FdIntSet(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const uint8_t IntIndex) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.TRANSMITIC = STD_ON; /* CAN Receive Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANRXIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->RxIntEnableSet; /* CAN Transmit Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANTXIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->TxIntEnableSet; /* CAN Bus Off Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BOFFIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->BusOffEnableSet; /* CAN Wake Up Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.WUIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->WakeUpIntEnableSet; /* CAN Error Alarm Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.EAIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->ErrorAlarmIntEnableSet; /* CAN Receive Over Flow Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.DOVFIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->OverFlowIntEnableSet; /* CAN Error Negative Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ENIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->ErrorNegativeIntEnableSet; /* CAN Error Arbitrate Lose Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ALIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->ArbitrateLoseIntEnableSet; /* CAN Bus Error Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BEIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->BusErrorIntEnableSet; /* CAN DMA Transmit Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CTXDE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->DmaTXDEnableSet; /* CAN DMA Receive Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CRXDE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->DmaRXDEnableSet; /* CAN MailBox Receive Triger Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.TRGMBIE = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->TrigerMBEnableSet; /* Disable CAN Receive Not Empty Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.RXBSTAIE = STD_OFF; /* Disable CAN Transmit Delay Offset Fail Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.TDCFAILIE = STD_OFF; /* Disable CAN Transmit Arbitrate Fail Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ARBFAILIE = STD_OFF; /* Disable CAN Move Out End Interrupt Set */ CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.MOENDIE = STD_OFF; /* Set Default Interrupt Priority Group 3V1 */ INTERRUPT_REG.CTL0.B.PRIGROUP = 0x00; if (Can_Controller_Index == 0) { INTERRUPT_REG.EIE2.B.CANFD6IE = STD_ON; /* Set Preemption Priority */ INTERRUPT_REG.IP11.B.PRI50P = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->PreemptionPriority; /* Set Sub Priority */ INTERRUPT_REG.IP11.B.PRI50S = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->SubPriority; } else if (Can_Controller_Index == 1) { INTERRUPT_REG.EIE2.B.CANFD7IE = STD_ON; /* Set Preemption Priority */ INTERRUPT_REG.IP11.B.PRI51P = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->PreemptionPriority; /* Set Sub Priority */ INTERRUPT_REG.IP11.B.PRI51S = Can_ControllerConfig[IntIndex].Can_Controller_InterruptConfig->SubPriority; } /* Enable interrupts */ INTERRUPT_REG.CTL0.B.AIE = STD_ON; } /** * 描述 根据工作时钟源频率/总线波特率/采样点，计算CAN帧波特率配置参数。 * 输入 Clk_Frequency: 工作时钟源频率（单位HZ） * Bit_rate :总线波特率（单位bit/s） * Samp_point ：采样点（单位%） * Can_BDRConfig :CAN帧波特率配置结构体指针 * 返回 波特率采样点误差范围（单位‰） */ uint8_t Can_BitrateToTimeSeg(uint32_t Clk_Frequency ,uint32_t Bit_Rate,uint8_t Samp_Point, Can_BDRConfigType *Can_BDRConfig) { uint32_t tembitrate = 0 ,temsample = 0; double tseg_1 = 0,tseg1_int = 0; uint8_t tem_sam_diff = 0,min_sam_diff = 100U; uint32_t tem_bitrate_diff = 0; uint8_t temsap = 0,tempre = 0,temtseg1 = 0,temtseg2 = 0,temtqnum = 0,tseg1 = 0,tseg2 = 0; uint8_t ret = 100; for(tempre = 1;tempre= Min_TQ_NUMBER) && (temtqnum <= MAX_TQ_NUMBER)) { tseg_1 = (double)(temtqnum*Samp_Point)/100 - 1; modf(tseg_1,&tseg1_int); if(abs((tseg1_int+1)*100/temtqnum - Samp_Point) >abs(tseg1_int*100/temtqnum - Samp_Point)) { tseg1 = tseg1_int; }else { tseg1 = tseg1_int+1; } tseg2 = temtqnum - tseg1 - 1; while((tseg1 > MAX_TSEG1_NUMBER) || (tseg2 < MIN_TSEG2_NUMBER)) { tseg1 -=1; tseg2 +=1; } if((tseg1 > MAX_TSEG1_NUMBER) || (tseg2 > MAX_TSEG1_NUMBER) || \ (tseg1 < MIN_TSEG1_NUMBER) || (tseg2 < MIN_TSEG2_NUMBER)) { continue; } temsample = ((1+tseg1)*1000)/temtqnum; tem_sam_diff = abs(Samp_Point*10 - temsample); tem_bitrate_diff = abs(Bit_Rate - tembitrate); if(tem_bitrate_diff == 0) { if(tem_sam_diff <= min_sam_diff) { min_sam_diff = tem_sam_diff; Can_BDRConfig->PreScale = tempre -1; Can_BDRConfig->TSeg1 = tseg1 -1; Can_BDRConfig->TSeg2 = tseg2 -1; Can_BDRConfig->SampleTimes = CAN_SAMPLE_ONCE; Can_BDRConfig->Sjw = 1U; ret = min_sam_diff; if(ret <=10) { break; } } } } } return ret; } static void Read_Code(Canfd_MailboxHeaderType *Can_MailboxHeader, DataBuffer_8byteType *DataBuffer) { if(DataBuffer->SFF.IDE == 0x00) { if(DataBuffer->SFF.RRTR == 0x00) { Can_MailboxHeader->Can_id = CAN_DATA_STANDARD; }else { Can_MailboxHeader->Can_id = CAN_REMOTE_STANDARD; } }else if(DataBuffer->SFF.IDE == STD_ON) { if(DataBuffer->EFF.RRTR == 0x00) { Can_MailboxHeader->Can_id = CAN_DATA_EXTENDED; }else { Can_MailboxHeader->Can_id = CAN_REMOTE_EXTENDED; } } Can_MailboxHeader->Can_frame = DataBuffer->SFF.EDL; Can_MailboxHeader->Timestamp = DataBuffer->SFF.TIMESTAMP; Can_MailboxHeader->BRS = DataBuffer->SFF.BRS; Can_MailboxHeader->FrameData.Data_Length = DataBuffer->SFF.DLC; } static void Std_Reverse_Data(Canfd_MailboxHeaderType *Can_MailboxHeader, DataBuffer_8byteType *DataBuffer, uint8_t type) { if (type == 0x00) { DataBuffer->SFF.ID = Can_MailboxHeader->Id; DataBuffer->SFF.RRTR = (Can_MailboxHeader->Can_id>1)?1:0; DataBuffer->SFF.DATA0 = Can_MailboxHeader->FrameData.U8Data[0]; DataBuffer->SFF.DATA1 = Can_MailboxHeader->FrameData.U8Data[1]; } else { Can_MailboxHeader->Id = DataBuffer->SFF.ID; Can_MailboxHeader->FrameData.U8Data[0] = DataBuffer->SFF.DATA0; Can_MailboxHeader->FrameData.U8Data[1] = DataBuffer->SFF.DATA1; } } static uint32_t Reverse_Int(uint32_t DATA32) { uint32_t temp = 0x00; temp = ((DATA32 & 0x000000FF) << 24) + ((DATA32 & 0x0000FF00) << 8) + ((DATA32 & 0x00FF0000) >> 8) + ((DATA32 & 0xFF000000) >> 24); return temp; } /* Make The MailBox Code Segment Configuration Into Integer Number*/ static Code_Segment Can_m_FdCsCodeSet(Canfd_MailboxHeaderType *Can_MailboxHeader) { Code_Segment Ret_Code_Seg = {0}; if (Can_MailboxHeader->BRS == STD_ON) { Ret_Code_Seg.BRS = STD_ON; } if (Can_MailboxHeader->Can_frame == CAN_FRAME_FD) { Ret_Code_Seg.EDL = STD_ON; } Ret_Code_Seg.DLC = Can_MailboxHeader->FrameData.Data_Length; Ret_Code_Seg.CODE = Can_MailboxHeader->TransceiveType; switch (Can_MailboxHeader->Can_id) { case CAN_DATA_STANDARD: { Ret_Code_Seg.IDE = 0x00; Ret_Code_Seg.RTR = 0x00; break; } case CAN_DATA_EXTENDED: { Ret_Code_Seg.IDE = STD_ON; Ret_Code_Seg.RTR = 0x00; break; } case CAN_REMOTE_STANDARD: { Ret_Code_Seg.IDE = 0x00; Ret_Code_Seg.RTR = STD_ON; break; } case CAN_REMOTE_EXTENDED: { Ret_Code_Seg.IDE = STD_ON; Ret_Code_Seg.RTR = STD_ON; break; } } return Ret_Code_Seg; } /* Avoid Cpu And Hardware Can Module Conflict */ static Can_ReturnType Can_m_FdWaitConfilct(const uint8_t Can_Controller_Index,const uint8_t Loop) { volatile uint32_t conflict_loop_count = Loop; Can_ReturnType ret = CAN_UNINITIALIZED; while (1) { if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.BOFF == 0x00) { if((CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.ROPSTA == 0) || ((conflict_loop_count--) == 0)) { ret = CAN_OK; break; } } else { ret = CAN_ERROR_BUSOFF; break; } } return ret; } /* Set Configuration Infor To Ram */ static Can_ReturnType Can_m_FdCopyDataTo8MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) { Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; Can_IdFrameType can_id = Can_MailboxHeader->Can_id; Code_Segment Ret_Code_Segment = {0}; Ret_Code_Segment = Can_m_FdCsCodeSet(Can_MailboxHeader); ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { if (((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_TRANSMIT) { ret = CAN_BUSY_TRANSMIT_MAILBOX; } else if (((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_RECEIVE) { ret = CAN_BUSY_RECEIVE_MAILBOX; } else { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } if (can_id %2 == 0) { /* standard frame format */ Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number, 0); ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[0] = Reverse_Int(Can_MailboxHeader->FrameData.SU32Data[0]); ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[1] = Reverse_Int(Can_MailboxHeader->FrameData.SU32Data[1]); } else if (can_id %2 == 1) { /* extended frame format */ ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.RRTR = (Can_MailboxHeader->Can_id>1)?1:0; ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID = Can_MailboxHeader->Id; ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[0] = Reverse_Int(Can_MailboxHeader->FrameData.U32Data[0]); ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[1] = Reverse_Int(Can_MailboxHeader->FrameData.U32Data[1]); } }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } } return ret; }; /* Get Message Infor From Ram */ static Can_ReturnType Can_m_FdCopyDataFrom8MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBox) { Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } Read_Code(Can_MailboxHeader, (DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number); if (Can_MailboxHeader->Can_id == CAN_DATA_STANDARD) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number, 1); Can_MailboxHeader->FrameData.SU32Data[0] = Reverse_Int(((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[0]); Can_MailboxHeader->FrameData.SU32Data[1] = Reverse_Int(((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[1]); } else { Can_MailboxHeader->Id = ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID; Can_MailboxHeader->FrameData.U32Data[0] = Reverse_Int(((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[0]); Can_MailboxHeader->FrameData.U32Data[1] = Reverse_Int(((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[1]); } }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE = Can_MailBox; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } return ret; } /* Set Configuration Infor To Ram */ static Can_ReturnType Can_m_FdCopyDataTo16MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) { volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; Can_IdFrameType can_id = Can_MailboxHeader->Can_id; Code_Segment Ret_Code_Segment = {0}; Can_ReturnType ret = CAN_UNINITIALIZED; Ret_Code_Segment = Can_m_FdCsCodeSet(Can_MailboxHeader); ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { if (((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_TRANSMIT) { ret = CAN_BUSY_TRANSMIT_MAILBOX; } else if (((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_RECEIVE) { ret = CAN_BUSY_RECEIVE_MAILBOX; } else { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } if (can_id %2 == 0) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number), 0); for (uint8_t i = 0; i < 4; i++) { ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[i] = Reverse_Int(Can_MailboxHeader->FrameData.SU32Data[i]); } } else if (can_id %2 == 1) { ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.RRTR = (Can_MailboxHeader->Can_id>1)?1:0; ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID = Can_MailboxHeader->Id; for (uint8_t i = 0; i < 4; i++) { ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[i] = Reverse_Int(Can_MailboxHeader->FrameData.U32Data[i]); } } }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } } return ret; } /* Get Message Infor From Ram */ static Can_ReturnType Can_m_FdCopyDataFrom16MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBox) { Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } Read_Code(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)); if (Can_MailboxHeader->Can_id == CAN_DATA_STANDARD) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number), 1); for (uint8_t i = 0; i < 4; i++) { Can_MailboxHeader->FrameData.SU32Data[i] = Reverse_Int(((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[i]); } } else { Can_MailboxHeader->Id = ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID; for (uint8_t i = 0; i < 4; i++) { Can_MailboxHeader->FrameData.U32Data[i] = Reverse_Int(((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[i]); } } ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE = Can_MailBox; }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE = Can_MailBox; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } return ret; } /* Set Configuration Infor To Ram */ static Can_ReturnType Can_m_FdCopyDataTo32MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) { Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; Can_IdFrameType can_id = Can_MailboxHeader->Can_id; Code_Segment Ret_Code_Segment = {0}; Ret_Code_Segment = Can_m_FdCsCodeSet(Can_MailboxHeader); ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { if (((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_TRANSMIT) { ret = CAN_BUSY_TRANSMIT_MAILBOX; } else if (((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_RECEIVE) { ret = CAN_BUSY_RECEIVE_MAILBOX; } else { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } if (can_id %2 == 0) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number), 0); for (uint8_t i = 0; i < 8; i++) { ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[i] = Reverse_Int(Can_MailboxHeader->FrameData.SU32Data[i]); } } else if (can_id %2 == 1) { ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.RRTR = (Can_MailboxHeader->Can_id>1)?1:0; ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID = Can_MailboxHeader->Id; for (uint8_t i = 0; i < 8; i++) { ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[i] = Reverse_Int(Can_MailboxHeader->FrameData.U32Data[i]); } } ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } } return ret; } /* Get Configuration Infor From Ram */ static Can_ReturnType Can_m_FdCopyDataFrom32MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBox) { Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } Read_Code(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)); if (Can_MailboxHeader->Can_id == CAN_DATA_STANDARD) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number), 1); for (uint8_t i = 0; i < 8; i++) { Can_MailboxHeader->FrameData.SU32Data[i] = Reverse_Int(((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[i]); } } else { Can_MailboxHeader->Id = ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID; for (uint8_t i = 0; i < 8; i++) { Can_MailboxHeader->FrameData.U32Data[i] = Reverse_Int(((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[i]); } } }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE = Can_MailBox; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } return ret; } /* Set Configuration Infor To Ram */ static Can_ReturnType Can_m_FdCopyDataTo64MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) { Code_Segment Ret_Code_Segment = {0}; Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; Can_IdFrameType can_id = Can_MailboxHeader->Can_id; Ret_Code_Segment = Can_m_FdCsCodeSet(Can_MailboxHeader); ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { if (((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_TRANSMIT) { ret = CAN_BUSY_TRANSMIT_MAILBOX; } else if (((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE == MAIL_RECEIVE) { ret = CAN_BUSY_RECEIVE_MAILBOX; } else { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } if (can_id %2 == 0) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number), 0); for (uint8_t i = 0; i < 15; i++) { ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[i] = Reverse_Int(Can_MailboxHeader->FrameData.SU32Data[i]); } ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA62 = Can_MailboxHeader->FrameData.EU8Data[0]; ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA63 = Can_MailboxHeader->FrameData.EU8Data[1]; } else if (can_id %2 == 1) { ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.RRTR = (Can_MailboxHeader->Can_id>1)?1:0; ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID = Can_MailboxHeader->Id; for (uint8_t i = 0; i < 16; i++) { ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[i] = Reverse_Int(Can_MailboxHeader->FrameData.U32Data[i]); } } }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } } return ret; } /* Get Configuration Infor From Ram */ static Can_ReturnType Can_m_FdCopyDataFrom64MailBox(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBox) { Can_ReturnType ret = CAN_UNINITIALIZED; volatile uint8_t delay_time1 = FUNCTION_ENABEL_TIME; volatile uint8_t delay_time2 = FUNCTION_ENABEL_TIME; ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { do{ if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; } Read_Code(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)); if (Can_MailboxHeader->Can_id == CAN_DATA_STANDARD) { Std_Reverse_Data(Can_MailboxHeader, (DataBuffer_8byteType *)((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number), 1); for (uint8_t i = 0; i < 15; i++) { Can_MailboxHeader->FrameData.SU32Data[i] = Reverse_Int(((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA3210[i]); } Can_MailboxHeader->FrameData.EU8Data[0] = ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA62; Can_MailboxHeader->FrameData.EU8Data[1] = ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.DATA63; } else { Can_MailboxHeader->Id = ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.ID; for (uint8_t i = 0; i < 16; i++) { Can_MailboxHeader->FrameData.U32Data[i] = Reverse_Int(((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->EFF.DATA3210[i]); } } }while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1)&&(delay_time2--)); if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE = Can_MailBox; if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) { delay_time1 = FUNCTION_ENABEL_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 1; while((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.DPRAMOF == 1) && (delay_time1--)); CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.FAILCLR = 0; ret = CAN_NOTOK; }else { ret = CAN_OK; } } } return ret; } #if (HARDWARE_FILTER == STD_ON) /* Set The Can Filter Code And Mask Code) */ static void Can_m_FdFilterInit(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const uint8_t IntIndex) { uint8_t MailBoxCount = 0; Can_m_FdMailBoxMaskErase(Can_Controller_Index); /* Enable MailBox Mask */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.MBMSKEN = STD_ON; if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_8_BYTE_DATALENGTH) { for (uint8_t mailbox_count = 0; mailbox_count < MAX_8MAILBOX_NUMBER; mailbox_count++) { if (Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_STANDARD) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 21); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x1FFFFB; } else if(Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_EXTENDED) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 3); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x03; } } } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_16_BYTE_DATALENGTH) { for (uint8_t mailbox_count = 0; mailbox_count < MAX_16MAILBOX_NUMBER; mailbox_count++) { if (Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_STANDARD) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 21); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x1FFFFB; } else if(Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_EXTENDED) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 3); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x03; } } } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_32_BYTE_DATALENGTH) { for (uint8_t mailbox_count = 0; mailbox_count < MAX_32MAILBOX_NUMBER; mailbox_count++) { if (Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_STANDARD) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 21); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x1FFFFB; } else if(Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_EXTENDED) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 3); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x03; } } } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_64_BYTE_DATALENGTH) { for (uint8_t mailbox_count = 0; mailbox_count < MAX_64MAILBOX_NUMBER; mailbox_count++) { if (Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_STANDARD) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 21); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x1FFFFB; } else if(Can_ControllerConfig[IntIndex].Can_HwFilter[0].Can_IdFilterFrame[mailbox_count] == CAN_FILTER_EXTENDED) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) = ((Can_ControllerConfig[IntIndex].Can_HwFilter[0].MaskCode[mailbox_count]) << 3); *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].FilterBaseAddress) - mailbox_count) |= 0x03; } } } } #endif #if (TRANSMIT_DELAY_CONPENSATION == STD_ON) static void Can_m_FdTDCSet(const uint8_t Can_Controller_Index) { uint8_t tq_ns = 0; uint8_t delay_tq = 0; uint8_t prescale = 0; uint16_t delay_ns = 0; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR2.B.TDCEN = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR2.B.DESEL = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_EROR.B.SFDEN = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR2.B.TEST0 = STD_OFF; #if (CONPENSATION_AUTO == STD_OFF) #if (WORKSOURCE_HFCLK == STD_ON) tq_ns = 1000/CANFD_HFCLK_MHZ+1; #else tq_ns = 1000/CANFD_SCLK_MHZ+1; #endif delay_ns = (Can_Controller_Index == CANfd6)?CANFD6_TRANSMIT_DELAY_NS:CANFD7_TRANSMIT_DELAY_NS; prescale = (CANFD_PTR[Can_Controller_Index]->CANFD_BRGR.B.BRSBRP+1); delay_tq = (delay_ns+50)/(tq_ns); delay_tq = delay_tq/(prescale); /* enable sample point deviation */ CANFD_PTR[Can_Controller_Index]->CANFD_EROR.B.SFDMOD = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_EROR.B.SOSFD = delay_tq; #else CANFD_PTR[Can_Controller_Index]->CANFD_EROR.B.SFDMOD = STD_OFF; CANFD_PTR[Can_Controller_Index]->CANFD_EROR.B.SOSFD = 0; #endif } #endif /** * 描述 写CANFD邮箱。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为 CANfd6、CANfd7。 * Mailbox_Number：邮箱号，取值为Mailbox_0~Mailbox_50 * Can_MailboxHeader：CANFD邮箱头类型配置结构体名 * 返回 ret： CAN_OK 硬件接受邮箱操作 * CAN_NOTOK 硬件未接受邮箱操作 * CAN_BUSY_RECEIVE_MAILBOX 接收邮箱忙碌 * CAN_ERROR_BUSOFF CAN控制器节点处于BUSOFF状态 * CAN_RAM_RXSTA RAM处于接收状态异常 * CAN_RAM_TXSTA RAM处于发送状态异常 * CAN_UNINITIALIZED 状态位处于未初始化状态 */ Can_ReturnType Can_m_FdMailBox_Write(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) { Can_ReturnType ret = CAN_UNINITIALIZED; Can_ReturnType (*func)(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) = NULL_PTR; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CANFD_MESSAGE_DLC(Can_MailboxHeader->FrameData.Data_Length)); /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_MAILBOX_TYPE(Can_MailboxHeader->TransceiveType)); switch(CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE) { case CAN_8_BYTE_DATALENGTH: func = &Can_m_FdCopyDataTo8MailBox; break; case CAN_16_BYTE_DATALENGTH: func = &Can_m_FdCopyDataTo16MailBox; break; case CAN_32_BYTE_DATALENGTH: func = &Can_m_FdCopyDataTo32MailBox; break; case CAN_64_BYTE_DATALENGTH: func = &Can_m_FdCopyDataTo64MailBox; break; default: break; } ret = func(Can_Controller_Index, Mailbox_Number, Can_MailboxHeader); return ret; } /** * 描述 读CANFD邮箱 ,读完之后重新设置邮箱属性 * 输入 Can_Controller_Index: CANFD控制器编号，取值为 CANfd6、CANfd7。 * Mailbox_Number：邮箱号，取值为Mailbox_0~Mailbox_50 * Can_MailboxHeader：CANFD邮箱头类型配置结构体名 * 返回 ret： CAN_OK 硬件接受邮箱操作 * CAN_NOTOK 硬件未接受邮箱操作 * CAN_BUSY_RECEIVE_MAILBOX 接收邮箱忙碌 * CAN_ERROR_BUSOFF CAN控制器节点处于BUSOFF状态 * CAN_RAM_RXSTA RAM处于接收状态异常 * CAN_RAM_TXSTA RAM处于发送状态异常 * CAN_UNINITIALIZED 状态位处于未初始化状态 */ Can_ReturnType Can_m_FdMailBox_Read(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBox) { Can_ReturnType ret = CAN_UNINITIALIZED; Can_ReturnType (*func)(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader, Can_MailBoxType Can_MailBox) = NULL_PTR; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); switch(CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE) { case CAN_8_BYTE_DATALENGTH: func = &Can_m_FdCopyDataFrom8MailBox; break; case CAN_16_BYTE_DATALENGTH: func = &Can_m_FdCopyDataFrom16MailBox; break; case CAN_32_BYTE_DATALENGTH: func = &Can_m_FdCopyDataFrom32MailBox; break; case CAN_64_BYTE_DATALENGTH: func = &Can_m_FdCopyDataFrom64MailBox; break; default: break; } ret = func(Can_Controller_Index, Mailbox_Number, Can_MailboxHeader, Can_MailBox); return ret; } /** * 描述 CANFD邮箱发送。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为 CANfd6、CANfd7。 * 返回 ret： CAN_OK 硬件接受邮箱操作 * CAN_NOTOK 硬件未接受邮箱操作 * CAN_BUSY_RECEIVE_MAILBOX 接收邮箱忙碌 * CAN_ERROR_BUSOFF CAN控制器节点处于BUSOFF状态 * CAN_RAM_RXSTA RAM处于接收状态异常 * CAN_RAM_TXSTA RAM处于发送状态异常 * CAN_UNINITIALIZED 状态位处于未初始化状态 */ Can_ReturnType Can_m_FdTransmit(const uint8_t Can_Controller_Index) { Can_ReturnType ret = CAN_UNINITIALIZED; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.BOFF == 0x00) { if (CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.ARBSTA1 == STD_ON) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.ARBSTART = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.ARBSTART = 0x00; } ret = CAN_OK; } else { /* CAN BUSOFF */ ret = CAN_ERROR_BUSOFF; } return ret; } /** * 描述 CANFD获取中断标志位。 * 输入 Can_Controller_Index : CANFD控制器编号，取值为CANfd6、CANfd7。 * Can_Controller_InterruptFlag ：CANFD中断标志位 * RxIntFlag：接收中断标志位 * TxIntFlag：发送中断标志位 * BusOffFlag：总线关闭中断标志位 * WakeUpFlag：唤醒中断标志位 * ErrorAlarmFlag：错误报警中断标志位 * OverFlowFlag：数据溢出中断标志位 * ErrorNegativeFlag：错误消极中断标志位 * ArbitrateLoseFlag：抢占丢失中断标志位 * BusErrorFlag：总线错误中断标志位 * DmaTXDFlag：DMA发送中断标志位 * DmaRXDFlag：DMA接收中断标志位 * rmc_count：赋值 * 返回 无。 */ void Can_m_FdGetIntFlag(const uint8_t Can_Controller_Index, Can_Controller_InterruptFlagType *Can_Controller_InterruptFlag, uint8_t *rmc_count) { /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); Can_Controller_InterruptFlag->EntireFlag = CANFD_PTR[Can_Controller_Index]->CANFD_IFR.R.Canfd_Interrupt_Flag; /* get canfd controller receive message number */ *rmc_count = CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.CANRMC; } /**CANFD_PTR[Can_Controller_Index] * 描述 CANFD获取中断标志位,建议在非中断中使用 * 输入 Can_Controller_Index : CANFD控制器编号。 * Can_Controller_InterruptFlag ： * Rx_Flag：接收标志位 * Tx_Flag：发送标志位 * BusOff_Flag：总线关闭标志位 * WakeUp_Flag：唤醒标志位 * ErrorAlarm_Flag：错误报警标志位 * OverFlow_Flag：数据溢出标志位 * ErrorNegative_Flag：错误消极标志位 * ArbitrateLose_Flag：抢占丢失标志位 * BusError_Flag：总线错误标志位 * DmaTXD_Flag: DMA发送标志位 * DmaRXD_Flag：DMA接收标志位 * 返回 无。 */ FlagStatus Can_m_FdGetFlag(const uint8_t Can_Controller_Index, const Can_Controller_InterruptType Can_Controller_Interrupt) { /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); return ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.R.Canfd_Interrupt_Flag & Can_Controller_Interrupt)!= 0U)?SET:RESET; } /** * 描述 CANFD清除中断标志位。 * 输入 Can_Controller_Index : CANFD控制器编号，取值为CANfd6、CANfd7。 * Can_Controller_InterruptFlag ：CANFD中断标志位 * RxIntFlag：接收中断标志位 * TxIntFlag：发送中断标志位 * BusOffFlag：总线关闭中断标志 * WakeUpFlag：唤醒中断标志位 * ErrorAlarmFlag：错误报警中断标志位 * OverFlowFlag：数据溢出中断标志位 * ErrorNegativeFlag：错误消极中断标志位 * ArbitrateLoseFlag：抢占丢失中断标志位 * BusErrorFlag：总线错误中断标志位 * DmaTXDFlag：DMA发送中断标志位 * DmaRXDFlag：DMA接收中断标志位 * rmc_count：赋值 * 返回 无。 */ ClearFlag_ReturnType Can_m_FdClearIntFlag(const uint8_t Can_Controller_Index, Can_Controller_InterruptFlagType *Can_Controller_InterruptFlag, uint8_t rmc_count) { ClearFlag_ReturnType ret = {0}; volatile uint32_t delay_time = CLEAR_FLAG_TIME; volatile uint32_t Rcr_Value = 0; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); /* Clear Arbitrate Lose Flag */ if ((Can_Controller_InterruptFlag->ArbitrateLoseFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ALIE == STD_ON)) { Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ALIC = STD_ON; while ((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.ALIF == STD_ON) && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ALIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Arbitrateloseclear_Timeout = STD_ON; } #if (AIBITRATE_SOFTRETRANSMIT ==STD_ON) CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = 0x00; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ATX = STD_ON; asm("nop"); asm("nop"); asm("nop"); CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ATX = 0x00; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = STD_ON; #endif } /* Clear Recevie Success Flag */ if ((Can_Controller_InterruptFlag->RxIntFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANRXIE == STD_ON)) { #if (BETEN_DYNAMIC_CHANGE == STD_ON) if(CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.BETEN == STD_OFF) { CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.BETEN = STD_ON; } #endif delay_time = CLEAR_FLAG_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANRXIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.CANRXIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANRXIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Receiveclear_Timeout = STD_ON; } } #if (BETEN_DYNAMIC_CHANGE == STD_ON) else if(Can_Controller_InterruptFlag->RxIntFlag == STD_ON) { if(CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.BETEN == STD_OFF) { CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.BETEN = STD_ON; } } #endif /* Clear Bus Error Flag */ if ((Can_Controller_InterruptFlag->BusErrorFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BEIE == STD_ON)) { #if (AVOIDERRORARBITRATE_WRITEMAILBOX == STD_ON) ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + ERRORARBITRATE_WRITEMAILBOX)->SFF.CS_CODE = 0xC008; #endif #if (HARDWARE_RETRANSMIT == STD_OFF) CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = 0x00; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ATX = STD_ON; asm("nop"); asm("nop"); asm("nop"); CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ATX = 0x00; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = STD_ON; #elif (SOFACK_NORETRANSMIT == STD_ON) /* Disable Hardware Aotu ReTransmmit */ if (CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.CANDIR == 0x00) { if ((CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.CANSEG == 0x03) || (CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.CANSEG == 0x19)) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = 0x00; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ATX = STD_ON; asm("nop"); asm("nop"); asm("nop"); CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ATX = 0x00; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = STD_ON; } } #endif #if (BETEN_DYNAMIC_CHANGE == STD_ON) if(CANFD_PTR[Can_Controller_Index]->CANFD_RCR.B.CANDIR == STD_OFF) { CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.BETEN = STD_OFF; } #endif delay_time = CLEAR_FLAG_TIME; Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BEIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.BEIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BEIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Buserrorclear_Timeout = STD_ON; } } /* Clear Bus Off Flag */ if ((Can_Controller_InterruptFlag->BusOffFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BOFFIE == STD_ON)) { delay_time = CLEAR_FLAG_TIME; #if (CAN_BUSOFF_RECOVERY_INTERRUPT == STD_ON) CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.RSMOD = STD_ON; while(delay_time--); CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.RSMOD = 0x00; #endif Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BOFFIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.BOFFIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.BOFFIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Busoffclear_Timeout = STD_ON; } CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = STD_ON; } /* Clear Error Alarm Flag */ if ((Can_Controller_InterruptFlag->ErrorAlarmFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.EAIE == STD_ON)) { delay_time = CLEAR_FLAG_TIME; Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.EAIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.EAIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.EAIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Erroralarmclear_Timeout = STD_ON; } } /* Clear Wake Up Flag */ if ((Can_Controller_InterruptFlag->ErrorNegativeFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ENIE == STD_ON)) { delay_time = CLEAR_FLAG_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ENIC = STD_ON; Rcr_Value = CANFD_PTR[Can_Controller_Index]->CANFD_RCR.R; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.ENIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.ENIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Errornegativeclear_Timeout = STD_ON; } } /* Clear OverFlow Flag */ if ((Can_Controller_InterruptFlag->OverFlowFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.DOVFIE == STD_ON)) { delay_time = CLEAR_FLAG_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.DOVFIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.DOVFIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.DOVFIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Overflowclear_Timeout = STD_ON; } } /* Clear Transmit Success Flag */ if ((Can_Controller_InterruptFlag->TxIntFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANTXIE == STD_ON)) { delay_time = CLEAR_FLAG_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANTXIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.CANTXIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.CANTXIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Transmitclear_Timeout = STD_ON; } } /* Clear Wake Up Flag */ if ((Can_Controller_InterruptFlag->WakeUpFlag == STD_ON) && (CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.WUIE == STD_ON)) { delay_time = CLEAR_FLAG_TIME; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.WUIC = STD_ON; while (CANFD_PTR[Can_Controller_Index]->CANFD_IFR.B.WUIF == STD_ON && (delay_time--)) ; CANFD_PTR[Can_Controller_Index]->CANFD_IER.B.WUIC = 0x00; if (delay_time > CLEAR_FLAG_TIME) { ret.Wakeupclear_Timeout = STD_ON; } } /* Clear Receive Message Count */ for (uint8_t release_count = 0; release_count < rmc_count; release_count++) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.RELRX = STD_ON; asm("NOP"); asm("NOP"); asm("NOP"); } } /** * 描述 CANFD控制器中断获取，建议在非中断中使用 * 输入 Can_Controller_Index: CANFD控制器编号. * Can_Controller_Interrupt： * Rx_Flag：接收标志位 * Tx_Flag：发送标志位 * BusOff_Flag：总线关闭标志位 * WakeUp_Flag：唤醒标志位 * ErrorAlarm_Flag：错误报警标志位 * OverFlow_Flag：数据溢出标志位 * ErrorNegative_Flag：错误消极标志位 * ArbitrateLose_Flag：抢占丢失标志位 * BusError_Flag：总线错误标志位 * DmaTXD_Flag: DMA发送标志位 * DmaRXD_Flag：DMA接收标志位 * 返回 无。 */ void Can_m_FdClearFlag(const uint8_t Can_Controller_Index,\ const Can_Controller_InterruptType Can_Controller_Interrupt) { ClearFlag_ReturnType ret = {0}; volatile uint8_t delay_time = CLEAR_FLAG_TIME; while((CANFD_PTR[Can_Controller_Index]->CANFD_IFR.R.Canfd_Interrupt_Flag & Can_Controller_Interrupt) && (delay_time--)) { CANFD_PTR[Can_Controller_Index]->CANFD_IER.R |= (Can_Controller_Interrupt<<16); } CANFD_PTR[Can_Controller_Index]->CANFD_IER.R &= ~(Can_Controller_Interrupt<<16); CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.RELRXALL = (Can_Controller_Interrupt == Rx_Flag)? STD_ON:STD_OFF; CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.RELRXALL = STD_OFF; } /** * 描述 邮箱触发功能设置。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为CANfd6、CANfd7。 * Can_MailboxNumType: 触发邮箱编号。 * Triger_Count：触发邮箱次数。 * 返回 无。 */ void Can_m_MailboxTrigerSet(const uint8_t Can_Controller_Index,\ const Can_MailboxNumType MailBox_Number,uint8_t Triger_Count) { volatile uint16_t trigersel = 0; switch(CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE) { case CAN_8_BYTE_DATALENGTH: trigersel = sizeof(DataBuffer_8byteType)*MailBox_Number; break; case CAN_16_BYTE_DATALENGTH: trigersel = sizeof(DataBuffer_16byteType)*MailBox_Number; break; case CAN_32_BYTE_DATALENGTH: trigersel = sizeof(DataBuffer_32byteType)*MailBox_Number; break; case CAN_64_BYTE_DATALENGTH: trigersel = sizeof(DataBuffer_64byteType)*MailBox_Number; break; default: break; } CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.TRGNUM = Triger_Count; *((uint8_t *)(&CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.R)+3) = (uint8_t)(trigersel>>3)|(0x01<<7); } /** * 描述 CANFD邮箱掩码设置。 * 输入 Can_Controller_Index : CANFD控制器编号，取值为CANfd6、CANfd7。 * Mailbox_Number：邮箱号，取值为Mailbox_0~Mailbox_50。 * Can_MailboxHeader：邮箱头配置结构体名。 * 返回 ret： CAN_OK 硬件接受邮箱操作 * CAN_OK 硬件未接受邮箱操作 * CAN_BUSY_RECEIVE_MAILBOX 接收邮箱忙碌 * CAN_ERROR_BUSOFF CAN控制器节点处于BUSOFF状态 * CAN_RAM_RXSTA RAM处于接收状态异常 * CAN_RAM_TXSTA RAM处于发送状态异常 * CAN_UNINITIALIZED 状态位处于未初始化状态 */ Can_ReturnType Can_m_FdMailBoxCode_Set(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number, Canfd_MailboxHeaderType *Can_MailboxHeader) { Can_ReturnType ret = CAN_UNINITIALIZED; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); Code_Segment Ret_Code_Segment = Can_m_FdCsCodeSet(Can_MailboxHeader); ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_CONFLICT_LOOP_TIME); if (ret == CAN_OK) { if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_8_BYTE_DATALENGTH) { ((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_16_BYTE_DATALENGTH) { ((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_32_BYTE_DATALENGTH) { ((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_64_BYTE_DATALENGTH) { ((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CS_CODE = Ret_Code_Segment.CS_CODE; } } else { } return ret; } /** * 描述 获取CANFD邮箱状态。 * 输入 Can_Controller_Index : CANFD控制器编号，取值为CANfd6、CANfd7。 * Mailbox_Number：邮箱号，取值为Mailbox_0~Mailbox_50。 * 返回 Ret_State： MAIL_UNDEFINED 邮箱未定义 * MAIL_RECEIVE 邮箱接收 * MAIL_RECEIVE_SUCCESS 邮箱接收成功 * MAIL_TRANSMIT 邮箱发送 * MAIL_TRANSMIT_SUCCESS 邮箱发送成功 * MAIL_RTR_REQUEST 邮箱远程帧请求 * MAIL_RTR_ANSWER 邮箱远程帧回复 */ Can_MailBoxType Can_m_FdGetMailBoxState(const uint8_t Can_Controller_Index, const Can_MailboxNumType Mailbox_Number) { Can_MailBoxType Ret_State = MAIL_UNDEFINED; Can_ReturnType ret = CAN_UNINITIALIZED; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); ret = Can_m_FdWaitConfilct(Can_Controller_Index,RAM_STATE_LOOP_TIME); if (ret == CAN_OK) { if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_8_BYTE_DATALENGTH) { Ret_State = (Can_MailBoxType)(((DataBuffer_8byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE); } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_16_BYTE_DATALENGTH) { Ret_State = (Can_MailBoxType)(((DataBuffer_16byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE); } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_32_BYTE_DATALENGTH) { Ret_State = (Can_MailBoxType)(((DataBuffer_32byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE); } else if (CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE == CAN_64_BYTE_DATALENGTH) { Ret_State = (Can_MailBoxType)(((DataBuffer_64byteType *)(Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + Mailbox_Number)->SFF.CODE); } } return Ret_State; } /** * 描述 获取控制器状态。 * 输入 Can_Controller_Index: CANFD控制器编号。 * Can_Controller_StatusType: 控制器当前状态, * CANFD_STATUS_OFF:控制器BUSOFF状态 * CANFD_STATUS_ERROR：控制器错误帧状态 * CANFD_STATUS_TRANSMITING：控制器正在发送状态 * CANFD_STATUS_RECEIVEING：控制器正在接收状态 * CANFD_STATUS_TRANSMITED：控制器发送完成状态 * CANFD_STATUS_TBUFFER：发送缓冲器状态 * CANFD_STATUS_RVOERFLOW：数据满状态 * CANFD_STATUS_REMPTY：数据空状态 * * 返回 SET: 总线关闭/出错/正在发送/正在接收/发送完毕/CPU可以访问发送缓冲器/ * RAM中未读数据满/RAM中有未读信息， * RESET: 总线开启/无错/发送空闲/接收空闲/发送未完成/CPU不能访问发送缓冲器/ * RAM中未读数据未满/RAM中无未读信息。 */ FlagStatus Can_m_FdGetCtrStatus(const uint8_t Can_Controller_Index,Can_Controller_StatusType Can_Controller_Status) { return ((CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.R & (Can_Controller_Status)) != 0)?SET:RESET; } /** * 描述 CANFD邮箱擦除。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为CANfd6、CANfd7。 * 返回 无。 */ void Can_m_FdMailBoxErase(const uint8_t Can_Controller_Index) { uint8_t erase_length = 0; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); switch(CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE) { case CAN_8_BYTE_DATALENGTH: erase_length = 204; break; case CAN_16_BYTE_DATALENGTH: erase_length = 216; break; case CAN_32_BYTE_DATALENGTH: erase_length = 230; break; case CAN_64_BYTE_DATALENGTH: erase_length = 234; break; default: break; } for (uint8_t erase_count = 0; erase_count < erase_length; erase_count++) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + erase_count) = 0x00000000; } } /** * 描述 CANFD邮箱掩码擦除。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为CANfd6、CANfd7。 * 返回 无。 */ void Can_m_FdMailBoxMaskErase(const uint8_t Can_Controller_Index) { uint8_t erase_length = 0; /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); switch(CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE) { case CAN_8_BYTE_DATALENGTH: erase_length = 204; break; case CAN_16_BYTE_DATALENGTH: erase_length = 216; break; case CAN_32_BYTE_DATALENGTH: erase_length = 230; break; case CAN_64_BYTE_DATALENGTH: erase_length = 234; break; default: break; } for (uint16_t erase_count = erase_length; erase_count < 256; erase_count++) { *(((uint32_t *)Can_m_ControllersInfo[Can_Controller_Index].MBBaseAddress) + erase_count) = 0x00000000; } } /** * 描述 CANFD控制器复位。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为 CANfd6、CANfd7。 * 返回 无。 */ void Can_m_FdControllerDeInit(const uint8_t Can_Controller_Index) { /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); if (Can_m_ControllersInfo[Can_Controller_Index].BaseAddress == CAN_HW_CONTROLLER_BASEADDRESS_CANFD6) { RST_CTL3_Peripheral_Reset_Enable(RST_CTL3_CAN6RST, TRUE); PCLK_CTL3_Peripheral_Clock_Enable(PCLK_CTL3_CAN6CLKEN, TRUE); RST_CTL3_Peripheral_Reset_Enable(RST_CTL3_CAN6RST, FALSE); } else if (Can_m_ControllersInfo[Can_Controller_Index].BaseAddress == CAN_HW_CONTROLLER_BASEADDRESS_CANFD7) { RST_CTL3_Peripheral_Reset_Enable(RST_CTL3_CAN7RST, TRUE); PCLK_CTL3_Peripheral_Clock_Enable(PCLK_CTL3_CAN7CLKEN, TRUE); RST_CTL3_Peripheral_Reset_Enable(RST_CTL3_CAN7RST, FALSE); } } /** * 描述 CANFD控制器初始化。 * 输入 Can_Controller_Index: CANFD控制器编号，取值为CANfd6、CANfd7。 * Can_ControllerConfig：CANFD控制器配置类型结构体。 * InitIndex：索引号，取值为Initindex_0~Initindex_4。 * 返回 无。 */ void Can_m_FdControllerInit(const uint8_t Can_Controller_Index, const Can_ControllerConfigType *Can_ControllerConfig, const Can_InitIndexType InitIndex) { volatile uint8_t delay_count = 0xff; SFR_SET_BIT_ASM(OSC_CTL0, OSC_CTL0_PMWREN_POS); SFR_SET_BIT_ASM(PM_CAL0, PM_CTL0_VDDPORON_POS); /* Controller Index Number Verification */ CHECK_RESTRICTION(CHECK_CONTROLLER_INDEX(Can_Controller_Index)); /* Disable CAN controller */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.CANEN = STD_OFF; /* Set CAN controller to reset work mode */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.RSMOD = CAN_CONTROLLER_RUN_MODE_RESET; /* Waitting For Can Controller Go to reset mode */ while (delay_count--) ; /* compound statement */ /* Disable Listen-only mode */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.SILENT = CAN_CONTROLLER_MODE_DISABLE_LISTENONLY; /* Disable sleep mode */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.SLEEP = CAN_CONTROLLER_MODE_DISABLE_SLEEP; /*Canfd Mode Verification*/ CHECK_RESTRICTION(CHECK_CONTROLLER_MODE(Can_ControllerConfig[InitIndex].CanfdMode)); if (Can_ControllerConfig[InitIndex].CanfdMode == CANFD_LOOP_INTERNAL_MODE) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.LBACK = CAN_CONTROLLER_MODE_ENABLE_LOOP; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.LBSEL = CAN_CONTROLLER_MODE_ENABLE_INTERLOOP; } else if (Can_ControllerConfig[InitIndex].CanfdMode == CNAFD_LOOP_EXTERNAL_MODE) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.LBACK = CAN_CONTROLLER_MODE_ENABLE_LOOP; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.LBSEL = CAN_CONTROLLER_MODE_DISABLE_INTERLOOP; } else if (Can_ControllerConfig[InitIndex].CanfdMode == CANFD_SILENT_MODE) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.LBACK = CAN_CONTROLLER_MODE_DISABLE_INTERLOOP; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.SILENT = CAN_CONTROLLER_MODE_ENABLE_LISTENONLY; } else if (Can_ControllerConfig[InitIndex].CanfdMode == CANFD_NORMAL_MODE) { CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.LBACK = CAN_CONTROLLER_MODE_DISABLE_INTERLOOP; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.SILENT = CAN_CONTROLLER_MODE_DISABLE_LISTENONLY; } CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.CKMODE = WORKSOURCE_DIVIDE_1; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.BOFFREC = HARDWARE_RECOVERY; /* Set Arbitrate Clock Divide */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR2.B.AMCKDIV = Clock_Divide_4; /* Canfd Protocal Verification */ CHECK_RESTRICTION(CHECK_CANFD_PROTOCAL(Can_ControllerConfig[InitIndex].FdFrameType)); /* Set Canfd Frame type */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.ISOFDCANEN = Can_ControllerConfig[InitIndex].FdFrameType; /*Canfd Mailbox Block Size Verification*/ CHECK_RESTRICTION(CHECK_CONTROLLER_MBSIZE(Can_ControllerConfig[InitIndex].MailBoxBlockSize)); /* Set Canfd MailBox Block Size */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.MBSIZE = Can_ControllerConfig[InitIndex].MailBoxBlockSize; /*Canfd Full Mailbox Receive Or Not Receive Verification */ CHECK_RESTRICTION(CHECK_CANFD_MAILBOX_FULLSTATE(Can_ControllerConfig[InitIndex].MBFullReceiveEnableSet)); /* Set Whether Full Canfd MailBox Participate the Receive Match*/ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.FULLRXEN = Can_ControllerConfig[InitIndex].MBFullReceiveEnableSet; /*Canfd Work Clock Source Verification*/ CHECK_RESTRICTION(CHECK_CONTROLLER_WORKCLOCK(CHECK_CONTROLLER_WORKCLOCK(Can_ControllerConfig[InitIndex].ClockSource))); /* Set Can Controller Work Clock Source */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.CANCKS = Can_ControllerConfig[InitIndex].ClockSource; /*Canfd Arbitrate Clock Source Verification*/ CHECK_RESTRICTION(CHECK_CONTROLLER_ARBCLOCK(CHECK_CONTROLLER_ARBCLOCK(Can_ControllerConfig[InitIndex].FdArbitrateClockSource))); /* Set Can Controller Arbitrate Clock Source */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR1.B.AMCKS = Can_ControllerConfig[InitIndex].FdArbitrateClockSource; /* Set Can Controller Global Mask Code */ CANFD_PTR[Can_Controller_Index]->CANFD_MSKR = Can_ControllerConfig[InitIndex].GlobalMask; CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.RTRMEN = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.IDSELEN = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_AMSTA.B.BETEN = STD_ON; CANFD_PTR[Can_Controller_Index]->CANFD_EROR.B.DPRAMFEN = STD_ON; /* Set CAN Default baudrate */ Can_m_FdBaudrateSet(Can_Controller_Index, Can_ControllerConfig, InitIndex); /* Clear Can Intterrupt Flag */ Can_m_FdClearAllFlag(Can_Controller_Index); /* Set The Can Intterrupt Enable And Clear The Interrupt Flag */ Can_m_FdIntSet(Can_Controller_Index, Can_ControllerConfig, InitIndex); /* Clear Ram Area Data */ Can_m_FdMailBoxErase(Can_Controller_Index); #if (TRANSMIT_DELAY_CONPENSATION == STD_ON) Can_m_FdTDCSet(Can_Controller_Index); #endif #if (HARDWARE_FILTER == STD_ON) /* Set The Can Filter Code */ Can_m_FdFilterInit(Can_Controller_Index, Can_ControllerConfig, InitIndex); #endif /* Enable CANFD Mode */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.CANFDEN = Can_ControllerConfig->EnableFD; /* Enable The Can Controller Module */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.CANEN = STD_ON; /* Set CAN Controller to work mode */ CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.RSMOD = CAN_CONTROLLER_RUN_MODE_RUN; /* CAN Controller Interrupt Settings */ while (delay_count--) ; CANFD_PTR[Can_Controller_Index]->CANFD_CTLR0.B.TXR = STD_ON; } /** * @brief This function handles transmit busy or transmit error */ void Can_m_FdTransmiterrorHandler(void) { /* * * */ } /** * @brief This function handles busoff recovery */ void Can_m_FdBusoffHandler(void) { /* * * */ } /** * @brief This function handles Flag clear timeout */ void Can_m_FdFlagclearHandler(void) { /* * * */ }