547 lines
20 KiB
C
547 lines
20 KiB
C
/******************** (C) COPYRIGHT 2003 STMicroelectronics ********************
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* File Name : can.c
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* Author : MCD Application Team
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* Date First Issued : 10/27/2003
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* Description : This file contains all the functions prototypes for the
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* CAN bus software library.
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********************************************************************************
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* History:
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* 13/01/2006 : V3.1
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* 24/05/2005 : V3.0
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* 30/11/2004 : V2.0
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* 14/07/2004 : V1.3
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* 01/01/2004 : V1.2
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*******************************************************************************
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THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS WITH
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CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
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AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, INDIRECT
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OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE CONTENT
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OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING INFORMATION
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CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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*******************************************************************************/
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#include "can.h"
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#include "xti.h"
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#include "pcu.h"
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// macro to format the timing register value from the timing parameters
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#define CAN_TIMING(tseg1, tseg2, sjw, brp) (((tseg2-1) & 0x07) << 12) | (((tseg1-1) & 0x0F) << 8) | (((sjw-1) & 0x03) << 6) | ((brp-1) & 0x3F)
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// array of pre-defined timing parameters for standard bitrates
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u16 CanTimings[] = { /* value bitrate NTQ TSEG1 TSEG2 SJW BRP */
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CAN_TIMING(11, 4, 4, 5), /* 0x3AC4 100 kbit/s 16 11 4 4 5 */
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CAN_TIMING(11, 4, 4, 4), /* 0x3AC3 125 kbit/s 16 11 4 4 4 */
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CAN_TIMING( 4, 3, 3, 4), /* 0x2383 250 kbit/s 8 4 3 3 4 */
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CAN_TIMING(13, 2, 1, 1), /* 0x1C00 500 kbit/s 16 13 2 1 1 */
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CAN_TIMING( 4, 3, 1, 1), /* 0x2300 1 Mbit/s 8 4 3 1 1 */
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};
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/*******************************************************************************
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* Function Name : CAN_SetBitrate
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* Description : Setup a standard CAN bitrate
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* Input 1 : one of the CAN_BITRATE_xxx defines
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* Output : None
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* Return : None
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* Note : CAN must be in initialization mode
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*******************************************************************************/
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void CAN_SetBitrate(u32 bitrate)
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{
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/* write the predefined timing value */
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CAN->BTR = CanTimings[bitrate];
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/* clear the Extended Baud Rate Prescaler */
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CAN->BRPR = 0;
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}
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/*******************************************************************************
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* Function Name : CAN_SetTiming
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* Description : Setup the CAN timing with specific parameters
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* Input 1 : Time Segment before the sample point position, from 2 to 16
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* Input 2 : Time Segment after the sample point position, from 1 to 8
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* Input 3 : Synchronisation Jump Width, from 1 to 4
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* Input 4 : Baud Rate Prescaler, from 1 to 1024
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* Output : None
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* Return : None
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* Note : CAN must be in initialization mode
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*******************************************************************************/
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void CAN_SetTiming(u32 tseg1, u32 tseg2, u32 sjw, u32 brp)
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{
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CAN->BTR = CAN_TIMING(tseg1, tseg2, sjw, brp);
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CAN->BRPR = ((brp-1) >> 6) & 0x0F;
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}
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/*******************************************************************************
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* Function Name : CAN_SleepRequest
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* Description : Request the CAN cell to enter sleep mode
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* Input 1 : CAN_WAKEUP_ON_EXT or CAN_WAKEUP_ON_CAN
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_SleepRequest(u32 WakeupMode)
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{
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/* Wakeup Line 6 is linked to CAN RX pin (port 1.11) */
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/* Wakeup Line 2 is linked to external pin (port 2.8) */
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u32 WakeupLine = (WakeupMode == CAN_WAKEUP_ON_CAN ? XTI_Line6 : XTI_Line2);
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CAN_WaitEndOfTx();
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XTI_Init();
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/* Configure the Wakeup Line mode, select Falling edge (transition to dominant state) */
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XTI_LineModeConfig(WakeupLine, XTI_FallingEdge);
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/* Enable Wake-Up interrupt */
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XTI_LineConfig(WakeupLine, ENABLE);
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/* Enable Wake-Up mode with interrupt */
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XTI_ModeConfig(XTI_WakeUpInterrupt, ENABLE);
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XTI_PendingBitClear(XTI_InterruptLineValue());
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/* Enter STOP mode (resume execution from here) */
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PCU_LPMEnter(PCU_STOP);
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}
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/*******************************************************************************
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* Function Name : CAN_GetFreeIF
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* Description : Search the first free message interface, starting from 0
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* Input : None
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* Output : None
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* Return : A free message interface number (0 or 1) if found, else 2
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*******************************************************************************/
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static u32 CAN_GetFreeIF(void)
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{
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if ((CAN->sMsgObj[0].CRR & CAN_CRR_BUSY) == 0)
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return 0;
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else if ((CAN->sMsgObj[1].CRR & CAN_CRR_BUSY) == 0)
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return 1;
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else return 2;
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}
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/*******************************************************************************
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* Macro Name : xxx_ID_MSK, xxx_ID_ARB
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* Description : Form the Mask and Arbitration registers value to filter a
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* range of identifiers or a fixed identifier, for standard
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* and extended IDs
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*******************************************************************************/
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#define RANGE_ID_MSK(range_start, range_end) (~((range_end) - (range_start)))
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#define RANGE_ID_ARB(range_start, range_end) ((range_start) & (range_end))
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#define FIXED_ID_MSK(id) RANGE_ID_MSK((id), (id))
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#define FIXED_ID_ARB(id) RANGE_ID_ARB((id), (id))
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#define STD_RANGE_ID_MSK(range_start, range_end) ((u16)((RANGE_ID_MSK((range_start), (range_end)) & 0x7FF) << 2))
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#define STD_RANGE_ID_ARB(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) << 2))
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#define STD_FIXED_ID_MSK(id) ((u16)((FIXED_ID_MSK(id) & 0x7FF) << 2))
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#define STD_FIXED_ID_ARB(id) ((u16)(FIXED_ID_ARB(id) << 2))
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#define EXT_RANGE_ID_MSK_L(range_start, range_end) ((u16)(RANGE_ID_MSK((range_start), (range_end)) >> 11))
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#define EXT_RANGE_ID_MSK_H(range_start, range_end) ((u16)(STD_RANGE_ID_MSK((range_start), (range_end)) | ((RANGE_ID_MSK((range_start), (range_end)) >> 27) & 0x03)))
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#define EXT_RANGE_ID_ARB_L(range_start, range_end) ((u16)(RANGE_ID_ARB((range_start), (range_end)) >> 11))
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#define EXT_RANGE_ID_ARB_H(range_start, range_end) ((u16)(STD_RANGE_ID_ARB((range_start), (range_end)) | ((RANGE_ID_ARB((range_start), (range_end)) >> 27) & 0x03)))
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#define EXT_FIXED_ID_MSK_L(id) ((u16)(FIXED_ID_MSK(id) >> 11))
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#define EXT_FIXED_ID_MSK_H(id) ((u16)(STD_FIXED_ID_MSK(id) | ((FIXED_ID_MSK(id) >> 27) & 0x03)))
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#define EXT_FIXED_ID_ARB_L(id) ((u16)(FIXED_ID_ARB(id) >> 11))
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#define EXT_FIXED_ID_ARB_H(id) ((u16)(STD_FIXED_ID_ARB(id) | ((FIXED_ID_ARB(id) >> 27) & 0x03)))
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/*******************************************************************************
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* Function Name : CAN_SetUnusedMsgObj
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* Description : Configure the message object as unused
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* Input 1 : message object number, from 0 to 31
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_SetUnusedMsgObj(u32 msgobj)
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{
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u32 msg_if;
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while ((msg_if = CAN_GetFreeIF()) == 2);
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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| CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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CAN->sMsgObj[msg_if].M1R = 0;
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CAN->sMsgObj[msg_if].M2R = 0;
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CAN->sMsgObj[msg_if].A1R = 0;
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CAN->sMsgObj[msg_if].A2R = 0;
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CAN->sMsgObj[msg_if].MCR = 0;
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CAN->sMsgObj[msg_if].DA1R = 0;
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CAN->sMsgObj[msg_if].DA2R = 0;
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CAN->sMsgObj[msg_if].DB1R = 0;
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CAN->sMsgObj[msg_if].DB2R = 0;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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}
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/*******************************************************************************
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* Function Name : CAN_SetTxMsgObj
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* Description : Configure the message object as TX
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* Input 1 : message object number, from 0 to 31
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* Input 2 : CAN_STD_ID or CAN_EXT_ID
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_SetTxMsgObj(u32 msgobj, u32 idType)
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{
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u32 msg_if;
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while ((msg_if = CAN_GetFreeIF()) == 2);
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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| CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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CAN->sMsgObj[msg_if].M1R = 0;
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CAN->sMsgObj[msg_if].A1R = 0;
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if (idType == CAN_STD_ID)
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{
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CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR;
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR;
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}
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else
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{
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CAN->sMsgObj[msg_if].M2R = CAN_M2R_MDIR | CAN_M2R_MXTD;
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_DIR | CAN_A2R_XTD;
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}
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CAN->sMsgObj[msg_if].MCR = CAN_MCR_TXIE | CAN_MCR_EOB;
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CAN->sMsgObj[msg_if].DA1R = 0;
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CAN->sMsgObj[msg_if].DA2R = 0;
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CAN->sMsgObj[msg_if].DB1R = 0;
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CAN->sMsgObj[msg_if].DB2R = 0;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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}
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/*******************************************************************************
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* Function Name : CAN_SetRxMsgObj
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* Description : Configure the message object as RX
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* Input 1 : message object number, from 0 to 31
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* Input 2 : CAN_STD_ID or CAN_EXT_ID
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* Input 3 : low part of the identifier range used for acceptance filtering
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* Input 4 : high part of the identifier range used for acceptance filtering
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* Input 5 : TRUE for a single receive object or a FIFO receive object that
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* is the last one of the FIFO
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* FALSE for a FIFO receive object that is not the last one
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_SetRxMsgObj(u32 msgobj, u32 idType, u32 idLow, u32 idHigh, bool singleOrFifoLast)
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{
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u32 msg_if;
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while ((msg_if = CAN_GetFreeIF()) == 2);
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CAN->sMsgObj[msg_if].CMR = CAN_CMR_WRRD
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| CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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if (idType == CAN_STD_ID)
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{
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CAN->sMsgObj[msg_if].M1R = 0;
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CAN->sMsgObj[msg_if].M2R = STD_RANGE_ID_MSK(idLow, idHigh);
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CAN->sMsgObj[msg_if].A1R = 0;
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | STD_RANGE_ID_ARB(idLow, idHigh);
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}
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else
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{
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CAN->sMsgObj[msg_if].M1R = EXT_RANGE_ID_MSK_L(idLow, idHigh);
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CAN->sMsgObj[msg_if].M2R = CAN_M2R_MXTD | EXT_RANGE_ID_MSK_H(idLow, idHigh);
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CAN->sMsgObj[msg_if].A1R = EXT_RANGE_ID_ARB_L(idLow, idHigh);
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CAN->sMsgObj[msg_if].A2R = CAN_A2R_MSGVAL | CAN_A2R_XTD | EXT_RANGE_ID_ARB_H(idLow, idHigh);
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}
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CAN->sMsgObj[msg_if].MCR = CAN_MCR_RXIE | CAN_MCR_UMASK | (singleOrFifoLast ? CAN_MCR_EOB : 0);
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CAN->sMsgObj[msg_if].DA1R = 0;
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CAN->sMsgObj[msg_if].DA2R = 0;
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CAN->sMsgObj[msg_if].DB1R = 0;
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CAN->sMsgObj[msg_if].DB2R = 0;
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CAN->sMsgObj[msg_if].CRR = 1 + msgobj;
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}
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/*******************************************************************************
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* Function Name : CAN_InvalidateAllMsgObj
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* Description : Configure all the message objects as unused
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* Input : None
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_InvalidateAllMsgObj(void)
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{
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u32 i;
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for (i = 0; i < 32; i++)
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CAN_SetUnusedMsgObj(i);
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}
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/*******************************************************************************
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* Function Name : CAN_Init
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* Description : Initialize the CAN cell and set the bitrate
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* Input 1 : any binary value formed from the CAN_CTL_xxx defines
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* Input 2 : one of the CAN_BITRATE_xxx defines
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_Init(u8 mask, u32 bitrate)
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{
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CAN_EnterInitMode(CAN_CR_CCE | mask);
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CAN_SetBitrate(bitrate);
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CAN_LeaveInitMode();
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CAN_LeaveTestMode();
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}
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/*******************************************************************************
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* Function Name : CAN_ReleaseMessage
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* Description : Release the message object
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* Input 1 : message object number, from 0 to 31
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* Output : None
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* Return : None
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*******************************************************************************/
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void CAN_ReleaseMessage(u32 msgobj)
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{
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u32 i;
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while ((i = CAN_GetFreeIF()) == 2);
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CAN->sMsgObj[i].CMR = CAN_CMR_CLRINTPND | CAN_CMR_TXRQST;
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CAN->sMsgObj[i].CRR = 1 + msgobj;
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}
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/*******************************************************************************
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* Function Name : CAN_SendMessage
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* Description : Start transmission of a message
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* Input 1 : message object number, from 0 to 31
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* Input 2 : pointer to the message structure containing data to transmit
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* Output : None
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* Return : 1 if transmission was OK, else 0
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*******************************************************************************/
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u32 CAN_SendMessage(u32 msgobj, canmsg* pCanMsg)
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{
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while (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY);
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/* if (CAN->sMsgObj[0].COMR & CAN_CRQ_BUSY) */
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/* return 0; // message interface 0 not free */
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CAN->SR &= ~CAN_SR_TXOK;
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/* read the Arbitration and Message Control */
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CAN->sMsgObj[0].CMR = CAN_CMR_ARB | CAN_CMR_CONTROL;
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CAN->sMsgObj[0].CRR = 1 + msgobj;
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while (CAN->sMsgObj[0].CRR & CAN_CRR_BUSY);
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/* update the contents needed for transmission */
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CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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if ((CAN->sMsgObj[0].A2R & CAN_A2R_XTD) == 0)
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{
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/* standard ID */
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CAN->sMsgObj[0].A1R = 0;
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CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
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}
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else
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{
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// extended ID
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CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
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CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
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}
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CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFEF0) | CAN_MCR_NEWDAT | CAN_MCR_TXRQST | pCanMsg->Dlc;
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CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
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CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
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CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
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CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
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CAN->sMsgObj[0].CRR = 1 + msgobj;
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return 1;
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}
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/*******************************************************************************
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* Function Name : CAN_ReceiveMessage
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* Description : Get the message, if received
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* Input 1 : message object number, from 0 to 31
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* Input 2 : if TRUE, the message object is released when getting the data
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* if FALSE, the message object is not released
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* Input 3 : pointer to the message structure where received data is stored
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* Output : None
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* Return : 1 if reception was OK, else 0 (no message pending)
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*******************************************************************************/
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u32 CAN_ReceiveMessage(u32 msgobj, bool release, canmsg* pCanMsg)
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{
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if (!CAN_IsMessageWaiting(msgobj))
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return 0;
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CAN->SR &= ~CAN_SR_RXOK;
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/* read the message contents */
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CAN->sMsgObj[1].CMR = CAN_CMR_MASK
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| CAN_CMR_ARB
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| CAN_CMR_CONTROL
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| CAN_CMR_CLRINTPND
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| (release ? CAN_CMR_TXRQST : 0)
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| CAN_CMR_DATAA
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| CAN_CMR_DATAB;
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CAN->sMsgObj[1].CRR = 1 + msgobj;
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while (CAN->sMsgObj[1].CRR & CAN_CRR_BUSY);
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if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
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{
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/* standard ID */
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pCanMsg->IdType = CAN_STD_ID;
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pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
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}
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else
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{
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/* extended ID */
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pCanMsg->IdType = CAN_EXT_ID;
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pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF) | ((u32)CAN->sMsgObj[1].A1R << 11) | (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
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}
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pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
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pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
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pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
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|
pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
|
|
pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
|
|
pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
|
|
pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
|
|
pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
|
|
pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
|
|
|
|
return 1;
|
|
}
|
|
|
|
/*******************************************************************************
|
|
* Function Name : CAN_WaitEndOfTx
|
|
* Description : Wait until current transmission is finished
|
|
* Input : None
|
|
* Output : None
|
|
* Return : None
|
|
*******************************************************************************/
|
|
void CAN_WaitEndOfTx(void)
|
|
{
|
|
while ((CAN->SR & CAN_SR_TXOK) == 0);
|
|
CAN->SR &= ~CAN_SR_TXOK;
|
|
}
|
|
|
|
/*******************************************************************************
|
|
* Function Name : CAN_BasicSendMessage
|
|
* Description : Start transmission of a message in BASIC mode
|
|
* Input 1 : pointer to the message structure containing data to transmit
|
|
* Output : None
|
|
* Return : 1 if transmission was OK, else 0
|
|
* Note : CAN must be in BASIC mode
|
|
*******************************************************************************/
|
|
u32 CAN_BasicSendMessage(canmsg* pCanMsg)
|
|
{
|
|
/* clear NewDat bit in IF2 to detect next reception */
|
|
CAN->sMsgObj[1].MCR &= ~CAN_MCR_NEWDAT;
|
|
|
|
CAN->SR &= ~CAN_SR_TXOK;
|
|
|
|
CAN->sMsgObj[0].CMR = CAN_CMR_WRRD
|
|
| CAN_CMR_ARB
|
|
| CAN_CMR_CONTROL
|
|
| CAN_CMR_DATAA
|
|
| CAN_CMR_DATAB;
|
|
|
|
if (pCanMsg->IdType == CAN_STD_ID)
|
|
{
|
|
/* standard ID */
|
|
CAN->sMsgObj[0].A1R = 0;
|
|
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | STD_FIXED_ID_ARB(pCanMsg->Id);
|
|
}
|
|
else
|
|
{
|
|
/* extended ID */
|
|
CAN->sMsgObj[0].A1R = EXT_FIXED_ID_ARB_L(pCanMsg->Id);
|
|
CAN->sMsgObj[0].A2R = (CAN->sMsgObj[0].A2R & 0xE000) | EXT_FIXED_ID_ARB_H(pCanMsg->Id);
|
|
}
|
|
|
|
CAN->sMsgObj[0].MCR = (CAN->sMsgObj[0].MCR & 0xFCF0) | pCanMsg->Dlc;
|
|
|
|
CAN->sMsgObj[0].DA1R = ((u16)pCanMsg->Data[1]<<8) | pCanMsg->Data[0];
|
|
CAN->sMsgObj[0].DA2R = ((u16)pCanMsg->Data[3]<<8) | pCanMsg->Data[2];
|
|
CAN->sMsgObj[0].DB1R = ((u16)pCanMsg->Data[5]<<8) | pCanMsg->Data[4];
|
|
CAN->sMsgObj[0].DB2R = ((u16)pCanMsg->Data[7]<<8) | pCanMsg->Data[6];
|
|
|
|
/* request transmission */
|
|
CAN->sMsgObj[0].CRR = CAN_CRR_BUSY | (1 + 0);
|
|
|
|
return 1;
|
|
}
|
|
|
|
/*******************************************************************************
|
|
* Function Name : CAN_BasicReceiveMessage
|
|
* Description : Get the message in BASIC mode, if received
|
|
* Input 1 : pointer to the message structure where received data is stored
|
|
* Output : None
|
|
* Return : 1 if reception was OK, else 0 (no message pending)
|
|
* Note : CAN must be in BASIC mode
|
|
*******************************************************************************/
|
|
u32 CAN_BasicReceiveMessage(canmsg* pCanMsg)
|
|
{
|
|
if ((CAN->sMsgObj[1].MCR & CAN_MCR_NEWDAT) == 0)
|
|
return 0;
|
|
|
|
CAN->SR &= ~CAN_SR_RXOK;
|
|
|
|
CAN->sMsgObj[1].CMR = CAN_CMR_ARB
|
|
| CAN_CMR_CONTROL
|
|
| CAN_CMR_DATAA
|
|
| CAN_CMR_DATAB;
|
|
|
|
if ((CAN->sMsgObj[1].A2R & CAN_A2R_XTD) == 0)
|
|
{
|
|
/* standard ID */
|
|
pCanMsg->IdType = CAN_STD_ID;
|
|
pCanMsg->Id = (CAN->sMsgObj[1].A2R >> 2) & 0x07FF;
|
|
}
|
|
else
|
|
{
|
|
/* extended ID */
|
|
pCanMsg->IdType = CAN_EXT_ID;
|
|
pCanMsg->Id = ((CAN->sMsgObj[1].A2R >> 2) & 0x07FF) | ((u32)CAN->sMsgObj[1].A1R << 11) | (((u32)CAN->sMsgObj[1].A2R & 0x0003) << 27);
|
|
}
|
|
|
|
pCanMsg->Dlc = CAN->sMsgObj[1].MCR & 0x0F;
|
|
|
|
pCanMsg->Data[0] = (u8) CAN->sMsgObj[1].DA1R;
|
|
pCanMsg->Data[1] = (u8)(CAN->sMsgObj[1].DA1R >> 8);
|
|
pCanMsg->Data[2] = (u8) CAN->sMsgObj[1].DA2R;
|
|
pCanMsg->Data[3] = (u8)(CAN->sMsgObj[1].DA2R >> 8);
|
|
pCanMsg->Data[4] = (u8) CAN->sMsgObj[1].DB1R;
|
|
pCanMsg->Data[5] = (u8)(CAN->sMsgObj[1].DB1R >> 8);
|
|
pCanMsg->Data[6] = (u8) CAN->sMsgObj[1].DB2R;
|
|
pCanMsg->Data[7] = (u8)(CAN->sMsgObj[1].DB2R >> 8);
|
|
|
|
return 1;
|
|
}
|
|
|
|
/******************* (C) COPYRIGHT 2003 STMicroelectronics *****END OF FILE****/
|