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authorUwe Hermann2010-12-26 00:30:05 +0100
committerUwe Hermann2010-12-26 00:30:05 +0100
commit06d1a5ca80e81b06d430201923d4002b7eb6ebe8 (patch)
tree7034888a3cfef68fffecb27124e6d6ca57376019 /lib
parente7d765ea907dada5d42735a43ccf0b45080789c1 (diff)
CAN: Cosmetics and coding-style fixes.
Diffstat (limited to 'lib')
-rw-r--r--lib/can.c226
1 files changed, 90 insertions, 136 deletions
diff --git a/lib/can.c b/lib/can.c
index eb7ac58..9fefca4 100644
--- a/lib/can.c
+++ b/lib/can.c
@@ -18,15 +18,14 @@
*/
#include <libopenstm32/can.h>
-
#include <libopenstm32/rcc.h>
void can_reset(u32 canport)
{
- if(canport == CAN1){
+ if (canport == CAN1) {
rcc_peripheral_reset(&RCC_APB1RSTR, RCC_APB1RSTR_CAN1RST);
rcc_peripheral_clear_reset(&RCC_APB1RSTR, RCC_APB1RSTR_CAN1RST);
- }else{
+ } else {
rcc_peripheral_reset(&RCC_APB1RSTR, RCC_APB1RSTR_CAN2RST);
rcc_peripheral_clear_reset(&RCC_APB1RSTR, RCC_APB1RSTR_CAN2RST);
}
@@ -40,197 +39,162 @@ int can_init(u32 canport,
u32 can_msr_inak_timeout = 0x0000FFFF;
int ret = 0;
- /* Exit from sleep mode */
+ /* Exit from sleep mode. */
CAN_MCR(canport) &= ~CAN_MCR_SLEEP;
- /* Request initialization "enter" */
+ /* Request initialization "enter". */
CAN_MCR(canport) |= CAN_MCR_INRQ;
- /* Wait for acknowledge */
+ /* Wait for acknowledge. */
while ((wait_ack != can_msr_inak_timeout) &&
- ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK)) {
+ ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK)) {
wait_ack++;
}
- /* Check the acknowledge */
+ /* Check the acknowledge. */
if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK) {
ret = 1;
} else {
-
- /* set the automatic bus-off management */
- if (ttcm) {
+ /* Set the automatic bus-off management. */
+ if (ttcm)
CAN_MCR(canport) |= CAN_MCR_TTCM;
- } else {
+ else
CAN_MCR(canport) &= ~CAN_MCR_TTCM;
- }
- if (abom) {
+ if (abom)
CAN_MCR(canport) |= CAN_MCR_ABOM;
- } else {
+ else
CAN_MCR(canport) &= ~CAN_MCR_ABOM;
- }
-
- if (awum) {
+ if (awum)
CAN_MCR(canport) |= CAN_MCR_AWUM;
- } else {
+ else
CAN_MCR(canport) &= ~CAN_MCR_AWUM;
- }
- if (nart) {
+ if (nart)
CAN_MCR(canport) |= CAN_MCR_NART;
- } else {
+ else
CAN_MCR(canport) &= ~CAN_MCR_NART;
- }
-
- if (rflm) {
+ if (rflm)
CAN_MCR(canport) |= CAN_MCR_RFLM;
- } else {
+ else
CAN_MCR(canport) &= ~CAN_MCR_RFLM;
- }
- if (txfp) {
+ if (txfp)
CAN_MCR(canport) |= CAN_MCR_TXFP;
- } else {
+ else
CAN_MCR(canport) &= ~CAN_MCR_TXFP;
- }
- /* Set bit timings */
- CAN_BTR(canport) = sjw |
- ts2 |
- ts1 |
+ /* Set bit timings. */
+ CAN_BTR(canport) = sjw | ts2 | ts1 |
(u32)(CAN_BTR_BRP_MASK & (brp - 1));
- /* Request initialization "leave" */
+ /* Request initialization "leave". */
CAN_MCR(canport) &= ~CAN_MCR_INRQ;
- /* Wait for acknowledge */
+ /* Wait for acknowledge. */
wait_ack = 0x00000000;
while ((wait_ack != can_msr_inak_timeout) &&
- ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+ ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
wait_ack++;
}
- if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK) {
+ if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)
ret = 1;
- }
}
-
return ret;
}
void can_filter_init(u32 canport, u32 nr, bool scale_32bit, bool id_list_mode,
- u32 fr1, u32 fr2,
- u32 fifo, bool enable)
+ u32 fr1, u32 fr2, u32 fifo, bool enable)
{
u32 filter_select_bit = 0x00000001 << nr;
- /* Request initialization "enter" */
+ /* Request initialization "enter". */
CAN_FMR(canport) |= CAN_FMR_FINIT;
- /* Deactivate the filter */
+ /* Deactivate the filter. */
CAN_FA1R(canport) &= ~filter_select_bit;
if (scale_32bit) {
- /* Set 32-bit scale for the filter */
+ /* Set 32-bit scale for the filter. */
CAN_FS1R(canport) |= filter_select_bit;
} else {
- /* Set 16-bit scale for the filter */
+ /* Set 16-bit scale for the filter. */
CAN_FS1R(canport) &= ~filter_select_bit;
}
if (id_list_mode) {
- /* Set filter mode to id list mode */
+ /* Set filter mode to ID list mode. */
CAN_FM1R(canport) |= filter_select_bit;
} else {
- /* Set filter mode to id/mask mode */
+ /* Set filter mode to id/mask mode. */
CAN_FM1R(canport) &= ~filter_select_bit;
}
- /* Set the first filter register */
+ /* Set the first filter register. */
CAN_FiR1(canport, nr) = fr1;
- /* Set the second filter register */
+ /* Set the second filter register. */
CAN_FiR2(canport, nr) = fr2;
- if (fifo) {
- /* Select FIFO1 as filter assignement */
- CAN_FFA1R(canport) |= filter_select_bit;
- } else {
- /* Select FIFO0 as filter assignement */
- CAN_FFA1R(canport) &= ~filter_select_bit;
- }
+ /* Select FIFO0 or FIFO1 as filter assignement. */
+ if (fifo)
+ CAN_FFA1R(canport) |= filter_select_bit; /* FIFO1 */
+ else
+ CAN_FFA1R(canport) &= ~filter_select_bit; /* FIFO0 */
- if (enable) {
- /* Activate the filter */
- CAN_FA1R(canport) |= filter_select_bit;
- }
+ if (enable)
+ CAN_FA1R(canport) |= filter_select_bit; /* Activate filter. */
- /* Request initialization "leave" */
+ /* Request initialization "leave". */
CAN_FMR(canport) &= ~CAN_FMR_FINIT;
-
}
-void can_filter_id_mask_16bit_init(u32 canport, u32 nr,
- u16 id1, u16 mask1,
- u16 id2, u16 mask2,
- u32 fifo, bool enable)
+void can_filter_id_mask_16bit_init(u32 canport, u32 nr, u16 id1, u16 mask1,
+ u16 id2, u16 mask2, u32 fifo, bool enable)
{
can_filter_init(canport, nr, false, false,
((u32)id1 << 16) | (u32)mask1,
- ((u32)id2 << 16) | (u32)mask2,
- fifo, enable);
+ ((u32)id2 << 16) | (u32)mask2, fifo, enable);
}
-
-void can_filter_id_mask_32bit_init(u32 canport, u32 nr,
- u32 id, u32 mask,
+void can_filter_id_mask_32bit_init(u32 canport, u32 nr, u32 id, u32 mask,
u32 fifo, bool enable)
{
- can_filter_init(canport, nr, true, false,
- id, mask,
- fifo, enable);
+ can_filter_init(canport, nr, true, false, id, mask, fifo, enable);
}
-void can_filter_id_list_16bit_init(u32 canport, u32 nr,
- u16 id1, u16 id2,
- u16 id3, u16 id4,
- u32 fifo, bool enable)
+void can_filter_id_list_16bit_init(u32 canport, u32 nr, u16 id1, u16 id2,
+ u16 id3, u16 id4, u32 fifo, bool enable)
{
can_filter_init(canport, nr, false, true,
((u32)id1 << 16) | (u32)id2,
- ((u32)id3 << 16) | (u32)id4,
- fifo, enable);
+ ((u32)id3 << 16) | (u32)id4, fifo, enable);
}
-void can_filter_id_list_32bit_init(u32 canport, u32 nr,
- u32 id1, u32 id2,
+void can_filter_id_list_32bit_init(u32 canport, u32 nr, u32 id1, u32 id2,
u32 fifo, bool enable)
{
- can_filter_init(canport, nr, true, true,
- id1, id2,
- fifo, enable);
+ can_filter_init(canport, nr, true, true, id1, id2, fifo, enable);
}
void can_enable_irq(u32 canport, u32 irq)
{
-
CAN_IER(canport) |= irq;
}
void can_disable_irq(u32 canport, u32 irq)
{
-
CAN_IER(canport) &= ~irq;
}
int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
{
- int ret = 0;
+ int ret = 0, i;
u32 mailbox = 0;
- int i;
if ((CAN_TSR(canport) & CAN_TSR_TME0) == CAN_TSR_TME0) {
ret = 0;
@@ -245,42 +209,39 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
ret = -1;
}
- if (ret != -1) { /* check if we have an empty mailbox */
+ if (ret != -1) { /* Check if we have an empty mailbox. */
if (ext) {
- /* Set extended id */
+ /* Set extended ID. */
CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT;
- /* Set extended id indicator bit */
+ /* Set extended ID indicator bit. */
CAN_TIxR(canport, mailbox) |= CAN_TIxR_IDE;
} else {
- /* Set standard id */
+ /* Set standard ID. */
CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_STID_SHIFT;
- /* Unset extended id indicator bit */
+ /* Unset extended ID indicator bit. */
CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_IDE;
}
- if (rtr) {
- /* Set remote transmission request bit */
- CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR;
- } else {
- /* Unset remote transmission request bit */
- CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_RTR;
- }
+ /* Set/clear remote transmission request bit. */
+ if (rtr)
+ CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR; /* Set */
+ else
+ CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_RTR; /* Clear */
- /* Set the DLC */
+ /* Set the DLC. */
CAN_TDTxR(canport, mailbox) &= 0xFFFFFFFF0;
CAN_TDTxR(canport, mailbox) |= length & CAN_TDTxR_DLC_MASK;
- /* Set the data */
+ /* Set the data. */
CAN_TDLxR(canport, mailbox) = 0;
CAN_TDHxR(canport, mailbox) = 0;
- for (i = 0; (i < 4) && (i < length); i++) {
+ for (i = 0; (i < 4) && (i < length); i++)
CAN_TDLxR(canport, mailbox) |= (u32)data[i] << (8 * i);
- }
- for (i = 4; (i < 8) && (i < length); i++) {
- CAN_TDHxR(canport, mailbox) |= (u32)data[i] << (8 * (i-4));
- }
+ for (i = 4; (i < 8) && (i < length); i++)
+ CAN_TDHxR(canport, mailbox)
+ |= (u32)data[i] << (8 * (i - 4));
- /* Request transmission */
+ /* Request transmission. */
CAN_TIxR(canport, mailbox) |= CAN_TIxR_TXRQ;
}
@@ -289,64 +250,57 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
void can_fifo_release(u32 canport, u8 fifo)
{
- if (fifo == 0) {
+ if (fifo == 0)
CAN_RF0R(canport) |= CAN_RF1R_RFOM1;
- } else {
+ else
CAN_RF1R(canport) |= CAN_RF1R_RFOM1;
- }
}
-void can_receive(u32 canport, u8 fifo, bool release,
- u32 *id, bool *ext, bool *rtr, u32 *fmi,
- u8 *length, u8 *data)
+void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
+ bool *rtr, u32 *fmi, u8 *length, u8 *data)
{
u32 fifo_id = 0;
int i;
- if (fifo == 0) {
+ if (fifo == 0)
fifo_id = CAN_FIFO0;
- } else {
+ else
fifo_id = CAN_FIFO1;
- }
- /* get type of CAN id and CAN id */
+ /* Get type of CAN ID and CAN ID. */
if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_IDE) {
*ext = true;
- /* Get extended CAN id */
+ /* Get extended CAN ID. */
*id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_EXID_MASK) >
CAN_RIxR_EXID_SHIFT);
} else {
*ext = false;
- /* Get standard CAN id */
+ /* Get standard CAN ID. */
*id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_STID_MASK) >
CAN_RIxR_STID_SHIFT);
}
- /* get request transmit flag */
- if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_RTR) {
+ /* Get request transmit flag. */
+ if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_RTR)
*rtr = true;
- } else {
+ else
*rtr = false;
- }
- /* get filter match id */
+ /* Get filter match ID. */
*fmi = ((CAN_RDTxR(canport, fifo_id) & CAN_RDTxR_FMI_MASK) >
CAN_RDTxR_FMI_SHIFT);
- /* get data length */
+ /* Get data length. */
*length = CAN_RDTxR(canport, fifo_id) & CAN_RDTxR_DLC_MASK;
- /* get data */
- for (i=0; (i < 4) && (i < *length); i++) {
+ /* Get data. */
+ for (i = 0; (i < 4) && (i < *length); i++)
data[i] = (CAN_RDLxR(canport, fifo_id) >> (8 * i)) & 0xFF;
- }
- for (i=4; (i < 8) && (i < *length); i++) {
+ for (i = 4; (i < 8) && (i < *length); i++)
data[i] = (CAN_RDHxR(canport, fifo_id) >> (8 * (i - 4))) & 0xFF;
- }
- /* release the fifo */
- if (release) {
+ /* Release the FIFO. */
+ if (release)
can_fifo_release(CAN1, 0);
- }
}