[d8b2e89c] | 1 | /** |
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| 2 | * @file |
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| 3 | * |
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| 4 | * @ingroup m |
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| 5 | * |
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| 6 | * @brief MSCAN support functions code. |
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| 7 | */ |
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| 8 | |
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| 9 | /* |
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| 10 | * Copyright (c) 2008 |
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| 11 | * Embedded Brains GmbH |
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| 12 | * Obere Lagerstr. 30 |
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| 13 | * D-82178 Puchheim |
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| 14 | * Germany |
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| 15 | * rtems@embedded-brains.de |
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| 16 | * |
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[0e27119] | 17 | * The license and distribution terms for this file may be |
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| 18 | * found in the file LICENSE in this distribution or at |
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| 19 | * http://www.rtems.com/license/LICENSE. |
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[d8b2e89c] | 20 | */ |
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| 21 | |
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| 22 | #include <bsp.h> |
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| 23 | #include <bsp/mscan-base.h> |
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| 24 | |
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| 25 | #define MIN_NO_OF_TQ 7 |
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| 26 | #define TSEG_1 1 |
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| 27 | #define TSEG_2 2 |
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| 28 | #define NO_OF_TABLE_ENTRIES 4 |
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| 29 | #define SJW 3 |
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| 30 | |
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| 31 | #define CAN_MAX_NO_OF_TQ 25 |
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| 32 | #define CAN_MAX_NO_OF_TQ_TSEG1 15 |
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| 33 | #define CAN_MAX_NO_OF_TQ_TSEG2 7 |
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| 34 | #define CAN_MAX_NO_OF_TQ_SJW 2 |
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| 35 | |
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| 36 | /** |
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| 37 | * Time segmant table. |
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| 38 | * |
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| 39 | * <table> |
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| 40 | * <tr> |
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| 41 | * <td>Number of time quantas</th> |
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| 42 | * <td>Time Segment 1</th> |
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| 43 | * <td>Time Segment 2</th> |
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| 44 | * <td>Sync: Jump width</th> |
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| 45 | * </tr> |
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| 46 | * </table> |
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| 47 | */ |
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| 48 | static uint8_t can_time_segment_table |
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| 49 | [CAN_MAX_NO_OF_TQ - MIN_NO_OF_TQ + 1] [NO_OF_TABLE_ENTRIES] = { |
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| 50 | {7, 4, 2, 1}, |
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| 51 | {8, 5, 2, 1}, |
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| 52 | {9, 6, 2, 2}, |
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| 53 | {10, 6, 3, 2}, |
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| 54 | {11, 7, 3, 2}, |
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| 55 | {12, 8, 3, 2}, |
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| 56 | {13, 8, 4, 2}, |
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| 57 | {14, 9, 4, 2}, |
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| 58 | {15, 10, 4, 2}, |
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| 59 | {16, 10, 5, 2}, |
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| 60 | {17, 11, 5, 2}, |
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| 61 | {18, 12, 5, 2}, |
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| 62 | {19, 12, 6, 2}, |
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| 63 | {20, 13, 6, 2}, |
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| 64 | {21, 14, 6, 2}, |
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| 65 | {22, 14, 7, 2}, |
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| 66 | {23, 15, 7, 2}, |
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| 67 | {24, 15, 8, 2}, |
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| 68 | {25, 16, 8, 2} |
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| 69 | }; |
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| 70 | |
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| 71 | /** |
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| 72 | * @brief Calculates the MSCAN clock prescaler value. |
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| 73 | */ |
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| 74 | static uint8_t prescaler_calculation( |
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| 75 | unsigned can_bit_rate, |
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| 76 | unsigned can_clock_frq, |
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| 77 | uint8_t *tq_no |
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| 78 | ) |
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| 79 | { |
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| 80 | |
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| 81 | /* local variables */ |
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| 82 | uint8_t presc_val, |
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| 83 | tq_no_dev_min = 0; |
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| 84 | uint32_t bit_rate, |
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| 85 | bit_rate_dev, |
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| 86 | frq_tq, |
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| 87 | bit_rate_dev_min = 0xFFFFFFFF; |
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| 88 | |
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| 89 | /* loop through all values of time quantas */ |
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| 90 | for (*tq_no = CAN_MAX_NO_OF_TQ; *tq_no >= MIN_NO_OF_TQ; (*tq_no)--) { |
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| 91 | |
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| 92 | /* calculate time quanta freq. */ |
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| 93 | frq_tq = *tq_no * can_bit_rate; |
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| 94 | |
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| 95 | /* calculate the optimized prescal. val. */ |
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| 96 | presc_val = (can_clock_frq + frq_tq / 2) / frq_tq; |
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| 97 | |
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| 98 | /* calculate the bitrate */ |
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| 99 | bit_rate = can_clock_frq / (*tq_no * presc_val); |
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| 100 | |
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| 101 | /* calculate the bitrate deviation */ |
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| 102 | if (can_bit_rate >= bit_rate) { |
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| 103 | /* calculate the bitrate deviation */ |
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| 104 | bit_rate_dev = can_bit_rate - bit_rate; |
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| 105 | } else { |
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| 106 | /* calculate the bitrate deviation */ |
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| 107 | bit_rate_dev = bit_rate - can_bit_rate; |
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| 108 | } |
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| 109 | |
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| 110 | /* check the deviation freq. */ |
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| 111 | if (bit_rate_dev == 0) { |
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| 112 | |
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| 113 | /* return if best match (zero deviation) */ |
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| 114 | return (uint8_t) (presc_val); |
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| 115 | } else { |
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| 116 | |
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| 117 | /* check for minimum of bit rate deviation */ |
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| 118 | if (bit_rate_dev < bit_rate_dev_min) { |
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| 119 | |
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| 120 | /* recognize the minimum freq. deviation */ |
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| 121 | bit_rate_dev_min = bit_rate_dev; |
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| 122 | |
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| 123 | /* recognize the no. of time quantas */ |
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| 124 | tq_no_dev_min = *tq_no; |
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| 125 | } |
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| 126 | } |
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| 127 | } |
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| 128 | |
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| 129 | /* get the no of tq's */ |
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| 130 | *tq_no = tq_no_dev_min; |
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| 131 | |
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| 132 | /* calculate time quanta freq. */ |
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| 133 | frq_tq = *tq_no * can_bit_rate; |
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| 134 | |
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| 135 | /* return the optimized prescaler value */ |
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| 136 | return (uint8_t) ((can_clock_frq + frq_tq / 2) / frq_tq); |
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| 137 | } |
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| 138 | |
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| 139 | /** |
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| 140 | * @brief Sets the bit rate for the MSCAN module @a m to @a can_bit_rate |
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| 141 | * in [bits/s]. |
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| 142 | */ |
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[ddd5640] | 143 | bool mscan_set_bit_rate( volatile mscan *m, unsigned can_bit_rate) |
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[d8b2e89c] | 144 | { |
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| 145 | mscan_context context; |
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[9a49a96] | 146 | unsigned prescale_val = 0; |
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[d8b2e89c] | 147 | uint8_t tq_no, |
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| 148 | tseg_1, |
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| 149 | tseg_2, |
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| 150 | sseg; |
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| 151 | |
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[9a49a96] | 152 | if (can_bit_rate < MSCAN_BIT_RATE_MIN || can_bit_rate > MSCAN_BIT_RATE_MAX) { |
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| 153 | return false; |
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| 154 | } |
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| 155 | |
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[d8b2e89c] | 156 | /* Enter initialization mode */ |
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| 157 | mscan_initialization_mode_enter( m, &context); |
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| 158 | |
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| 159 | /* get optimized prescaler value */ |
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| 160 | prescale_val = prescaler_calculation(can_bit_rate, IPB_CLOCK, &tq_no); |
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| 161 | |
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[9a49a96] | 162 | /* Check prescaler value */ |
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| 163 | if (prescale_val > 64) { |
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| 164 | /* Leave initialization mode */ |
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| 165 | mscan_initialization_mode_leave( m, &context); |
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[efdfd48] | 166 | |
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[9a49a96] | 167 | return false; |
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| 168 | } |
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| 169 | |
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[d8b2e89c] | 170 | /* get time segment length from time segment table */ |
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| 171 | tseg_1 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_1]; |
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| 172 | tseg_2 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_2]; |
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| 173 | sseg = can_time_segment_table[tq_no - MIN_NO_OF_TQ][SJW]; |
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| 174 | |
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| 175 | /* Bus Timing Register 0 MSCAN_A/_B ------------------------------ */ |
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| 176 | /* [07]:SJW1 1 : Synchronization jump width, Bit1 */ |
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| 177 | /* [06]:SJW0 0 : Synchronization jump width, Bit0 */ |
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| 178 | /* SJW = 2 -> 3 Tq clock cycles */ |
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| 179 | /* [05]:BRP5 0 : Baud Rate Prescaler, Bit 5 */ |
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| 180 | /* [04]:BRP4 0 : Baud Rate Prescaler, Bit 4 */ |
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| 181 | /* [03]:BRP3 0 : Baud Rate Prescaler, Bit 3 */ |
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| 182 | /* [02]:BRP2 1 : Baud Rate Prescaler, Bit 2 */ |
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| 183 | /* [01]:BRP1 0 : Baud Rate Prescaler, Bit 1 */ |
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| 184 | /* [00]:BRP0 1 : Baud Rate Prescaler, Bit 0 */ |
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| 185 | m->btr0 = (BTR0_SJW(sseg - 1) | BTR0_BRP(prescale_val - 1)); |
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| 186 | |
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| 187 | /* Bus Timing Register 1 MSCAN_A/_B ------------------------------ */ |
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| 188 | /* [07]:SAMP 0 : One Sample per bit */ |
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| 189 | /* [06]:TSEG22 0 : Time Segment 2, Bit 2 */ |
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| 190 | /* [05]:TSEG21 1 : Time Segment 2, Bit 1 */ |
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| 191 | /* [04]:TSEG20 0 : Time Segment 2, Bit 0 */ |
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| 192 | /* -> PHASE_SEG2 = 3 Tq */ |
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| 193 | /* [03]:TSEG13 0 : Time Segment 1, Bit 3 */ |
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| 194 | /* [02]:TSEG12 1 : Time Segment 1, Bit 2 */ |
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| 195 | /* [01]:TSEG11 1 : Time Segment 1, Bit 1 */ |
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| 196 | /* [00]:TSEG10 0 : Time Segment 1, Bit 0 */ |
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| 197 | m->btr1 = (BTR1_TSEG2(tseg_2 - 1) | BTR1_TSEG1(tseg_1 - 1)); |
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| 198 | |
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| 199 | /* Leave initialization mode */ |
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| 200 | mscan_initialization_mode_leave( m, &context); |
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[9a49a96] | 201 | |
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| 202 | return true; |
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[d8b2e89c] | 203 | } |
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| 204 | |
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| 205 | /** |
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| 206 | * @brief Disables all interrupts for the MSCAN module @a m. |
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| 207 | */ |
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[ddd5640] | 208 | void mscan_interrupts_disable( volatile mscan *m) |
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[d8b2e89c] | 209 | { |
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| 210 | m->rier = 0; |
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| 211 | m->tier = 0; |
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| 212 | } |
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| 213 | |
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| 214 | /** |
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| 215 | * @brief Enter initialization mode for the MSCAN module @a m. |
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| 216 | * |
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| 217 | * Saves the current MSCAN context in @a context. |
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| 218 | */ |
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[ddd5640] | 219 | void mscan_initialization_mode_enter( volatile mscan *m, mscan_context *context) |
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[d8b2e89c] | 220 | { |
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| 221 | /* Save context */ |
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| 222 | context->ctl0 = m->ctl0 & CTL0_TIME; |
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| 223 | context->rier = m->rier; |
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| 224 | context->tier = m->tier; |
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| 225 | |
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[3246789a] | 226 | /* Request initialization mode */ |
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| 227 | m->ctl0 |= CTL0_INITRQ; |
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[d8b2e89c] | 228 | |
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| 229 | /* Wait for initialization mode acknowledge */ |
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| 230 | while ((m->ctl1 & CTL1_INITAK) == 0) { |
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| 231 | /* Wait */ |
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| 232 | } |
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| 233 | } |
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| 234 | |
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| 235 | /** |
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| 236 | * @brief Leave initialization mode for the MSCAN module @a m. |
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| 237 | * |
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| 238 | * Saves the previous MSCAN context saved in @a context. |
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| 239 | */ |
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[ddd5640] | 240 | void mscan_initialization_mode_leave( volatile mscan *m, const mscan_context *context) |
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[d8b2e89c] | 241 | { |
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| 242 | /* Clear initialization mode request */ |
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| 243 | m->ctl0 &= ~CTL0_INITRQ; |
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| 244 | |
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| 245 | /* Wait for clearing of initialization mode acknowledge */ |
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| 246 | while ((m->ctl1 & CTL1_INITAK) != 0) { |
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| 247 | /* Wait */ |
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| 248 | } |
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| 249 | |
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| 250 | /* Leave sleep mode */ |
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| 251 | mscan_sleep_mode_leave( m); |
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| 252 | |
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| 253 | /* Restore context */ |
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| 254 | m->ctl0 |= context->ctl0; |
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| 255 | m->rier |= context->rier; |
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| 256 | m->tier |= context->tier; |
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| 257 | } |
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| 258 | |
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| 259 | /** |
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| 260 | * @brief Enter sleep mode for the MSCAN module @a m. |
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| 261 | */ |
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[ddd5640] | 262 | void mscan_sleep_mode_enter( volatile mscan *m) |
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[d8b2e89c] | 263 | { |
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| 264 | /* Request sleep mode */ |
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| 265 | m->ctl0 |= CTL0_SLPRQ; |
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| 266 | } |
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| 267 | |
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| 268 | /** |
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| 269 | * @brief Leave sleep mode for the MSCAN module @a m. |
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| 270 | */ |
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[ddd5640] | 271 | void mscan_sleep_mode_leave( volatile mscan *m) |
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[d8b2e89c] | 272 | { |
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| 273 | /* Clear sleep mode request */ |
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| 274 | m->ctl0 &= ~CTL0_SLPRQ; |
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| 275 | |
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| 276 | /* Wait for clearing of sleep mode acknowledge */ |
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| 277 | while ((m->ctl1 & CTL1_SLPAK) != 0) { |
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| 278 | /* Wait */ |
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| 279 | } |
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| 280 | } |
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| 281 | |
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| 282 | /** |
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| 283 | * @brief Enables and initializes the MSCAN module @a m. |
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| 284 | * |
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| 285 | * The module is set to listen only mode. |
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| 286 | */ |
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[ddd5640] | 287 | bool mscan_enable( volatile mscan *m, unsigned bit_rate) |
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[d8b2e89c] | 288 | { |
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[9a49a96] | 289 | bool s = true; |
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| 290 | |
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[d8b2e89c] | 291 | /* Disable the module */ |
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| 292 | mscan_disable( m); |
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| 293 | |
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| 294 | /* Enable module in listen only */ |
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| 295 | m->ctl1 = CTL1_CANE | CTL1_LISTEN; |
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| 296 | |
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| 297 | /* Close acceptance filters */ |
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| 298 | m->idac = IDAC_IDAM1 | IDAC_IDAM0; |
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| 299 | |
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| 300 | /* Clear filter */ |
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| 301 | mscan_filter_clear( m); |
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| 302 | |
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| 303 | /* Set bit rate and leave initialization mode */ |
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[9a49a96] | 304 | s = mscan_set_bit_rate( m, bit_rate); |
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[d8b2e89c] | 305 | |
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| 306 | /* Clear all flags */ |
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| 307 | m->ctl0 = CTL0_RXFRM; |
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| 308 | |
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| 309 | /* Disable interrupts */ |
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| 310 | mscan_interrupts_disable( m); |
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[9a49a96] | 311 | |
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| 312 | return s; |
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[d8b2e89c] | 313 | } |
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| 314 | |
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| 315 | /** |
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| 316 | * @brief Disables the MSCAN module @a m. |
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| 317 | * |
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| 318 | * The module is set to sleep mode and disabled afterwards. |
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| 319 | */ |
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[ddd5640] | 320 | void mscan_disable( volatile mscan *m) |
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[d8b2e89c] | 321 | { |
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| 322 | mscan_context context; |
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| 323 | |
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| 324 | /* Disable interrupts */ |
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| 325 | mscan_interrupts_disable( m); |
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| 326 | |
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| 327 | /* Enter initialization mode */ |
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| 328 | mscan_initialization_mode_enter( m, &context); |
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| 329 | |
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| 330 | /* Disable module */ |
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| 331 | m->ctl1 &= ~CTL1_CANE; |
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| 332 | } |
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| 333 | |
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| 334 | /** |
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| 335 | * @brief Sets the filter ID and mask registers of the MSCAN module @a m to |
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| 336 | * default values. |
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| 337 | */ |
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[ddd5640] | 338 | void mscan_filter_clear( volatile mscan *m) |
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[d8b2e89c] | 339 | { |
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| 340 | mscan_context context; |
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| 341 | |
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| 342 | mscan_initialization_mode_enter( m, &context); |
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| 343 | |
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| 344 | /* Setup ID acceptance registers */ |
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| 345 | m->idar0 = MSCAN_FILTER_ID_DEFAULT; |
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| 346 | m->idar1 = MSCAN_FILTER_ID_DEFAULT; |
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| 347 | m->idar2 = MSCAN_FILTER_ID_DEFAULT; |
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| 348 | m->idar3 = MSCAN_FILTER_ID_DEFAULT; |
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| 349 | m->idar4 = MSCAN_FILTER_ID_DEFAULT; |
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| 350 | m->idar5 = MSCAN_FILTER_ID_DEFAULT; |
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| 351 | m->idar6 = MSCAN_FILTER_ID_DEFAULT; |
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| 352 | m->idar7 = MSCAN_FILTER_ID_DEFAULT; |
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| 353 | |
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| 354 | /* Setup ID mask registers */ |
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| 355 | m->idmr0 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 356 | m->idmr1 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 357 | m->idmr2 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 358 | m->idmr3 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 359 | m->idmr4 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 360 | m->idmr5 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 361 | m->idmr6 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 362 | m->idmr7 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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| 363 | |
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| 364 | mscan_initialization_mode_leave( m, &context); |
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| 365 | } |
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| 366 | |
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| 367 | /** |
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| 368 | * @brief Returns the number of active filters of the MSCAN module @a m. |
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| 369 | * |
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| 370 | * @see MSCAN_FILTER_NUMBER_MIN, MSCAN_FILTER_NUMBER_2, MSCAN_FILTER_NUMBER_4 |
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| 371 | * and MSCAN_FILTER_NUMBER_MAX. |
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| 372 | */ |
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[ddd5640] | 373 | unsigned mscan_filter_number( volatile mscan *m) |
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[d8b2e89c] | 374 | { |
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| 375 | uint8_t idam = m->idac & IDAC_IDAM; |
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| 376 | |
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| 377 | switch (idam) { |
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| 378 | case 0: |
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| 379 | return MSCAN_FILTER_NUMBER_2; |
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| 380 | case IDAC_IDAM0: |
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| 381 | return MSCAN_FILTER_NUMBER_4; |
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| 382 | case IDAC_IDAM1: |
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| 383 | return MSCAN_FILTER_NUMBER_MAX; |
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| 384 | default: |
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| 385 | return MSCAN_FILTER_NUMBER_MIN; |
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| 386 | } |
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| 387 | } |
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| 388 | |
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| 389 | /** |
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| 390 | * @brief Sets the number of active filters of the MSCAN module @a m to @a |
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| 391 | * number and returns true if @a number is valid. |
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| 392 | * |
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| 393 | * @see MSCAN_FILTER_NUMBER_MIN, MSCAN_FILTER_NUMBER_2, MSCAN_FILTER_NUMBER_4 |
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| 394 | * and MSCAN_FILTER_NUMBER_MAX. |
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| 395 | */ |
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[ddd5640] | 396 | bool mscan_set_filter_number( volatile mscan *m, unsigned number) |
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[d8b2e89c] | 397 | { |
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| 398 | mscan_context context; |
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| 399 | uint8_t idac = IDAC_IDAM1 | IDAC_IDAM0; |
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| 400 | |
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| 401 | switch (number) { |
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| 402 | case MSCAN_FILTER_NUMBER_MIN: |
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| 403 | break; |
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| 404 | case MSCAN_FILTER_NUMBER_2: |
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| 405 | idac = 0; |
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| 406 | break; |
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| 407 | case MSCAN_FILTER_NUMBER_4: |
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| 408 | idac = IDAC_IDAM0; |
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| 409 | break; |
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| 410 | case MSCAN_FILTER_NUMBER_MAX: |
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| 411 | idac = IDAC_IDAM1; |
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| 412 | break; |
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| 413 | default: |
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| 414 | return false; |
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| 415 | } |
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| 416 | |
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| 417 | mscan_initialization_mode_enter( m, &context); |
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| 418 | |
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| 419 | m->idac = idac; |
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| 420 | |
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| 421 | mscan_initialization_mode_leave( m, &context); |
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| 422 | |
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| 423 | /* Clear filter */ |
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| 424 | mscan_filter_clear( m); |
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| 425 | |
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| 426 | return true; |
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| 427 | } |
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| 428 | |
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| 429 | /** |
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| 430 | * @brief Returns the address of the CANIDAR register with index @a i of the |
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| 431 | * MSCAN module @a m. |
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| 432 | * |
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| 433 | * @warning The index @a i is not checked if it is in range. |
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| 434 | */ |
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[ddd5640] | 435 | volatile uint8_t *mscan_id_acceptance_register( volatile mscan *m, unsigned i) |
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[d8b2e89c] | 436 | { |
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[4f5d1c9f] | 437 | volatile uint8_t *const idar [8] = { |
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[d8b2e89c] | 438 | &m->idar0, |
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| 439 | &m->idar1, |
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| 440 | &m->idar2, |
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| 441 | &m->idar3, |
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| 442 | &m->idar4, |
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| 443 | &m->idar5, |
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| 444 | &m->idar6, |
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| 445 | &m->idar7 |
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| 446 | }; |
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[efdfd48] | 447 | |
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[d8b2e89c] | 448 | return idar [i]; |
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| 449 | } |
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| 450 | |
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| 451 | /** |
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| 452 | * @brief Returns the address of the CANIDMR register with index @a i of the |
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| 453 | * MSCAN module @a m. |
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| 454 | * |
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| 455 | * @warning The index @a i is not checked if it is in range. |
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| 456 | */ |
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[ddd5640] | 457 | volatile uint8_t *mscan_id_mask_register( volatile mscan *m, unsigned i) |
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[d8b2e89c] | 458 | { |
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[4f5d1c9f] | 459 | volatile uint8_t *const idmr [8] = { |
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[d8b2e89c] | 460 | &m->idmr0, |
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| 461 | &m->idmr1, |
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| 462 | &m->idmr2, |
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| 463 | &m->idmr3, |
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| 464 | &m->idmr4, |
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| 465 | &m->idmr5, |
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| 466 | &m->idmr6, |
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| 467 | &m->idmr7 |
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| 468 | }; |
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[efdfd48] | 469 | |
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[d8b2e89c] | 470 | return idmr [i]; |
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| 471 | } |
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| 472 | |
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| 473 | /** |
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| 474 | * @brief Sets or gets the filter ID and mask in @a id and @a mask depending on |
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| 475 | * @a set of MSCAN module @a m. The filter is selected by the value of @a |
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| 476 | * index. |
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| 477 | * |
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| 478 | * Returns true if the operation was successful. |
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| 479 | */ |
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| 480 | bool mscan_filter_operation( |
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[ddd5640] | 481 | volatile mscan *m, |
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[d8b2e89c] | 482 | bool set, |
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| 483 | unsigned index, |
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| 484 | uint32_t *id, |
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| 485 | uint32_t *mask |
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| 486 | ) |
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| 487 | { |
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| 488 | unsigned number = mscan_filter_number( m); |
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| 489 | unsigned offset = MSCAN_FILTER_NUMBER_MAX / number; |
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| 490 | unsigned shift = 24; |
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| 491 | |
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| 492 | volatile uint8_t *idar = NULL; |
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| 493 | volatile uint8_t *idmr = NULL; |
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| 494 | |
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| 495 | if (!set) { |
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| 496 | *id = MSCAN_FILTER_ID_DEFAULT; |
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| 497 | *mask = MSCAN_FILTER_MASK_DEFAULT; |
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| 498 | } |
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| 499 | |
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| 500 | if (index < number) { |
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| 501 | mscan_context context; |
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| 502 | |
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| 503 | mscan_initialization_mode_enter( m, &context); |
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| 504 | |
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| 505 | index *= offset; |
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| 506 | offset += index; |
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| 507 | while (index < offset) { |
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| 508 | idar = mscan_id_acceptance_register( m, index); |
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| 509 | idmr = mscan_id_mask_register( m, index); |
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| 510 | |
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| 511 | if (set) { |
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| 512 | *idar = (uint8_t) (*id >> shift); |
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| 513 | *idmr = (uint8_t) (*mask >> shift); |
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| 514 | } else { |
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| 515 | *id = (*id & ~(0xffU << shift)) | (*idar << shift); |
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| 516 | *mask = (*mask & ~(0xffU << shift)) | (*idmr << shift); |
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| 517 | } |
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| 518 | |
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| 519 | shift -= 8; |
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| 520 | |
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| 521 | ++index; |
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| 522 | } |
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| 523 | |
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| 524 | mscan_initialization_mode_leave( m, &context); |
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| 525 | } else { |
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| 526 | return false; |
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| 527 | } |
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| 528 | |
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| 529 | return true; |
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| 530 | } |
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| 531 | |
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| 532 | /** |
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| 533 | * @brief Returns the receiver and transmitter error counter values in @a rec |
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| 534 | * and @a tec of MSCAN module @a m. |
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| 535 | */ |
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[ddd5640] | 536 | void mscan_get_error_counters( volatile mscan *m, unsigned *rec, unsigned *tec) |
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[d8b2e89c] | 537 | { |
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| 538 | mscan_context context; |
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| 539 | |
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| 540 | mscan_initialization_mode_enter( m, &context); |
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| 541 | |
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| 542 | *rec = m->rxerr; |
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| 543 | *tec = m->txerr; |
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| 544 | |
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| 545 | mscan_initialization_mode_leave( m, &context); |
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| 546 | } |
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