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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17 | * The license and distribution terms for this file may be found in the file |
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18 | * LICENSE in this distribution or at http://www.rtems.com/license/LICENSE. |
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19 | */ |
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20 | |
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21 | #include <bsp.h> |
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22 | #include <bsp/mscan-base.h> |
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23 | |
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24 | #define MIN_NO_OF_TQ 7 |
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25 | #define TSEG_1 1 |
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26 | #define TSEG_2 2 |
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27 | #define NO_OF_TABLE_ENTRIES 4 |
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28 | #define SJW 3 |
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29 | |
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30 | #define CAN_MAX_NO_OF_TQ 25 |
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31 | #define CAN_MAX_NO_OF_TQ_TSEG1 15 |
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32 | #define CAN_MAX_NO_OF_TQ_TSEG2 7 |
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33 | #define CAN_MAX_NO_OF_TQ_SJW 2 |
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34 | |
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35 | /** |
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36 | * Time segmant table. |
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37 | * |
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38 | * <table> |
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39 | * <tr> |
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40 | * <td>Number of time quantas</th> |
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41 | * <td>Time Segment 1</th> |
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42 | * <td>Time Segment 2</th> |
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43 | * <td>Sync: Jump width</th> |
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44 | * </tr> |
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45 | * </table> |
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46 | */ |
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47 | static uint8_t can_time_segment_table |
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48 | [CAN_MAX_NO_OF_TQ - MIN_NO_OF_TQ + 1] [NO_OF_TABLE_ENTRIES] = { |
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49 | {7, 4, 2, 1}, |
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50 | {8, 5, 2, 1}, |
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51 | {9, 6, 2, 2}, |
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52 | {10, 6, 3, 2}, |
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53 | {11, 7, 3, 2}, |
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54 | {12, 8, 3, 2}, |
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55 | {13, 8, 4, 2}, |
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56 | {14, 9, 4, 2}, |
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57 | {15, 10, 4, 2}, |
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58 | {16, 10, 5, 2}, |
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59 | {17, 11, 5, 2}, |
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60 | {18, 12, 5, 2}, |
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61 | {19, 12, 6, 2}, |
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62 | {20, 13, 6, 2}, |
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63 | {21, 14, 6, 2}, |
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64 | {22, 14, 7, 2}, |
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65 | {23, 15, 7, 2}, |
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66 | {24, 15, 8, 2}, |
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67 | {25, 16, 8, 2} |
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68 | }; |
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69 | |
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70 | /** |
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71 | * @brief Calculates the MSCAN clock prescaler value. |
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72 | */ |
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73 | static uint8_t prescaler_calculation( |
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74 | unsigned can_bit_rate, |
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75 | unsigned can_clock_frq, |
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76 | uint8_t *tq_no |
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77 | ) |
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78 | { |
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79 | |
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80 | /* local variables */ |
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81 | uint8_t presc_val, |
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82 | tq_no_dev_min = 0; |
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83 | uint32_t bit_rate, |
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84 | bit_rate_dev, |
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85 | frq_tq, |
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86 | bit_rate_dev_min = 0xFFFFFFFF; |
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87 | |
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88 | /* loop through all values of time quantas */ |
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89 | for (*tq_no = CAN_MAX_NO_OF_TQ; *tq_no >= MIN_NO_OF_TQ; (*tq_no)--) { |
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90 | |
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91 | /* calculate time quanta freq. */ |
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92 | frq_tq = *tq_no * can_bit_rate; |
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93 | |
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94 | /* calculate the optimized prescal. val. */ |
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95 | presc_val = (can_clock_frq + frq_tq / 2) / frq_tq; |
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96 | |
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97 | /* calculate the bitrate */ |
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98 | bit_rate = can_clock_frq / (*tq_no * presc_val); |
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99 | |
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100 | /* calculate the bitrate deviation */ |
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101 | if (can_bit_rate >= bit_rate) { |
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102 | /* calculate the bitrate deviation */ |
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103 | bit_rate_dev = can_bit_rate - bit_rate; |
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104 | } else { |
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105 | /* calculate the bitrate deviation */ |
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106 | bit_rate_dev = bit_rate - can_bit_rate; |
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107 | } |
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108 | |
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109 | /* check the deviation freq. */ |
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110 | if (bit_rate_dev == 0) { |
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111 | |
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112 | /* return if best match (zero deviation) */ |
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113 | return (uint8_t) (presc_val); |
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114 | } else { |
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115 | |
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116 | /* check for minimum of bit rate deviation */ |
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117 | if (bit_rate_dev < bit_rate_dev_min) { |
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118 | |
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119 | /* recognize the minimum freq. deviation */ |
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120 | bit_rate_dev_min = bit_rate_dev; |
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121 | |
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122 | /* recognize the no. of time quantas */ |
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123 | tq_no_dev_min = *tq_no; |
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124 | } |
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125 | } |
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126 | } |
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127 | |
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128 | /* get the no of tq's */ |
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129 | *tq_no = tq_no_dev_min; |
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130 | |
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131 | /* calculate time quanta freq. */ |
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132 | frq_tq = *tq_no * can_bit_rate; |
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133 | |
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134 | /* return the optimized prescaler value */ |
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135 | return (uint8_t) ((can_clock_frq + frq_tq / 2) / frq_tq); |
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136 | } |
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137 | |
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138 | /** |
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139 | * @brief Sets the bit rate for the MSCAN module @a m to @a can_bit_rate |
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140 | * in [bits/s]. |
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141 | */ |
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142 | bool mscan_set_bit_rate( mscan *m, unsigned can_bit_rate) |
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143 | { |
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144 | mscan_context context; |
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145 | unsigned prescale_val = 0; |
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146 | uint8_t tq_no, |
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147 | tseg_1, |
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148 | tseg_2, |
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149 | sseg; |
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150 | |
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151 | if (can_bit_rate < MSCAN_BIT_RATE_MIN || can_bit_rate > MSCAN_BIT_RATE_MAX) { |
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152 | return false; |
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153 | } |
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154 | |
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155 | /* Enter initialization mode */ |
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156 | mscan_initialization_mode_enter( m, &context); |
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157 | |
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158 | /* get optimized prescaler value */ |
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159 | prescale_val = prescaler_calculation(can_bit_rate, IPB_CLOCK, &tq_no); |
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160 | |
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161 | /* Check prescaler value */ |
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162 | if (prescale_val > 64) { |
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163 | /* Leave initialization mode */ |
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164 | mscan_initialization_mode_leave( m, &context); |
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165 | |
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166 | return false; |
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167 | } |
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168 | |
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169 | /* get time segment length from time segment table */ |
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170 | tseg_1 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_1]; |
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171 | tseg_2 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_2]; |
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172 | sseg = can_time_segment_table[tq_no - MIN_NO_OF_TQ][SJW]; |
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173 | |
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174 | /* Bus Timing Register 0 MSCAN_A/_B ------------------------------ */ |
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175 | /* [07]:SJW1 1 : Synchronization jump width, Bit1 */ |
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176 | /* [06]:SJW0 0 : Synchronization jump width, Bit0 */ |
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177 | /* SJW = 2 -> 3 Tq clock cycles */ |
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178 | /* [05]:BRP5 0 : Baud Rate Prescaler, Bit 5 */ |
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179 | /* [04]:BRP4 0 : Baud Rate Prescaler, Bit 4 */ |
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180 | /* [03]:BRP3 0 : Baud Rate Prescaler, Bit 3 */ |
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181 | /* [02]:BRP2 1 : Baud Rate Prescaler, Bit 2 */ |
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182 | /* [01]:BRP1 0 : Baud Rate Prescaler, Bit 1 */ |
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183 | /* [00]:BRP0 1 : Baud Rate Prescaler, Bit 0 */ |
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184 | m->btr0 = (BTR0_SJW(sseg - 1) | BTR0_BRP(prescale_val - 1)); |
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185 | |
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186 | /* Bus Timing Register 1 MSCAN_A/_B ------------------------------ */ |
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187 | /* [07]:SAMP 0 : One Sample per bit */ |
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188 | /* [06]:TSEG22 0 : Time Segment 2, Bit 2 */ |
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189 | /* [05]:TSEG21 1 : Time Segment 2, Bit 1 */ |
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190 | /* [04]:TSEG20 0 : Time Segment 2, Bit 0 */ |
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191 | /* -> PHASE_SEG2 = 3 Tq */ |
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192 | /* [03]:TSEG13 0 : Time Segment 1, Bit 3 */ |
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193 | /* [02]:TSEG12 1 : Time Segment 1, Bit 2 */ |
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194 | /* [01]:TSEG11 1 : Time Segment 1, Bit 1 */ |
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195 | /* [00]:TSEG10 0 : Time Segment 1, Bit 0 */ |
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196 | m->btr1 = (BTR1_TSEG2(tseg_2 - 1) | BTR1_TSEG1(tseg_1 - 1)); |
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197 | |
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198 | /* Leave initialization mode */ |
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199 | mscan_initialization_mode_leave( m, &context); |
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200 | |
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201 | return true; |
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202 | } |
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203 | |
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204 | /** |
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205 | * @brief Disables all interrupts for the MSCAN module @a m. |
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206 | */ |
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207 | void mscan_interrupts_disable( mscan *m) |
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208 | { |
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209 | m->rier = 0; |
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210 | m->tier = 0; |
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211 | } |
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212 | |
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213 | /** |
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214 | * @brief Enter initialization mode for the MSCAN module @a m. |
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215 | * |
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216 | * Saves the current MSCAN context in @a context. |
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217 | */ |
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218 | void mscan_initialization_mode_enter( mscan *m, mscan_context *context) |
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219 | { |
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220 | /* Save context */ |
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221 | context->ctl0 = m->ctl0 & CTL0_TIME; |
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222 | context->rier = m->rier; |
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223 | context->tier = m->tier; |
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224 | |
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225 | /* Initialization mode not requested? */ |
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226 | if ((m->ctl0 & CTL0_INITRQ) == 0) { |
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227 | /* Enter sleep mode to avoid error conditions */ |
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228 | mscan_sleep_mode_enter( m); |
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229 | |
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230 | /* Request initialization mode */ |
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231 | m->ctl0 |= CTL0_INITRQ; |
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232 | } |
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233 | |
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234 | /* Wait for initialization mode acknowledge */ |
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235 | while ((m->ctl1 & CTL1_INITAK) == 0) { |
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236 | /* Wait */ |
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237 | } |
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238 | } |
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239 | |
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240 | /** |
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241 | * @brief Leave initialization mode for the MSCAN module @a m. |
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242 | * |
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243 | * Saves the previous MSCAN context saved in @a context. |
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244 | */ |
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245 | void mscan_initialization_mode_leave( mscan *m, const mscan_context *context) |
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246 | { |
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247 | /* Clear initialization mode request */ |
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248 | m->ctl0 &= ~CTL0_INITRQ; |
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249 | |
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250 | /* Wait for clearing of initialization mode acknowledge */ |
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251 | while ((m->ctl1 & CTL1_INITAK) != 0) { |
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252 | /* Wait */ |
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253 | } |
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254 | |
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255 | /* Leave sleep mode */ |
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256 | mscan_sleep_mode_leave( m); |
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257 | |
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258 | /* Restore context */ |
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259 | m->ctl0 |= context->ctl0; |
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260 | m->rier |= context->rier; |
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261 | m->tier |= context->tier; |
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262 | } |
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263 | |
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264 | /** |
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265 | * @brief Enter sleep mode for the MSCAN module @a m. |
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266 | */ |
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267 | void mscan_sleep_mode_enter( mscan *m) |
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268 | { |
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269 | /* Request sleep mode */ |
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270 | m->ctl0 |= CTL0_SLPRQ; |
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271 | |
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272 | /* Wait for sleep mode acknowledge */ |
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273 | while ((m->ctl1 & CTL1_SLPAK) == 0) { |
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274 | /* Wait */ |
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275 | } |
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276 | } |
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277 | |
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278 | /** |
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279 | * @brief Leave sleep mode for the MSCAN module @a m. |
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280 | */ |
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281 | void mscan_sleep_mode_leave( mscan *m) |
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282 | { |
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283 | /* Clear sleep mode request */ |
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284 | m->ctl0 &= ~CTL0_SLPRQ; |
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285 | |
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286 | /* Wait for clearing of sleep mode acknowledge */ |
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287 | while ((m->ctl1 & CTL1_SLPAK) != 0) { |
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288 | /* Wait */ |
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289 | } |
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290 | } |
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291 | |
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292 | /** |
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293 | * @brief Enables and initializes the MSCAN module @a m. |
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294 | * |
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295 | * The module is set to listen only mode. |
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296 | */ |
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297 | bool mscan_enable( mscan *m, unsigned bit_rate) |
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298 | { |
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299 | bool s = true; |
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300 | |
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301 | /* Disable the module */ |
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302 | mscan_disable( m); |
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303 | |
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304 | /* Enable module in listen only */ |
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305 | m->ctl1 = CTL1_CANE | CTL1_LISTEN; |
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306 | |
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307 | /* Close acceptance filters */ |
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308 | m->idac = IDAC_IDAM1 | IDAC_IDAM0; |
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309 | |
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310 | /* Clear filter */ |
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311 | mscan_filter_clear( m); |
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312 | |
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313 | /* Set bit rate and leave initialization mode */ |
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314 | s = mscan_set_bit_rate( m, bit_rate); |
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315 | |
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316 | /* Clear all flags */ |
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317 | m->ctl0 = CTL0_RXFRM; |
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318 | |
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319 | /* Disable interrupts */ |
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320 | mscan_interrupts_disable( m); |
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321 | |
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322 | return s; |
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323 | } |
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324 | |
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325 | /** |
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326 | * @brief Disables the MSCAN module @a m. |
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327 | * |
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328 | * The module is set to sleep mode and disabled afterwards. |
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329 | */ |
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330 | void mscan_disable( mscan *m) |
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331 | { |
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332 | mscan_context context; |
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333 | |
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334 | /* Disable interrupts */ |
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335 | mscan_interrupts_disable( m); |
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336 | |
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337 | /* Enter initialization mode */ |
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338 | mscan_initialization_mode_enter( m, &context); |
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339 | |
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340 | /* Disable module */ |
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341 | m->ctl1 &= ~CTL1_CANE; |
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342 | } |
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343 | |
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344 | /** |
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345 | * @brief Sets the filter ID and mask registers of the MSCAN module @a m to |
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346 | * default values. |
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347 | */ |
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348 | void mscan_filter_clear( mscan *m) |
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349 | { |
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350 | mscan_context context; |
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351 | |
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352 | mscan_initialization_mode_enter( m, &context); |
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353 | |
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354 | /* Setup ID acceptance registers */ |
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355 | m->idar0 = MSCAN_FILTER_ID_DEFAULT; |
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356 | m->idar1 = MSCAN_FILTER_ID_DEFAULT; |
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357 | m->idar2 = MSCAN_FILTER_ID_DEFAULT; |
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358 | m->idar3 = MSCAN_FILTER_ID_DEFAULT; |
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359 | m->idar4 = MSCAN_FILTER_ID_DEFAULT; |
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360 | m->idar5 = MSCAN_FILTER_ID_DEFAULT; |
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361 | m->idar6 = MSCAN_FILTER_ID_DEFAULT; |
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362 | m->idar7 = MSCAN_FILTER_ID_DEFAULT; |
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363 | |
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364 | /* Setup ID mask registers */ |
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365 | m->idmr0 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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366 | m->idmr1 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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367 | m->idmr2 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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368 | m->idmr3 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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369 | m->idmr4 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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370 | m->idmr5 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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371 | m->idmr6 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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372 | m->idmr7 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT; |
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373 | |
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374 | mscan_initialization_mode_leave( m, &context); |
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375 | } |
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376 | |
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377 | /** |
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378 | * @brief Returns the number of active filters of the MSCAN module @a m. |
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379 | * |
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380 | * @see MSCAN_FILTER_NUMBER_MIN, MSCAN_FILTER_NUMBER_2, MSCAN_FILTER_NUMBER_4 |
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381 | * and MSCAN_FILTER_NUMBER_MAX. |
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382 | */ |
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383 | unsigned mscan_filter_number( mscan *m) |
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384 | { |
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385 | uint8_t idam = m->idac & IDAC_IDAM; |
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386 | |
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387 | switch (idam) { |
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388 | case 0: |
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389 | return MSCAN_FILTER_NUMBER_2; |
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390 | case IDAC_IDAM0: |
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391 | return MSCAN_FILTER_NUMBER_4; |
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392 | case IDAC_IDAM1: |
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393 | return MSCAN_FILTER_NUMBER_MAX; |
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394 | default: |
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395 | return MSCAN_FILTER_NUMBER_MIN; |
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396 | } |
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397 | } |
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398 | |
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399 | /** |
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400 | * @brief Sets the number of active filters of the MSCAN module @a m to @a |
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401 | * number and returns true if @a number is valid. |
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402 | * |
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403 | * @see MSCAN_FILTER_NUMBER_MIN, MSCAN_FILTER_NUMBER_2, MSCAN_FILTER_NUMBER_4 |
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404 | * and MSCAN_FILTER_NUMBER_MAX. |
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405 | */ |
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406 | bool mscan_set_filter_number( mscan *m, unsigned number) |
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407 | { |
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408 | mscan_context context; |
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409 | uint8_t idac = IDAC_IDAM1 | IDAC_IDAM0; |
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410 | |
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411 | switch (number) { |
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412 | case MSCAN_FILTER_NUMBER_MIN: |
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413 | break; |
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414 | case MSCAN_FILTER_NUMBER_2: |
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415 | idac = 0; |
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416 | break; |
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417 | case MSCAN_FILTER_NUMBER_4: |
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418 | idac = IDAC_IDAM0; |
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419 | break; |
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420 | case MSCAN_FILTER_NUMBER_MAX: |
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421 | idac = IDAC_IDAM1; |
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422 | break; |
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423 | default: |
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424 | return false; |
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425 | } |
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426 | |
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427 | mscan_initialization_mode_enter( m, &context); |
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428 | |
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429 | m->idac = idac; |
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430 | |
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431 | mscan_initialization_mode_leave( m, &context); |
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432 | |
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433 | /* Clear filter */ |
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434 | mscan_filter_clear( m); |
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435 | |
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436 | return true; |
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437 | } |
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438 | |
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439 | /** |
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440 | * @brief Returns the address of the CANIDAR register with index @a i of the |
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441 | * MSCAN module @a m. |
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442 | * |
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443 | * @warning The index @a i is not checked if it is in range. |
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444 | */ |
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445 | uint8_t *mscan_id_acceptance_register( mscan *m, unsigned i) |
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446 | { |
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447 | uint8_t *idar [8] = { |
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448 | &m->idar0, |
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449 | &m->idar1, |
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450 | &m->idar2, |
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451 | &m->idar3, |
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452 | &m->idar4, |
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453 | &m->idar5, |
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454 | &m->idar6, |
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455 | &m->idar7 |
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456 | }; |
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457 | |
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458 | return idar [i]; |
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459 | } |
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460 | |
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461 | /** |
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462 | * @brief Returns the address of the CANIDMR register with index @a i of the |
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463 | * MSCAN module @a m. |
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464 | * |
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465 | * @warning The index @a i is not checked if it is in range. |
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466 | */ |
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467 | uint8_t *mscan_id_mask_register( mscan *m, unsigned i) |
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468 | { |
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469 | uint8_t *idmr [8] = { |
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470 | &m->idmr0, |
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471 | &m->idmr1, |
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472 | &m->idmr2, |
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473 | &m->idmr3, |
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474 | &m->idmr4, |
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475 | &m->idmr5, |
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476 | &m->idmr6, |
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477 | &m->idmr7 |
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478 | }; |
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479 | |
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480 | return idmr [i]; |
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481 | } |
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482 | |
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483 | /** |
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484 | * @brief Sets or gets the filter ID and mask in @a id and @a mask depending on |
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485 | * @a set of MSCAN module @a m. The filter is selected by the value of @a |
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486 | * index. |
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487 | * |
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488 | * Returns true if the operation was successful. |
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489 | */ |
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490 | bool mscan_filter_operation( |
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491 | mscan *m, |
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492 | bool set, |
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493 | unsigned index, |
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494 | uint32_t *id, |
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495 | uint32_t *mask |
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496 | ) |
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497 | { |
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498 | unsigned number = mscan_filter_number( m); |
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499 | unsigned offset = MSCAN_FILTER_NUMBER_MAX / number; |
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500 | unsigned shift = 24; |
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501 | |
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502 | volatile uint8_t *idar = NULL; |
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503 | volatile uint8_t *idmr = NULL; |
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504 | |
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505 | if (!set) { |
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506 | *id = MSCAN_FILTER_ID_DEFAULT; |
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507 | *mask = MSCAN_FILTER_MASK_DEFAULT; |
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508 | } |
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509 | |
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510 | if (index < number) { |
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511 | mscan_context context; |
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512 | |
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513 | mscan_initialization_mode_enter( m, &context); |
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514 | |
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515 | index *= offset; |
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516 | offset += index; |
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517 | while (index < offset) { |
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518 | idar = mscan_id_acceptance_register( m, index); |
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519 | idmr = mscan_id_mask_register( m, index); |
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520 | |
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521 | if (set) { |
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522 | *idar = (uint8_t) (*id >> shift); |
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523 | *idmr = (uint8_t) (*mask >> shift); |
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524 | } else { |
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525 | *id = (*id & ~(0xffU << shift)) | (*idar << shift); |
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526 | *mask = (*mask & ~(0xffU << shift)) | (*idmr << shift); |
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527 | } |
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528 | |
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529 | shift -= 8; |
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530 | |
---|
531 | ++index; |
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532 | } |
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533 | |
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534 | mscan_initialization_mode_leave( m, &context); |
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535 | } else { |
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536 | return false; |
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537 | } |
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538 | |
---|
539 | return true; |
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540 | } |
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541 | |
---|
542 | /** |
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543 | * @brief Returns the receiver and transmitter error counter values in @a rec |
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544 | * and @a tec of MSCAN module @a m. |
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545 | */ |
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546 | void mscan_get_error_counters( mscan *m, unsigned *rec, unsigned *tec) |
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547 | { |
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548 | mscan_context context; |
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549 | |
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550 | mscan_initialization_mode_enter( m, &context); |
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551 | |
---|
552 | *rec = m->rxerr; |
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553 | *tec = m->txerr; |
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554 | |
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555 | mscan_initialization_mode_leave( m, &context); |
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556 | } |
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