| 1 | /*
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| 2 | * TOPPERS Software
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| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems
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| 4 | * Software
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| 5 | *
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| 6 | * Copyright (C) 2015 by Center for Embedded Computing Systems
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| 7 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 8 | *
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| 9 | * ãLì ÒÍCȺÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
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| 10 | * Ai{\tgEFAðüϵ½àÌðÜÞDȺ¯¶jðgpE¡»Eü
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| 11 | * ÏEÄzziȺCpÆÄÔj·é±Æð³Åø·éD
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| 12 | * (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
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| 13 | * \¦C±Ìpð¨æѺL̳ÛØKèªC»ÌÜÜÌ`Å\[
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| 14 | * XR[hÉÜÜêÄ¢é±ÆD
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| 15 | * (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
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| 16 | * pÅ«é`ÅÄzz·éêÉÍCÄzzɺ¤hL
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| 17 | gip
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| 18 | * Ò}j
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| 19 | AÈÇjÉCãLÌì \¦C±Ìpð¨æѺL
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| 20 | * ̳ÛØKèðfÚ·é±ÆD
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| 21 | * (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
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| 22 | * pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
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| 23 | * ÆD
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| 24 | * (a) Äzzɺ¤hL
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| 25 | gipÒ}j
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| 26 | AÈÇjÉCãLÌ
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| 27 | * ì \¦C±Ìpð¨æѺL̳ÛØKèðfÚ·é±ÆD
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| 28 | * (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
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| 29 | * ñ·é±ÆD
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| 30 | * (4) {\tgEFAÌpÉæè¼ÚIܽÍÔÚIɶ¶é¢©Èé¹
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| 31 | * Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
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| 32 | * ܽC{\tgEFAÌ[UܽÍGh[U©çÌ¢©Èé
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| 33 | * RÉîÿ©çàCãLì Ò¨æÑTOPPERSvWFNgð
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| 34 | * ÆÓ·é±ÆD
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| 35 | *
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| 36 | * {\tgEFAÍCAUTOSARiAUTomotive Open System ARchitecturejd
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| 37 | * lÉîâĢéDãLÌøÍCAUTOSARÌmIàY ðø·éàÌÅ
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| 38 | * ÍÈ¢DAUTOSARÍCAUTOSARdlÉîâ½\tgEFAð¤pÚIÅ
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| 39 | * p·éÒÉεÄCAUTOSARp[gi[ÉÈé±ÆðßÄ¢éD
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| 40 | *
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| 41 | * {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
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| 42 | * æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
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| 43 | * ÉηéK«àÜßÄC¢©ÈéÛØàsíÈ¢DܽC{\tgEF
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| 44 | * AÌpÉæè¼ÚIܽÍÔÚIɶ¶½¢©Èé¹QÉÖµÄàC»
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| 45 | * ÌÓCðíÈ¢D
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| 46 | *
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| 47 | * $Id: fcan.c 330 2013-08-14 14:12:18Z honda $
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| 48 | */
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| 49 |
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| 50 | /*
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| 51 | * î{ûj
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| 52 | * EÝðgpµÈ¢
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| 53 | * E`lÌobt@Í[{bNXÆ\»µÄ0©çÌÔƵĵ¤
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| 54 | *
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| 55 | * M
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| 56 | * EMobt@(16Â)ðp¢ÄÊM
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| 57 | *
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| 58 | * óM
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| 59 | * EóMobt@(16Â)ðp¢ÄÊM
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| 60 | * EóM[Í16Â
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| 61 | */
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| 62 | #include "Os.h"
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| 63 | #include "rscan.h"
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| 64 | #include "t_syslog.h"
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| 65 | #include "t_stdlib.h"
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| 66 | #include "sysmod/serial.h"
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| 67 | #include "sysmod/syslog.h"
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| 68 |
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| 69 |
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| 70 | /*
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| 71 | * èè`
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| 72 | */
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| 73 | #define TNUM_RX_BUFF 16U
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| 74 |
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| 75 | /* Mobt@Ô */
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| 76 | #define CAN_TX_BUFF_NO(ch, id) ((ch) * 16U + id)
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| 77 |
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| 78 | /* óMobt@Ô */
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| 79 | #define CAN_RX_BUFF_NO(ch, id) ((ch) * TNUM_RX_BUFF + id)
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| 80 |
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| 81 | /* óM[ */
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| 82 | #define TNUM_RXRULE 16U
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| 83 |
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| 84 |
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| 85 | /* rbgìp */
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| 86 | #define CAN_BIT0 0x00000001U
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| 87 | #define CAN_BIT1 0x00000002U
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| 88 | #define CAN_BIT2 0x00000004U
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| 89 | #define CAN_BIT3 0x00000008U
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| 90 | #define CAN_BIT4 0x00000010U
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| 91 | #define CAN_BIT5 0x00000020U
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| 92 | #define CAN_BIT6 0x00000040U
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| 93 | #define CAN_BIT7 0x00000080U
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| 94 | #define CAN_BIT8 0x00000100U
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| 95 | #define CAN_BIT9 0x00000200U
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| 96 | #define CAN_BIT10 0x00000400U
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| 97 | #define CAN_BIT11 0x00000800U
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| 98 | #define CAN_BIT12 0x00001000U
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| 99 | #define CAN_BIT13 0x00002000U
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| 100 | #define CAN_BIT14 0x00004000U
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| 101 | #define CAN_BIT15 0x00008000U
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| 102 | #define CAN_BIT16 0x00010000U
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| 103 | #define CAN_BIT17 0x00020000U
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| 104 | #define CAN_BIT18 0x00040000U
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| 105 | #define CAN_BIT19 0x00080000U
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| 106 | #define CAN_BIT20 0x00100000U
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| 107 | #define CAN_BIT21 0x00200000U
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| 108 | #define CAN_BIT22 0x00400000U
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| 109 | #define CAN_BIT23 0x00800000U
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| 110 | #define CAN_BIT24 0x01000000U
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| 111 | #define CAN_BIT25 0x02000000U
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| 112 | #define CAN_BIT26 0x04000000U
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| 113 | #define CAN_BIT27 0x08000000U
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| 114 | #define CAN_BIT28 0x10000000U
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| 115 | #define CAN_BIT29 0x20000000U
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| 116 | #define CAN_BIT30 0x40000000U
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| 117 | #define CAN_BIT31 0x80000000U
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| 118 |
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| 119 | /* O[o */
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| 120 | #define RSCAN0GCFG (*(volatile uint32 *) (RSCAN0_BASE + 0x0084U))
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| 121 | #define RSCAN0GCTR (*(volatile uint32 *) (RSCAN0_BASE + 0x0088U))
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| 122 | #define RSCAN0GSTS (*(volatile uint32 *) (RSCAN0_BASE + 0x008CU))
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| 123 | #define RSCAN0GAFLCFG0 (*(volatile uint32 *) (RSCAN0_BASE + 0x009CU))
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| 124 | #define RSCAN0GAFLCFG1 (*(volatile uint32 *) (RSCAN0_BASE + 0x00A0U))
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| 125 | #define RSCAN0GAFLECTR (*(volatile uint32 *) (RSCAN0_BASE + 0x0098U))
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| 126 |
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| 127 | /* óMobt@ */
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| 128 | #define RSCAN0RMNB (*(volatile uint32 *) (RSCAN0_BASE + 0x00A4U))
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| 129 | #define RSCAN0RMND(y) (*(volatile uint32 *) (RSCAN0_BASE + 0x00A8U + ((y) * 0x04)))
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| 130 | #define RSCAN0RMID(id) (*(volatile uint32 *) (RSCAN0_BASE + 0x0600U + ((id) * 0x10)))
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| 131 | #define RSCAN0RMPTQ(id) (*(volatile uint32 *) (RSCAN0_BASE + 0x0604U + ((id) * 0x10)))
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| 132 | #define RSCAN0RMDF0(id, byte) (*(volatile uint8 *) (RSCAN0_BASE + 0x0608U + ((id) * 0x10) + (byte)))
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| 133 | #define RSCAN0RMDF1(id, byte) (*(volatile uint8 *) (RSCAN0_BASE + 0x060CU + ((id) * 0x10) + (byte)))
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| 134 |
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| 135 | /* `l */
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| 136 | #define RSCAN0CmCFG(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x0000U + ((ch) * 0x10U)))
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| 137 | #define RSCAN0CmCTR(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x0004U + ((ch) * 0x10U)))
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| 138 | #define RSCAN0CmSTS(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x0008U + ((ch) * 0x10U)))
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| 139 | #define RSCAN0THLCC(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x0400U + ((ch) * 0x04U)))
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| 140 |
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| 141 | /* óM[ */
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| 142 | #define RSCAN0GAFLID(rule) (*(volatile uint32 *) (RSCAN0_BASE + 0x0500U + ((rule) * 0x10U)))
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| 143 | #define RSCAN0GAFLM(rule) (*(volatile uint32 *) (RSCAN0_BASE + 0x0504U + ((rule) * 0x10U)))
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| 144 | #define RSCAN0GAFLP0(rule) (*(volatile uint32 *) (RSCAN0_BASE + 0x0508U + ((rule) * 0x10U)))
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| 145 | #define RSCAN0GAFLP1(rule) (*(volatile uint32 *) (RSCAN0_BASE + 0x050CU + ((rule) * 0x10U)))
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| 146 |
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| 147 | /* óMFIFOobt@(óMp) */
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| 148 | #define RSCAN0CFCC(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x0118U + ((buf_no) * 0x04U)))
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| 149 | #define RSCAN0CFSTS(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x0178U + ((buf_no) * 0x04U)))
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| 150 | #define RSCAN0CFPCTR(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x01D8U + ((buf_no) * 0x04U)))
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| 151 | #define RSCAN0CFID(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x0E80U + ((buf_no) * 0x10U)))
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| 152 | #define RSCAN0CFPTR(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x0E84U + ((buf_no) * 0x10U)))
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| 153 | #define RSCAN0CFDF0(buf_no, byte) (*(volatile uint8 *) (RSCAN0_BASE + 0x0E88U + ((buf_no) * 0x10U) + (byte)))
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| 154 | #define RSCAN0CFDF1(buf_no, byte) (*(volatile uint8 *) (RSCAN0_BASE + 0x0E8CU + ((buf_no) * 0x10U) + (byte)))
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| 155 |
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| 156 | /* Mobt@ */
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| 157 | #define RSCAN0TMC(buf_no) (*(volatile uint8 *) (RSCAN0_BASE + 0x0250U + (buf_no)))
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| 158 | #define RSCAN0TMSTS(buf_no) (*(volatile uint8 *) (RSCAN0_BASE + 0x02D0U + ((buf_no) * 0x01U)))
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| 159 | #define RSCAN0TMID(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x1000U + ((buf_no) * 0x10U)))
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| 160 | #define RSCAN0TMPTR(buf_no) (*(volatile uint32 *) (RSCAN0_BASE + 0x1004U + ((buf_no) * 0x10U)))
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| 161 | #define RSCAN0TMDF0(buf_no, byte) (*(volatile uint8 *) (RSCAN0_BASE + 0x1008U + ((buf_no) * 0x10U) + (byte)))
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| 162 | #define RSCAN0TMDF1(buf_no, byte) (*(volatile uint8 *) (RSCAN0_BASE + 0x100CU + ((buf_no) * 0x10U) + (byte)))
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| 163 |
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| 164 |
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| 165 | /* ML
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| 166 | [ */
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| 167 | #define RSCAN0TXQCC(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x03A0U + ((ch) * 0x04U)))
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| 168 | #define RSCAN0TXQSTS(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x03C0U + ((ch) * 0x04U)))
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| 169 | #define RSCAN0TXQPCTR(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x03E0U + ((ch) * 0x04U)))
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| 170 |
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| 171 | /* Mð */
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| 172 | #define RSCAN0THLSTS(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x0420U + ((ch) * 0x04U)))
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| 173 | #define RSCAN0THLACC(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x1800U + ((ch) * 0x04U)))
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| 174 | #define RSCAN0THLPCTR(ch) (*(volatile uint32 *) (RSCAN0_BASE + 0x0440U + ((ch) * 0x04U)))
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| 175 |
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| 176 | /* C_ISO_CANOSCNbNªüWX^ */
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| 177 | #define CKSC_ICANOSCD_CTL 0xFFF8AA00U
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| 178 |
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| 179 | /* óM[Ýè(ch0`3)p */
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| 180 | #define GAFLCFG0_REG_BIT_SHIFT(ch) (24U - ((ch) * 8U))
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| 181 |
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| 182 | /* óM[Ýè(ch4`5)p */
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| 183 | #define GAFLCFG1_REG_BIT_SHIFT(ch) (24U - (((ch) - 4U) * 8U))
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| 184 |
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| 185 |
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| 186 | STATUS
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| 187 | RsCanInit(uint8 ctrl_id) {
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| 188 | /*
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| 189 | * O[oÈú»
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| 190 | */
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| 191 | /* CANpRAMNAXe[^XtO`FbN */
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| 192 | if ((RSCAN0GSTS & CAN_BIT3) != 0U) {
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| 193 | return STATUS_ERROR;
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| 194 | }
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| 195 |
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| 196 | /* O[oXgbv[hðð */
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| 197 | RSCAN0GCTR &= ~CAN_BIT2;
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| 198 |
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| 199 | /* O[oZbg[hÉJÚ */
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| 200 | RSCAN0GCTR |= CAN_BIT0;
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| 201 |
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| 202 | /* CANÅgp·éNbNðCKSCLK_ICANOSC(clk_xincan)ÉÝè */
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| 203 | RSCAN0GCFG |= CAN_BIT4;
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| 204 |
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| 205 | /*
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| 206 | * `lÌú»
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| 207 | */
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| 208 | /* `lXgbv[hðð */
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| 209 | RSCAN0CmCTR(ctrl_id) &= ~CAN_BIT2;
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| 210 |
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| 211 | /* [CAN259] `lZbg[hÉJÚ */
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| 212 | RSCAN0CmCTR(ctrl_id) |= CAN_BIT0;
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| 213 |
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| 214 | /*
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| 215 | * MÝè
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| 216 | */
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| 217 | /* ML
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| 218 | [ÍgpµÈ¢ */
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| 219 | RSCAN0TXQCC(ctrl_id) = 0x00;
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| 220 |
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| 221 | /* Mðobt@ÍgpµÈ¢ */
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| 222 | RSCAN0THLCC(ctrl_id) = 0x00;
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| 223 |
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| 224 | /*
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| 225 | * óMÝè
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| 226 | */
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| 227 | /* Rg[ª4chÈã©»è*/
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| 228 | if (ctrl_id < 4U) {
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| 229 | /* óM[Ýè(ch0`3) */
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| 230 | RSCAN0GAFLCFG0 |= TNUM_RXRULE << GAFLCFG0_REG_BIT_SHIFT(ctrl_id);
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| 231 | }
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| 232 | else {
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| 233 | /* óM[Ýè(ch4`5) */
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| 234 | RSCAN0GAFLCFG1 |= TNUM_RXRULE << GAFLCFG1_REG_BIT_SHIFT(ctrl_id);
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| 235 | }
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| 236 |
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| 237 | /*
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| 238 | * {[[gÌÝè
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| 239 | */
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| 240 | /* `lRtBO[VÝè({[[g:500kbps) */
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| 241 | RSCAN0CmCFG(ctrl_id) = RSCAN_BRP_500;
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| 242 |
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| 243 | return STATUS_OK;
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| 244 | }
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| 245 |
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| 246 |
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| 247 | void
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| 248 | RsCanEnable(uint8 ctrl_id){
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| 249 | /* O[oZbg[h©çO[o®ì[hÉJÚ */
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| 250 | RSCAN0GCTR &= ~(CAN_BIT1 | CAN_BIT0);
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| 251 |
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| 252 | /* [CAN261] `lÊM[hÉJÚ */
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| 253 | RSCAN0CmCTR(ctrl_id) &= ~(CAN_BIT1 | CAN_BIT0);
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| 254 |
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| 255 | /* `lÊM[hÉÈéÜÅ[v(#67) */
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| 256 | while ((RSCAN0CmSTS(ctrl_id) &CAN_BIT7) == 0U) {
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| 257 | }
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| 258 |
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| 259 | /* óMobt@Ýè */
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| 260 | RSCAN0RMNB = TNUM_RX_BUFF * TNUM_CH;
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| 261 | }
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| 262 |
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| 263 | void
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| 264 | RsCanDisable(uint8 ctrl_id) {
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| 265 | /* `lZbg[hÉJÚ */
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| 266 | RSCAN0CmCTR(ctrl_id) &= 0xFFFFFFFDU;
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| 267 | }
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| 268 |
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| 269 |
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| 270 | STATUS
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| 271 | RsCanSetTxData(uint8 ctrl_id, uint8 mb_id, uint32 id, uint8 *p_data, uint8 len){
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| 272 | uint32 tm_bit;
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| 273 | uint8 i;
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| 274 |
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| 275 | /* MÈç^[ */
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| 276 | if((RSCAN0TMSTS(CAN_TX_BUFF_NO(ctrl_id, mb_id)) & CAN_BIT0) == CAN_BIT0) {
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| 277 | return STATUS_SENDING;
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| 278 | }
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| 279 |
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| 280 | RSCAN0TMSTS(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = 0;
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| 281 |
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| 282 | /* CAN-IDÝè */
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| 283 | RSCAN0TMID(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = id;
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| 284 |
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| 285 | /* DLCÆMxîñæ¾ */
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| 286 | tm_bit = (uint32) len << 28U;
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| 287 | tm_bit |= (uint32) 2 << 16U;
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| 288 |
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| 289 | /* DLCÆMxÝè */
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| 290 | RSCAN0TMPTR(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = tm_bit;
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| 291 |
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| 292 | /* [CAN059][CAN427] f[^i[ */
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| 293 | /* f[^Ýè(0`3oCg) */
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| 294 | for (i = 0U; i < 4U; i++) {
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| 295 | RSCAN0TMDF0(CAN_TX_BUFF_NO(ctrl_id, mb_id), i) = p_data[i];
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| 296 | }
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| 297 |
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| 298 | /* 4oCgÈ~ÌbZ[WL³»è */
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| 299 | if (len > 4U) {
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| 300 | /* f[^Ýè(4`7oCg) */
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| 301 | for (i = 4U; i < len; i++) {
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| 302 | RSCAN0TMDF1(CAN_TX_BUFF_NO(ctrl_id, mb_id), (i - 4U)) = p_data[i];
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| 303 | }
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| 304 | }
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| 305 |
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| 306 | /* Mv */
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| 307 | RSCAN0TMC(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = CAN_BIT0;
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| 308 |
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| 309 | return STATUS_OK;
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| 310 | }
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| 311 |
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| 312 |
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| 313 | STATUS
|
|---|
| 314 | RsCanSetMailBoxInfo(uint8 ctrl_id, uint8 mb_id, uint8 direction,
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|---|
| 315 | uint8 ide, uint32 id, uint8 mask, uint32 remote){
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|---|
| 316 | static uint8 rx_rule_index_cnt = 0U;
|
|---|
| 317 | uint8 rx_rule_index;
|
|---|
| 318 |
|
|---|
| 319 | if(direction == 1) {
|
|---|
| 320 | return STATUS_ERROR;
|
|---|
| 321 | }
|
|---|
| 322 |
|
|---|
| 323 | /* óM[e[u«ÝÂ */
|
|---|
| 324 | RSCAN0GAFLECTR |= CAN_BIT8;
|
|---|
| 325 |
|
|---|
| 326 | /* [ÔÌo */
|
|---|
| 327 | rx_rule_index = rx_rule_index_cnt % 16U;
|
|---|
| 328 |
|
|---|
| 329 | /* y[WÔªØèÖíé©»è */
|
|---|
| 330 | if (rx_rule_index == 0U) {
|
|---|
| 331 | /* y[WÔðÝè */
|
|---|
| 332 | RSCAN0GAFLECTR = (CAN_BIT8 | (uint32) (rx_rule_index_cnt / 16U));
|
|---|
| 333 | }
|
|---|
| 334 |
|
|---|
| 335 | /* tB^}XNÝè */
|
|---|
| 336 | RSCAN0GAFLM(rx_rule_index) = (CAN_BIT31 | mask);
|
|---|
| 337 |
|
|---|
| 338 | /* óM[IDÝè(CAN-IDWX^) */
|
|---|
| 339 | RSCAN0GAFLID(rx_rule_index) = (uint32) id;
|
|---|
| 340 |
|
|---|
| 341 | /* óM[ðgp·éóMobt@Ìwè */
|
|---|
| 342 | RSCAN0GAFLP0(rx_rule_index) = (1 << 15U) | (1 << 16U) | (mb_id << 8U);
|
|---|
| 343 |
|
|---|
| 344 | /* óM[CfbNXðCNg */
|
|---|
| 345 | rx_rule_index_cnt++;
|
|---|
| 346 |
|
|---|
| 347 | /* óM[e[u«ÝÖ~ */
|
|---|
| 348 | RSCAN0GAFLECTR &= ~CAN_BIT8;
|
|---|
| 349 |
|
|---|
| 350 | return STATUS_OK;
|
|---|
| 351 | }
|
|---|
| 352 |
|
|---|
| 353 |
|
|---|
| 354 |
|
|---|
| 355 | STATUS
|
|---|
| 356 | RsCanGetRxData(uint8 ctrl_id, uint8 mb_id, uint8 *p_data, uint8 *p_len){
|
|---|
| 357 | uint8 local_dlc;
|
|---|
| 358 | uint8 i;
|
|---|
| 359 | uint8 bufid;
|
|---|
| 360 |
|
|---|
| 361 | bufid = CAN_RX_BUFF_NO(ctrl_id, mb_id);
|
|---|
| 362 |
|
|---|
| 363 | /* óMµÄ¢é©mF ToDo »óÍߤ¿ */
|
|---|
| 364 | if((RSCAN0RMND(bufid / 32) & (1U << (bufid % 32))) == 0) {
|
|---|
| 365 | *p_len = 0;
|
|---|
| 366 | return STATUS_EMPTY;
|
|---|
| 367 | }
|
|---|
| 368 |
|
|---|
| 369 | /* tONA */
|
|---|
| 370 | RSCAN0RMND(bufid / 32) = ~(1U << (bufid % 32));
|
|---|
| 371 |
|
|---|
| 372 | local_dlc = (RSCAN0RMPTQ(mb_id) >> 28);
|
|---|
| 373 | *p_len = local_dlc;
|
|---|
| 374 |
|
|---|
| 375 | /* f[^i[(0`3oCg) */
|
|---|
| 376 | for (i = 0U; i < 4U; i++) {
|
|---|
| 377 | p_data[i] = RSCAN0RMDF0(mb_id, i);
|
|---|
| 378 | }
|
|---|
| 379 |
|
|---|
| 380 | /* f[^ª4byteÈã©»è */
|
|---|
| 381 | if (local_dlc > 4U) {
|
|---|
| 382 | /* f[^i[(4`7oCg) */
|
|---|
| 383 | for (i = 4U; i < local_dlc; i++) {
|
|---|
| 384 | p_data[i] = RSCAN0RMDF1(mb_id, (i - 4U));
|
|---|
| 385 | }
|
|---|
| 386 | }
|
|---|
| 387 |
|
|---|
| 388 | return STATUS_OK;
|
|---|
| 389 | }
|
|---|
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