@@ -122,24 +122,24 @@ static void can_irq(CANName name, int id)
122122 /* Error Status interrupt */
123123 /**************************/
124124 if (can -> STATUS & CAN_STATUS_EWARN_Msk ) {
125- can0_irq_handler (can_irq_ids [id ], IRQ_ERROR );
125+ can0_irq_handler (can_irq_ids [id ], IRQ_ERROR );
126126 }
127127
128128 if (can -> STATUS & CAN_STATUS_BOFF_Msk ) {
129- can0_irq_handler (can_irq_ids [id ], IRQ_BUS );
129+ can0_irq_handler (can_irq_ids [id ], IRQ_BUS );
130130 }
131131 } else if (u8IIDRstatus != 0 ) {
132132
133133 //CAN_MsgInterrupt(can, u8IIDRstatus);
134134
135- can0_irq_handler (can_irq_ids [id ], IRQ_OVERRUN );
136-
135+ can0_irq_handler (can_irq_ids [id ], IRQ_OVERRUN );
136+
137137 CAN_CLR_INT_PENDING_BIT (can , ((can -> IIDR ) - 1 )); /* Clear Interrupt Pending */
138138
139139 } else if (can -> WU_STATUS == 1 ) {
140140
141141 can -> WU_STATUS = 0 ; /* Write '0' to clear */
142- can0_irq_handler (can_irq_ids [id ], IRQ_WAKEUP );
142+ can0_irq_handler (can_irq_ids [id ], IRQ_WAKEUP );
143143 }
144144}
145145
@@ -150,157 +150,157 @@ void CAN0_IRQHandler(void)
150150
151151void can_irq_init (can_t * obj , can_irq_handler handler , uint32_t id )
152152{
153- can0_irq_handler = handler ;
154- can_irq_ids [obj -> index ] = id ;
153+ can0_irq_handler = handler ;
154+ can_irq_ids [obj -> index ] = id ;
155155}
156156
157157void can_irq_free (can_t * obj )
158158{
159- CAN_DisableInt ((CAN_T * )obj -> can , (CAN_CON_IE_Msk |CAN_CON_SIE_Msk |CAN_CON_EIE_Msk ));
160-
161- can_irq_ids [obj -> index ] = 0 ;
162-
163- NVIC_DisableIRQ (CAN0_IRQn );
159+ CAN_DisableInt ((CAN_T * )obj -> can , (CAN_CON_IE_Msk |CAN_CON_SIE_Msk |CAN_CON_EIE_Msk ));
160+
161+ can_irq_ids [obj -> index ] = 0 ;
162+
163+ NVIC_DisableIRQ (CAN0_IRQn );
164164}
165165
166166void can_irq_set (can_t * obj , CanIrqType irq , uint32_t enable )
167167{
168-
169- CAN_EnterInitMode ((CAN_T * )obj -> can , ((enable != 0 )? CAN_CON_IE_Msk :0 ) );
170-
168+
169+ CAN_EnterInitMode ((CAN_T * )obj -> can , ((enable != 0 )? CAN_CON_IE_Msk :0 ) );
170+
171171// ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON ) | ((enable != 0 )? CAN_CON_IE_Msk :0);
172-
173- switch (irq )
174- {
175- case IRQ_ERROR :
176- //case IRQ_PASSIVE:
177- //case IRQ_ARB:
178- ((CAN_T * )(obj -> can ))-> CON = (((CAN_T * )(obj -> can ))-> CON ) |CAN_CON_EIE_Msk ;
179- break ;
180-
181- case IRQ_RX :
182- case IRQ_TX :
183- case IRQ_BUS :
184- case IRQ_OVERRUN :
185- case IRQ_WAKEUP :
186- ((CAN_T * )(obj -> can ))-> CON = (((CAN_T * )(obj -> can ))-> CON ) |CAN_CON_SIE_Msk ;
187- break ;
188-
189- default :
190- break ;
191-
192- }
172+
173+ switch (irq )
174+ {
175+ case IRQ_ERROR :
176+ //case IRQ_PASSIVE:
177+ //case IRQ_ARB:
178+ ((CAN_T * )(obj -> can ))-> CON = (((CAN_T * )(obj -> can ))-> CON ) |CAN_CON_EIE_Msk ;
179+ break ;
180+
181+ case IRQ_RX :
182+ case IRQ_TX :
183+ case IRQ_BUS :
184+ case IRQ_OVERRUN :
185+ case IRQ_WAKEUP :
186+ ((CAN_T * )(obj -> can ))-> CON = (((CAN_T * )(obj -> can ))-> CON ) |CAN_CON_SIE_Msk ;
187+ break ;
188+
189+ default :
190+ break ;
191+
192+ }
193193
194194 CAN_LeaveInitMode ((CAN_T * )obj -> can );
195-
196- NVIC_SetVector (CAN0_IRQn , (uint32_t )& CAN0_IRQHandler );
197- NVIC_EnableIRQ (CAN0_IRQn );
198-
195+
196+ NVIC_SetVector (CAN0_IRQn , (uint32_t )& CAN0_IRQHandler );
197+ NVIC_EnableIRQ (CAN0_IRQn );
198+
199199}
200200
201201int can_write (can_t * obj , CAN_Message msg , int cc )
202202{
203- STR_CANMSG_T CMsg ;
204-
205- CMsg .IdType = (uint32_t )msg .format ;
206- CMsg .FrameType = (uint32_t )!msg .type ;
207- CMsg .Id = msg .id ;
208- CMsg .DLC = msg .len ;
209- memcpy ((void * )& CMsg .Data [0 ],(const void * )& msg .data [0 ], (unsigned int )8 );
203+ STR_CANMSG_T CMsg ;
204+
205+ CMsg .IdType = (uint32_t )msg .format ;
206+ CMsg .FrameType = (uint32_t )!msg .type ;
207+ CMsg .Id = msg .id ;
208+ CMsg .DLC = msg .len ;
209+ memcpy ((void * )& CMsg .Data [0 ],(const void * )& msg .data [0 ], (unsigned int )8 );
210210
211- return CAN_Transmit ((CAN_T * )(obj -> can ), cc , & CMsg );
211+ return CAN_Transmit ((CAN_T * )(obj -> can ), cc , & CMsg );
212212}
213213
214214int can_read (can_t * obj , CAN_Message * msg , int handle )
215215{
216- STR_CANMSG_T CMsg ;
216+ STR_CANMSG_T CMsg ;
217217
218- if (!CAN_Receive ((CAN_T * )(obj -> can ), handle , & CMsg ))
219- return 0 ;
220-
221- msg -> format = (CANFormat )CMsg .IdType ;
222- msg -> type = (CANType )!CMsg .FrameType ;
223- msg -> id = CMsg .Id ;
224- msg -> len = CMsg .DLC ;
225- memcpy (& msg -> data [0 ], & CMsg .Data [0 ], 8 );
226-
227- return 1 ;
218+ if (!CAN_Receive ((CAN_T * )(obj -> can ), handle , & CMsg ))
219+ return 0 ;
220+
221+ msg -> format = (CANFormat )CMsg .IdType ;
222+ msg -> type = (CANType )!CMsg .FrameType ;
223+ msg -> id = CMsg .Id ;
224+ msg -> len = CMsg .DLC ;
225+ memcpy (& msg -> data [0 ], & CMsg .Data [0 ], 8 );
226+
227+ return 1 ;
228228}
229229
230230int can_mode (can_t * obj , CanMode mode )
231231{
232- int success = 0 ;
233- switch (mode )
234- {
235- case MODE_RESET :
236- CAN_LeaveTestMode ((CAN_T * )obj -> can );
237- success = 1 ;
238- break ;
239-
240- case MODE_NORMAL :
241- CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_BASIC_Msk );
242- success = 1 ;
243- break ;
244-
245- case MODE_SILENT :
246- CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_SILENT_Msk );
247- success = 1 ;
248- break ;
249-
250- case MODE_TEST_LOCAL :
251- case MODE_TEST_GLOBAL :
252- CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_LBACK_Msk );
253- success = 1 ;
254- break ;
255-
256- case MODE_TEST_SILENT :
257- CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk );
258- success = 1 ;
259- break ;
260-
261- default :
262- success = 0 ;
263- break ;
264-
265- }
266-
267-
268- return success ;
232+ int success = 0 ;
233+ switch (mode )
234+ {
235+ case MODE_RESET :
236+ CAN_LeaveTestMode ((CAN_T * )obj -> can );
237+ success = 1 ;
238+ break ;
239+
240+ case MODE_NORMAL :
241+ CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_BASIC_Msk );
242+ success = 1 ;
243+ break ;
244+
245+ case MODE_SILENT :
246+ CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_SILENT_Msk );
247+ success = 1 ;
248+ break ;
249+
250+ case MODE_TEST_LOCAL :
251+ case MODE_TEST_GLOBAL :
252+ CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_LBACK_Msk );
253+ success = 1 ;
254+ break ;
255+
256+ case MODE_TEST_SILENT :
257+ CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk );
258+ success = 1 ;
259+ break ;
260+
261+ default :
262+ success = 0 ;
263+ break ;
264+
265+ }
266+
267+
268+ return success ;
269269}
270270
271271int can_filter (can_t * obj , uint32_t id , uint32_t mask , CANFormat format , int32_t handle )
272272{
273- return CAN_SetRxMsg ((CAN_T * )(obj -> can ), handle , (uint32_t )format , id );
273+ return CAN_SetRxMsg ((CAN_T * )(obj -> can ), handle , (uint32_t )format , id );
274274}
275275
276276
277277void can_reset (can_t * obj )
278278{
279- const struct nu_modinit_s * modinit = get_modinit (obj -> can , can_modinit_tab );
280-
281- MBED_ASSERT (modinit != NULL );
279+ const struct nu_modinit_s * modinit = get_modinit (obj -> can , can_modinit_tab );
280+
281+ MBED_ASSERT (modinit != NULL );
282282 MBED_ASSERT (modinit -> modname == obj -> can );
283283
284284 // Reset this module
285285 SYS_ResetModule (modinit -> rsetidx );
286-
286+
287287}
288288
289289unsigned char can_rderror (can_t * obj )
290290{
291- CAN_T * can = (CAN_T * )(obj -> can );
292- return ((can -> ERR >>8 )& 0xFF );
291+ CAN_T * can = (CAN_T * )(obj -> can );
292+ return ((can -> ERR >>8 )& 0xFF );
293293}
294294
295295unsigned char can_tderror (can_t * obj )
296296{
297- CAN_T * can = (CAN_T * )(obj -> can );
298- return ((can -> ERR )& 0xFF );
297+ CAN_T * can = (CAN_T * )(obj -> can );
298+ return ((can -> ERR )& 0xFF );
299299}
300300
301301void can_monitor (can_t * obj , int silent )
302302{
303- CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_SILENT_Msk );
303+ CAN_EnterTestMode ((CAN_T * )(obj -> can ), CAN_TEST_SILENT_Msk );
304304}
305305
306- #endif // DEVICE_CAN
306+ #endif // DEVICE_CAN
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