/*! * @file apm32f10x_can.h * * @brief This file contains all the functions prototypes for the CAN firmware library * * @version V1.0.1 * * @date 2021-03-23 * */ #ifndef __APM32F10X_CAN_H #define __APM32F10X_CAN_H #include "apm32f10x.h" #ifdef __cplusplus extern "C" { #endif /** @addtogroup Peripherals_Library Standard Peripheral Library @{ */ /** @addtogroup CAN_Driver CAN Driver @{ */ /** @addtogroup CAN_Enumerations Enumerations @{ */ /** * @brief CAN mode */ typedef enum { CAN_MODE_NORMAL = ((uint8_t)00), //!< normal mode CAN_MODE_LOOPBACK = ((uint8_t)01), //!< loopback mode CAN_MODE_SILENT = ((uint8_t)02), //!< silent mode CAN_MODE_SILENT_LOOPBACK = ((uint8_t)03), //!< loopback combined with silent mode } CAN_MODE_T; /** * @brief CAN synchronisation jump width */ typedef enum { CAN_SJW_1 = ((uint8_t)00), //!< 1 time quantum CAN_SJW_2 = ((uint8_t)01), //!< 2 time quantum CAN_SJW_3 = ((uint8_t)02), //!< 3 time quantum CAN_SJW_4 = ((uint8_t)03) //!< 4 time quantum } CAN_SJW_T; /** * @brief CAN time quantum in bit segment 1 */ typedef enum { CAN_TIME_SEGMENT1_1 = ((uint8_t)0x00), //!< 1 time quanta CAN_TIME_SEGMENT1_2 = ((uint8_t)0x01), //!< 2 time quanta CAN_TIME_SEGMENT1_3 = ((uint8_t)0x02), //!< 3 time quanta CAN_TIME_SEGMENT1_4 = ((uint8_t)0x03), //!< 4 time quanta CAN_TIME_SEGMENT1_5 = ((uint8_t)0x04), //!< 5 time quanta CAN_TIME_SEGMENT1_6 = ((uint8_t)0x05), //!< 6 time quanta CAN_TIME_SEGMENT1_7 = ((uint8_t)0x06), //!< 7 time quanta CAN_TIME_SEGMENT1_8 = ((uint8_t)0x07), //!< 8 time quanta CAN_TIME_SEGMENT1_9 = ((uint8_t)0x08), //!< 9 time quanta CAN_TIME_SEGMENT1_10 = ((uint8_t)0x09), //!< 10 time quanta CAN_TIME_SEGMENT1_11 = ((uint8_t)0x0A), //!< 11 time quanta CAN_TIME_SEGMENT1_12 = ((uint8_t)0x0B), //!< 12 time quanta CAN_TIME_SEGMENT1_13 = ((uint8_t)0x0C), //!< 13 time quanta CAN_TIME_SEGMENT1_14 = ((uint8_t)0x0D), //!< 14 time quanta CAN_TIME_SEGMENT1_15 = ((uint8_t)0x0E), //!< 15 time quanta CAN_TIME_SEGMENT1_16 = ((uint8_t)0x0F) //!< 16 time quanta } CAN_TIME_SEGMENT1_T; /** * @brief CAN time quantum in bit segment 2 */ typedef enum { CAN_TIME_SEGMENT2_1 = (uint8_t)0x00, //!< 1 time quanta CAN_TIME_SEGMENT2_2 = (uint8_t)0x01, //!< 2 time quanta CAN_TIME_SEGMENT2_3 = (uint8_t)0x02, //!< 3 time quanta CAN_TIME_SEGMENT2_4 = (uint8_t)0x03, //!< 4 time quanta CAN_TIME_SEGMENT2_5 = (uint8_t)0x04, //!< 5 time quanta CAN_TIME_SEGMENT2_6 = (uint8_t)0x05, //!< 6 time quanta CAN_TIME_SEGMENT2_7 = (uint8_t)0x06, //!< 7 time quanta CAN_TIME_SEGMENT2_8 = (uint8_t)0x07, //!< 8 time quanta } CAN_TIME_SEGMENT2_T; /** * @brief CAN filter FIFO */ typedef enum { CAN_FILTER_FIFO_0 = ((uint8_t)0x00), //!< filter FIFO 0 CAN_FILTER_FIFO_1 = ((uint8_t)0x01), //!< filter FIFO 1 } CAN_FILTER_FIFO_T; /** * @brief CAN filter mode */ typedef enum { CAN_FILTER_MODE_IDMASK = ((uint8_t)00), //!< identifier/mask mode CAN_FILTER_MODE_IDLIST = ((uint8_t)01) //!< identifier list mode } CAN_FILTER_MODE_T; /** * @brief CAN filter scale */ typedef enum { CAN_FILTER_SCALE_16BIT = ((uint8_t)0x00), //!< Two 16-bit filters CAN_FILTER_SCALE_32BIT = ((uint8_t)0x01), //!< One 32-bit filter } CAN_FILTER_SCALE_T; /** * @brief CAN identifier type */ typedef enum { CAN_TYPEID_STD = ((uint32_t)0x00000000), //!< Standard Id CAN_TYPEID_EXT = ((uint32_t)0x00000004) //!< Extended Id } CAN_TYPEID_T; /** * @brief CAN_remote_transmission_request */ typedef enum { CAN_RTXR_DATA = ((uint32_t)0x00000000), //!< Data frame CAN_RTXR_REMOTE = ((uint32_t)0x00000002) //!< Remote frame } CAN_RTXR_T; /** * @brief Mailboxes definition */ typedef enum { CAN_TX_MAILBIX_0 = ((uint8_t)0x00), //!< Tx mailbox0 CAN_TX_MAILBIX_1 = ((uint8_t)0x01), //!< Tx mailbox1 CAN_TX_MAILBIX_2 = ((uint8_t)0x02), //!< Tx mailbox2 } CAN_TX_MAILBIX_T; /** * @brief CAN receive FIFO number constants */ typedef enum { CAN_RX_FIFO_0 = ((uint8_t)0x00), //!< receive FIFO 0 CAN_RX_FIFO_1 = ((uint8_t)0x01), //!< receive FIFO 1 } CAN_RX_FIFO_T; /** * @brief CAN Operating Mode */ typedef enum { CAN_OPERATING_MODE_INIT = ((uint8_t)00), //!< Initialization mode CAN_OPERATING_MODE_NORMAL = ((uint8_t)01), //!< Normal mode CAN_OPERATING_MODE_SLEEP = ((uint8_t)02), //!< sleep mode } CAN_OPERATING_MODE_T; /** * @brief CAN Interrupts */ typedef enum { CAN_INT_TXME = ((uint32_t)0x00000001), //!< Transmit mailbox empty Interrupt CAN_INT_F0MP = ((uint32_t)0x00000002), //!< FIFO 0 message pending Interrupt CAN_INT_F0FULL = ((uint32_t)0x00000004), //!< FIFO 0 full Interrupt CAN_INT_F0OVR = ((uint32_t)0x00000008), //!< FIFO 0 overrun Interrupt CAN_INT_F1MP = ((uint32_t)0x00000010), //!< FIFO 1 message pending Interrupt CAN_INT_F1FULL = ((uint32_t)0x00000020), //!< FIFO 1 full Interrupt CAN_INT_F1OVR = ((uint32_t)0x00000040), //!< FIFO 1 overrun Interrupt CAN_INT_ERRW = ((uint32_t)0x00000100), //!< Error warning Interrupt CAN_INT_ERRP = ((uint32_t)0x00000200), //!< Error passive Interrupt CAN_INT_BOF = ((uint32_t)0x00000400), //!< Bus-off Interrupt CAN_INT_LEC = ((uint32_t)0x00000800), //!< Last error record code Interrupt CAN_INT_ERR = ((uint32_t)0x00008000), //!< Error Interrupt CAN_INT_WUP = ((uint32_t)0x00010000), //!< Wake-up Interrupt CAN_INT_SLEEP = ((uint32_t)0x00020000) //!< Sleep acknowledge Interrupt } CAN_INT_T; /** * @brief CAN Flags */ typedef enum { /** Error flag*/ CAN_FLAG_ERRW = ((uint32_t)0x10F00001), //!< Error Warning Flag CAN_FLAG_ERRP = ((uint32_t)0x10F00002), //!< Error Passive Flag CAN_FLAG_BOF = ((uint32_t)0x10F00004), //!< Bus-Off Flag CAN_FLAG_LERRC = ((uint32_t)0x30F00070), //!< Last error record code Flag /** Operating Mode Flags */ CAN_FLAG_WUPI = ((uint32_t)0x31000008), //!< Wake up Flag CAN_FLAG_SLEEP = ((uint32_t)0x31000012), //!< Sleep acknowledge Flag /** Receive Flags */ CAN_FLAG_F0MP = ((uint32_t)0x12000003), //!< FIFO 0 Message Pending Flag CAN_FLAG_F0FULL = ((uint32_t)0x32000008), //!< FIFO 0 Full Flag CAN_FLAG_F0OVR = ((uint32_t)0x32000010), //!< FIFO 0 Overrun Flag CAN_FLAG_F1MP = ((uint32_t)0x14000003), //!< FIFO 1 Message Pending Flag CAN_FLAG_F1FULL = ((uint32_t)0x34000008), //!< FIFO 1 Full Flag CAN_FLAG_F1OVR = ((uint32_t)0x34000010), //!< FIFO 1 Overrun Flag /** Transmit Flags */ CAN_FLAG_REQC0 = ((uint32_t)0x38000001), //!< Request MailBox0 Flag CAN_FLAG_REQC1 = ((uint32_t)0x38000100), //!< Request MailBox1 Flag CAN_FLAG_REQC2 = ((uint32_t)0x38010000) //!< Request MailBox2 Flag } CAN_FLAG_T; /**@} end of group CAN_Enumerations*/ /** * @brief CAN Config structure definition */ /** * @brief CAN config structure definition */ typedef struct { uint8_t timeTrigComMode; //!< Enable or disable the time triggered communication mode. uint8_t autoBusOffManage; //!< Enable or disable the automatic bus-off management. uint8_t autoWakeUpMode; //!< Enable or disable the automatic wake-up mode. uint8_t nonAutoRetran; //!< Enable or disable the non-automatic retransmission mode. uint8_t rxFIFOLockMode; //!< Enable or disable the Receive FIFO Locked mode. uint8_t txFIFOPriority; //!< Enable or disable the transmit FIFO priority. CAN_MODE_T mode; //!< Specifies the CAN operating mode. CAN_SJW_T syncJumpWidth; /** Specifies the maximum number of time quanta the CAN hardware * is allowed to lengthen or shorten a bit to perform resynchronization. */ CAN_TIME_SEGMENT1_T timeSegment1; //!< Specifies the number of time quanta in Bit Segment 1. CAN_TIME_SEGMENT2_T timeSegment2; //!< Specifies the number of time quanta in Bit Segment 2. uint16_t prescaler; //!< Specifies the length of a time quantum. It can be 1 to 1024. } CAN_Config_T; /** * @brief CAN Tx message structure definition */ typedef struct { uint32_t stdID; //!< Specifies the standard identifier. It can be 0 to 0x7FF. uint32_t extID; //!< Specifies the extended identifier. It can be 0 to 0x1FFFFFFF. CAN_TYPEID_T typeID; CAN_RTXR_T remoteTxReq; uint8_t dataLengthCode;//!< Specifies the data length code. It can be 0 to 8. uint8_t data[8]; //!< Specifies the data to be transmitted. It can be 0 to 0xFF. } CAN_TX_MESSAGE_T; /** * @brief CAN Rx message structure definition */ typedef struct { uint32_t stdID; //!< Specifies the standard identifier. It can be 0 to 0x7FF. uint32_t extID; //!< Specifies the extended identifier. It can be 0 to 0x1FFFFFFF. uint32_t typeID; uint32_t remoteTxReq; uint8_t dataLengthCode; //!< Specifies the data length code. It can be 0 to 8. uint8_t data[8]; //!< Specifies the data to be transmitted. It can be 0 to 0xFF. uint8_t filterMatchIndex;//!< Specifies the filter match index. It can be 0 to 0xFF. } CAN_RX_MESSAGE_T; /** * @brief CAN filter config structure definition */ typedef struct { uint8_t filterNumber; //!< Specifies the filter number. It can be 0 to 13. uint16_t filterIdHigh; //!< Specifies the filter identification number.It can be 0 to 0xFFFF. uint16_t filterIdLow; //!< Specifies the filter identification number.It can be 0 to 0xFFFF. uint16_t filterMaskIdHigh; //!< Specifies the filter mask identification. It can be 0 to 0xFFFF. uint16_t filterMaskIdLow; //!< Specifies the filter mask identification. It can be 0 to 0xFFFF. uint16_t filterActivation; //!< Specifies the filter Activation. It can be ENABLE or DISABLE. CAN_FILTER_FIFO_T filterFIFO; CAN_FILTER_MODE_T filterMode; CAN_FILTER_SCALE_T filterScale; } CAN_FILTER_CONFIG_T; /**@} end of group CAN_Structure*/ /** @addtogroup CAN_Fuctions Fuctions @{ */ /** CAN reset and configuration */ void CAN_Reset(CAN_T* can); uint8_t CAN_Config(CAN_T* can, CAN_Config_T* canConfig); void CAN_ConfigFilter(CAN_T* can, CAN_FILTER_CONFIG_T* filterConfig); void CAN_ConfigStructInit(CAN_Config_T* canConfig); void CAN_EnableDBGFreeze(CAN_T* can); void CAN_DisableDBGFreeze(CAN_T* can); void CAN_EnableTTCComMode(CAN_T* can); void CAN_DisableTTCComMode(CAN_T* can); /** CAN frames transmit */ uint8_t CAN_TxMessage(CAN_T* can, CAN_TX_MESSAGE_T* TxMessage); uint8_t CAN_TxMessageStatus(CAN_T* can, CAN_TX_MAILBIX_T TxMailbox); void CAN_CancelTxMailbox(CAN_T* can, CAN_TX_MAILBIX_T TxMailbox); /** CAN frames receive */ void CAN_RxMessage(CAN_T* can, CAN_RX_FIFO_T FIFONumber, CAN_RX_MESSAGE_T* RxMessage); void CAN_ReleaseFIFO(CAN_T* can, CAN_RX_FIFO_T FIFONumber); uint8_t CAN_PendingMessage(CAN_T* can, CAN_RX_FIFO_T FIFONumber); /** CAN operation modes */ uint8_t CAN_OperatingMode(CAN_T* can, CAN_OPERATING_MODE_T operatingMode); uint8_t CAN_SleepMode(CAN_T* can); uint8_t CAN_WakeUpMode(CAN_T* can); /** CAN bus error management */ uint8_t CAN_ReadLastErrorCode(CAN_T* can); uint8_t CAN_ReadRxErrorCounter(CAN_T* can); uint8_t CAN_ReadLSBTxErrorCounter(CAN_T* can); /** CAN interrupt and flag */ void CAN_EnableInterrupt(CAN_T* can, uint32_t interrupt); void CAN_DisableInterrupt(CAN_T* can, uint32_t interrupt); uint8_t CAN_ReadStatusFlag(CAN_T* can, CAN_FLAG_T flag); void CAN_ClearStatusFlag(CAN_T* can, CAN_FLAG_T flag); uint8_t CAN_ReadIntFlag(CAN_T* can, CAN_INT_T flag); void CAN_ClearIntFlag(CAN_T* can, CAN_INT_T flag); /**@} end of group CAN_Fuctions*/ /**@} end of group CAN_Driver */ /**@} end of group Peripherals_Library*/ #ifdef __cplusplus } #endif #endif /* __APM32F10X_CAN_H */