pikapython/bsp/apm32e103vb/Library/APM32E10x_StdPeriphDriver/inc/apm32e10x_can.h

/*!
 * @file       apm32e10x_can.h
 *
 * @brief      This file contains all the functions prototypes for the CAN firmware library
 *
 * @version    V1.0.0
 *
 * @date       2021-07-26
 *
 */

#ifndef __APM32E10X_CAN_H
#define __APM32E10X_CAN_H

#include "apm32e10x.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 /* __APM32E10X_CAN_H */