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338 lines
12 KiB
C
338 lines
12 KiB
C
/*!
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* @file apm32e10x_can.h
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*
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* @brief This file contains all the functions prototypes for the CAN firmware library
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*
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* @version V1.0.0
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*
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* @date 2021-07-26
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*
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*/
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#ifndef __APM32E10X_CAN_H
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#define __APM32E10X_CAN_H
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#include "apm32e10x.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @addtogroup Peripherals_Library Standard Peripheral Library
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@{
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*/
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/** @addtogroup CAN_Driver CAN Driver
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@{
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*/
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/** @addtogroup CAN_Enumerations Enumerations
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@{
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*/
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/**
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* @brief CAN mode
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*/
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typedef enum
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{
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CAN_MODE_NORMAL = ((uint8_t)00), //!< normal mode
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CAN_MODE_LOOPBACK = ((uint8_t)01), //!< loopback mode
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CAN_MODE_SILENT = ((uint8_t)02), //!< silent mode
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CAN_MODE_SILENT_LOOPBACK = ((uint8_t)03), //!< loopback combined with silent mode
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} CAN_MODE_T;
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/**
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* @brief CAN synchronisation jump width
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*/
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typedef enum
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{
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CAN_SJW_1 = ((uint8_t)00), //!< 1 time quantum
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CAN_SJW_2 = ((uint8_t)01), //!< 2 time quantum
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CAN_SJW_3 = ((uint8_t)02), //!< 3 time quantum
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CAN_SJW_4 = ((uint8_t)03) //!< 4 time quantum
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} CAN_SJW_T;
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/**
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* @brief CAN time quantum in bit segment 1
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*/
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typedef enum
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{
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CAN_TIME_SEGMENT1_1 = ((uint8_t)0x00), //!< 1 time quanta
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CAN_TIME_SEGMENT1_2 = ((uint8_t)0x01), //!< 2 time quanta
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CAN_TIME_SEGMENT1_3 = ((uint8_t)0x02), //!< 3 time quanta
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CAN_TIME_SEGMENT1_4 = ((uint8_t)0x03), //!< 4 time quanta
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CAN_TIME_SEGMENT1_5 = ((uint8_t)0x04), //!< 5 time quanta
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CAN_TIME_SEGMENT1_6 = ((uint8_t)0x05), //!< 6 time quanta
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CAN_TIME_SEGMENT1_7 = ((uint8_t)0x06), //!< 7 time quanta
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CAN_TIME_SEGMENT1_8 = ((uint8_t)0x07), //!< 8 time quanta
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CAN_TIME_SEGMENT1_9 = ((uint8_t)0x08), //!< 9 time quanta
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CAN_TIME_SEGMENT1_10 = ((uint8_t)0x09), //!< 10 time quanta
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CAN_TIME_SEGMENT1_11 = ((uint8_t)0x0A), //!< 11 time quanta
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CAN_TIME_SEGMENT1_12 = ((uint8_t)0x0B), //!< 12 time quanta
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CAN_TIME_SEGMENT1_13 = ((uint8_t)0x0C), //!< 13 time quanta
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CAN_TIME_SEGMENT1_14 = ((uint8_t)0x0D), //!< 14 time quanta
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CAN_TIME_SEGMENT1_15 = ((uint8_t)0x0E), //!< 15 time quanta
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CAN_TIME_SEGMENT1_16 = ((uint8_t)0x0F) //!< 16 time quanta
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} CAN_TIME_SEGMENT1_T;
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/**
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* @brief CAN time quantum in bit segment 2
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*/
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typedef enum
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{
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CAN_TIME_SEGMENT2_1 = (uint8_t)0x00, //!< 1 time quanta
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CAN_TIME_SEGMENT2_2 = (uint8_t)0x01, //!< 2 time quanta
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CAN_TIME_SEGMENT2_3 = (uint8_t)0x02, //!< 3 time quanta
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CAN_TIME_SEGMENT2_4 = (uint8_t)0x03, //!< 4 time quanta
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CAN_TIME_SEGMENT2_5 = (uint8_t)0x04, //!< 5 time quanta
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CAN_TIME_SEGMENT2_6 = (uint8_t)0x05, //!< 6 time quanta
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CAN_TIME_SEGMENT2_7 = (uint8_t)0x06, //!< 7 time quanta
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CAN_TIME_SEGMENT2_8 = (uint8_t)0x07, //!< 8 time quanta
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} CAN_TIME_SEGMENT2_T;
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/**
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* @brief CAN filter FIFO
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*/
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typedef enum
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{
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CAN_FILTER_FIFO_0 = ((uint8_t)0x00), //!< filter FIFO 0
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CAN_FILTER_FIFO_1 = ((uint8_t)0x01), //!< filter FIFO 1
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} CAN_FILTER_FIFO_T;
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/**
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* @brief CAN filter mode
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*/
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typedef enum
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{
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CAN_FILTER_MODE_IDMASK = ((uint8_t)00), //!< identifier/mask mode
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CAN_FILTER_MODE_IDLIST = ((uint8_t)01) //!< identifier list mode
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} CAN_FILTER_MODE_T;
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/**
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* @brief CAN filter scale
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*/
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typedef enum
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{
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CAN_FILTER_SCALE_16BIT = ((uint8_t)0x00), //!< Two 16-bit filters
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CAN_FILTER_SCALE_32BIT = ((uint8_t)0x01), //!< One 32-bit filter
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} CAN_FILTER_SCALE_T;
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/**
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* @brief CAN identifier type
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*/
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typedef enum
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{
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CAN_TYPEID_STD = ((uint32_t)0x00000000), //!< Standard Id
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CAN_TYPEID_EXT = ((uint32_t)0x00000004) //!< Extended Id
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} CAN_TYPEID_T;
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/**
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* @brief CAN_remote_transmission_request
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*/
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typedef enum
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{
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CAN_RTXR_DATA = ((uint32_t)0x00000000), //!< Data frame
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CAN_RTXR_REMOTE = ((uint32_t)0x00000002) //!< Remote frame
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} CAN_RTXR_T;
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/**
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* @brief Mailboxes definition
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*/
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typedef enum
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{
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CAN_TX_MAILBIX_0 = ((uint8_t)0x00), //!< Tx mailbox0
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CAN_TX_MAILBIX_1 = ((uint8_t)0x01), //!< Tx mailbox1
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CAN_TX_MAILBIX_2 = ((uint8_t)0x02), //!< Tx mailbox2
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} CAN_TX_MAILBIX_T;
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/**
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* @brief CAN receive FIFO number constants
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*/
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typedef enum
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{
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CAN_RX_FIFO_0 = ((uint8_t)0x00), //!< receive FIFO 0
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CAN_RX_FIFO_1 = ((uint8_t)0x01), //!< receive FIFO 1
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} CAN_RX_FIFO_T;
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/**
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* @brief CAN Operating Mode
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*/
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typedef enum
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{
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CAN_OPERATING_MODE_INIT = ((uint8_t)00), //!< Initialization mode
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CAN_OPERATING_MODE_NORMAL = ((uint8_t)01), //!< Normal mode
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CAN_OPERATING_MODE_SLEEP = ((uint8_t)02), //!< sleep mode
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} CAN_OPERATING_MODE_T;
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/**
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* @brief CAN Interrupts
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*/
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typedef enum
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{
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CAN_INT_TXME = ((uint32_t)0x00000001), //!< Transmit mailbox empty Interrupt
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CAN_INT_F0MP = ((uint32_t)0x00000002), //!< FIFO 0 message pending Interrupt
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CAN_INT_F0FULL = ((uint32_t)0x00000004), //!< FIFO 0 full Interrupt
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CAN_INT_F0OVR = ((uint32_t)0x00000008), //!< FIFO 0 overrun Interrupt
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CAN_INT_F1MP = ((uint32_t)0x00000010), //!< FIFO 1 message pending Interrupt
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CAN_INT_F1FULL = ((uint32_t)0x00000020), //!< FIFO 1 full Interrupt
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CAN_INT_F1OVR = ((uint32_t)0x00000040), //!< FIFO 1 overrun Interrupt
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CAN_INT_ERRW = ((uint32_t)0x00000100), //!< Error warning Interrupt
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CAN_INT_ERRP = ((uint32_t)0x00000200), //!< Error passive Interrupt
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CAN_INT_BOF = ((uint32_t)0x00000400), //!< Bus-off Interrupt
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CAN_INT_LEC = ((uint32_t)0x00000800), //!< Last error record code Interrupt
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CAN_INT_ERR = ((uint32_t)0x00008000), //!< Error Interrupt
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CAN_INT_WUP = ((uint32_t)0x00010000), //!< Wake-up Interrupt
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CAN_INT_SLEEP = ((uint32_t)0x00020000) //!< Sleep acknowledge Interrupt
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} CAN_INT_T;
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/**
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* @brief CAN Flags
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*/
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typedef enum
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{
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/** Error flag*/
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CAN_FLAG_ERRW = ((uint32_t)0x10F00001), //!< Error Warning Flag
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CAN_FLAG_ERRP = ((uint32_t)0x10F00002), //!< Error Passive Flag
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CAN_FLAG_BOF = ((uint32_t)0x10F00004), //!< Bus-Off Flag
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CAN_FLAG_LERRC = ((uint32_t)0x30F00070), //!< Last error record code Flag
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/** Operating Mode Flags */
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CAN_FLAG_WUPI = ((uint32_t)0x31000008), //!< Wake up Flag
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CAN_FLAG_SLEEP = ((uint32_t)0x31000012), //!< Sleep acknowledge Flag
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/** Receive Flags */
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CAN_FLAG_F0MP = ((uint32_t)0x12000003), //!< FIFO 0 Message Pending Flag
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CAN_FLAG_F0FULL = ((uint32_t)0x32000008), //!< FIFO 0 Full Flag
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CAN_FLAG_F0OVR = ((uint32_t)0x32000010), //!< FIFO 0 Overrun Flag
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CAN_FLAG_F1MP = ((uint32_t)0x14000003), //!< FIFO 1 Message Pending Flag
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CAN_FLAG_F1FULL = ((uint32_t)0x34000008), //!< FIFO 1 Full Flag
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CAN_FLAG_F1OVR = ((uint32_t)0x34000010), //!< FIFO 1 Overrun Flag
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/** Transmit Flags */
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CAN_FLAG_REQC0 = ((uint32_t)0x38000001), //!< Request MailBox0 Flag
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CAN_FLAG_REQC1 = ((uint32_t)0x38000100), //!< Request MailBox1 Flag
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CAN_FLAG_REQC2 = ((uint32_t)0x38010000) //!< Request MailBox2 Flag
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} CAN_FLAG_T;
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/**@} end of group CAN_Enumerations*/
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/**
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* @brief CAN Config structure definition
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*/
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/**
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* @brief CAN config structure definition
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*/
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typedef struct
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{
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uint8_t timeTrigComMode; //!< Enable or disable the time triggered communication mode.
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uint8_t autoBusOffManage; //!< Enable or disable the automatic bus-off management.
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uint8_t autoWakeUpMode; //!< Enable or disable the automatic wake-up mode.
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uint8_t nonAutoRetran; //!< Enable or disable the non-automatic retransmission mode.
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uint8_t rxFIFOLockMode; //!< Enable or disable the Receive FIFO Locked mode.
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uint8_t txFIFOPriority; //!< Enable or disable the transmit FIFO priority.
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CAN_MODE_T mode; //!< Specifies the CAN operating mode.
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CAN_SJW_T syncJumpWidth; /** Specifies the maximum number of time quanta the CAN hardware
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* is allowed to lengthen or shorten a bit to perform resynchronization.
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*/
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CAN_TIME_SEGMENT1_T timeSegment1; //!< Specifies the number of time quanta in Bit Segment 1.
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CAN_TIME_SEGMENT2_T timeSegment2; //!< Specifies the number of time quanta in Bit Segment 2.
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uint16_t prescaler; //!< Specifies the length of a time quantum. It can be 1 to 1024.
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} CAN_Config_T;
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/**
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* @brief CAN Tx message structure definition
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*/
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typedef struct
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{
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uint32_t stdID; //!< Specifies the standard identifier. It can be 0 to 0x7FF.
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uint32_t extID; //!< Specifies the extended identifier. It can be 0 to 0x1FFFFFFF.
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CAN_TYPEID_T typeID;
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CAN_RTXR_T remoteTxReq;
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uint8_t dataLengthCode;//!< Specifies the data length code. It can be 0 to 8.
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uint8_t data[8]; //!< Specifies the data to be transmitted. It can be 0 to 0xFF.
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} CAN_TX_MESSAGE_T;
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/**
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* @brief CAN Rx message structure definition
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*/
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typedef struct
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{
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uint32_t stdID; //!< Specifies the standard identifier. It can be 0 to 0x7FF.
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uint32_t extID; //!< Specifies the extended identifier. It can be 0 to 0x1FFFFFFF.
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uint32_t typeID;
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uint32_t remoteTxReq;
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uint8_t dataLengthCode; //!< Specifies the data length code. It can be 0 to 8.
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uint8_t data[8]; //!< Specifies the data to be transmitted. It can be 0 to 0xFF.
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uint8_t filterMatchIndex;//!< Specifies the filter match index. It can be 0 to 0xFF.
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} CAN_RX_MESSAGE_T;
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/**
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* @brief CAN filter config structure definition
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*/
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typedef struct
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{
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uint8_t filterNumber; //!< Specifies the filter number. It can be 0 to 13.
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uint16_t filterIdHigh; //!< Specifies the filter identification number.It can be 0 to 0xFFFF.
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uint16_t filterIdLow; //!< Specifies the filter identification number.It can be 0 to 0xFFFF.
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uint16_t filterMaskIdHigh; //!< Specifies the filter mask identification. It can be 0 to 0xFFFF.
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uint16_t filterMaskIdLow; //!< Specifies the filter mask identification. It can be 0 to 0xFFFF.
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uint16_t filterActivation; //!< Specifies the filter Activation. It can be ENABLE or DISABLE.
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CAN_FILTER_FIFO_T filterFIFO;
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CAN_FILTER_MODE_T filterMode;
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CAN_FILTER_SCALE_T filterScale;
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} CAN_FILTER_CONFIG_T;
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/**@} end of group CAN_Structure*/
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/** @addtogroup CAN_Fuctions Fuctions
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@{
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*/
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/** CAN reset and configuration */
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void CAN_Reset(CAN_T* can);
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uint8_t CAN_Config(CAN_T* can, CAN_Config_T* canConfig);
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void CAN_ConfigFilter(CAN_T* can, CAN_FILTER_CONFIG_T* filterConfig);
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void CAN_ConfigStructInit(CAN_Config_T* canConfig);
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void CAN_EnableDBGFreeze(CAN_T* can);
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void CAN_DisableDBGFreeze(CAN_T* can);
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void CAN_EnableTTCComMode(CAN_T* can);
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void CAN_DisableTTCComMode(CAN_T* can);
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/** CAN frames transmit */
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uint8_t CAN_TxMessage(CAN_T* can, CAN_TX_MESSAGE_T* TxMessage);
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uint8_t CAN_TxMessageStatus(CAN_T* can, CAN_TX_MAILBIX_T TxMailbox);
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void CAN_CancelTxMailbox(CAN_T* can, CAN_TX_MAILBIX_T TxMailbox);
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/** CAN frames receive */
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void CAN_RxMessage(CAN_T* can, CAN_RX_FIFO_T FIFONumber, CAN_RX_MESSAGE_T* RxMessage);
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void CAN_ReleaseFIFO(CAN_T* can, CAN_RX_FIFO_T FIFONumber);
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uint8_t CAN_PendingMessage(CAN_T* can, CAN_RX_FIFO_T FIFONumber);
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/** CAN operation modes */
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uint8_t CAN_OperatingMode(CAN_T* can, CAN_OPERATING_MODE_T operatingMode);
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uint8_t CAN_SleepMode(CAN_T* can);
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uint8_t CAN_WakeUpMode(CAN_T* can);
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/** CAN bus error management */
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uint8_t CAN_ReadLastErrorCode(CAN_T* can);
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uint8_t CAN_ReadRxErrorCounter(CAN_T* can);
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uint8_t CAN_ReadLSBTxErrorCounter(CAN_T* can);
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/** CAN interrupt and flag */
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void CAN_EnableInterrupt(CAN_T* can, uint32_t interrupt);
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void CAN_DisableInterrupt(CAN_T* can, uint32_t interrupt);
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uint8_t CAN_ReadStatusFlag(CAN_T* can, CAN_FLAG_T flag);
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void CAN_ClearStatusFlag(CAN_T* can, CAN_FLAG_T flag);
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uint8_t CAN_ReadIntFlag(CAN_T* can, CAN_INT_T flag);
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void CAN_ClearIntFlag(CAN_T* can, CAN_INT_T flag);
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/**@} end of group CAN_Fuctions*/
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/**@} end of group CAN_Driver */
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/**@} end of group Peripherals_Library*/
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#ifdef __cplusplus
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}
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#endif
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#endif /* __APM32E10X_CAN_H */
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