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137 lines
4.3 KiB
C
137 lines
4.3 KiB
C
#ifndef __SWM320_CAN_H__
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#define __SWM320_CAN_H__
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#define CAN_FRAME_STD 0
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#define CAN_FRAME_EXT 1
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typedef struct {
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uint8_t Mode; //CAN_MODE_NORMAL<41><4C>CAN_MODE_LISTEN<45><4E>CAN_MODE_SELFTEST
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uint8_t CAN_BS1; //CAN_BS1_1tq<74><71>CAN_BS1_2tq<74><71>... ... <20><>CAN_BS1_16tq
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uint8_t CAN_BS2; //CAN_BS2_1tq<74><71>CAN_BS2_2tq<74><71>... ... <20><>CAN_BS2_8tq
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uint8_t CAN_SJW; //CAN_SJW_1tq<74><71>CAN_SJW_2tq<74><71>CAN_SJW_3tq<74><71>CAN_SJW_4tq
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uint32_t Baudrate; //<2F><><EFBFBD><EFBFBD><EFBFBD>ʣ<EFBFBD><CAA3><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʣ<EFBFBD>ȡֵ1--1000000
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uint8_t FilterMode; //CAN_FILTER_16b<36><62>CAN_FILTER_32b
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union {
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uint32_t FilterMask32b; //FilterCheck & (~FilterMask) == ID & (~FilterMask)<29><>Messageͨ<65><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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struct { // 0 must match 1 don't care
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uint16_t FilterMask16b1;
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uint16_t FilterMask16b2;
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};
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};
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union {
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uint32_t FilterCheck32b;
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struct {
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uint16_t FilterCheck16b1;
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uint16_t FilterCheck16b2;
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};
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};
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uint8_t RXNotEmptyIEn; //<2F><><EFBFBD><EFBFBD>FIFO<46>ǿգ<C7BF><D5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݿɶ<DDBF>
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uint8_t RXOverflowIEn; //<2F><><EFBFBD><EFBFBD>FIFO<46><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD>ʧ
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uint8_t ArbitrLostIEn; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ٲñ<D9B2><C3B1>ɽ<EFBFBD><C9BD>շ<EFBFBD>
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uint8_t ErrPassiveIEn; //<2F><><EFBFBD><EFBFBD>/<2F><><EFBFBD>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ﵽ127
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} CAN_InitStructure;
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#define CAN_MODE_NORMAL 0 //<2F><><EFBFBD><EFBFBD>ģʽ
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#define CAN_MODE_LISTEN 1 //<2F><><EFBFBD><EFBFBD>ģʽ
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#define CAN_MODE_SELFTEST 2 //<2F>Բ<EFBFBD>ģʽ
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#define CAN_BS1_1tq 0
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#define CAN_BS1_2tq 1
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#define CAN_BS1_3tq 2
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#define CAN_BS1_4tq 3
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#define CAN_BS1_5tq 4
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#define CAN_BS1_6tq 5
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#define CAN_BS1_7tq 6
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#define CAN_BS1_8tq 7
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#define CAN_BS1_9tq 8
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#define CAN_BS1_10tq 9
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#define CAN_BS1_11tq 10
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#define CAN_BS1_12tq 11
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#define CAN_BS1_13tq 12
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#define CAN_BS1_14tq 13
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#define CAN_BS1_15tq 14
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#define CAN_BS1_16tq 15
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#define CAN_BS2_1tq 0
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#define CAN_BS2_2tq 1
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#define CAN_BS2_3tq 2
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#define CAN_BS2_4tq 3
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#define CAN_BS2_5tq 4
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#define CAN_BS2_6tq 5
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#define CAN_BS2_7tq 6
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#define CAN_BS2_8tq 7
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#define CAN_SJW_1tq 0
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#define CAN_SJW_2tq 1
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#define CAN_SJW_3tq 2
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#define CAN_SJW_4tq 3
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#define CAN_FILTER_16b 0 //<2F><><EFBFBD><EFBFBD>16λ<36><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CAN_FILTER_32b 1 //һ<><D2BB>32λ<32><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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typedef struct {
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uint32_t id; //<2F><>ϢID
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uint8_t format; //֡<><D6A1>ʽ<EFBFBD><CABD>CAN_FRAME_STD<54><44>CAN_FRAME_EXT
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uint8_t remote; //<2F><>Ϣ<EFBFBD>Ƿ<EFBFBD>ΪԶ<CEAA><D4B6>֡
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uint8_t size; //<2F><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8><EFBFBD>
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uint8_t data[8]; //<2F><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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} CAN_RXMessage;
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void CAN_Init(CAN_TypeDef * CANx, CAN_InitStructure * initStruct);
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void CAN_Open(CAN_TypeDef * CANx);
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void CAN_Close(CAN_TypeDef * CANx);
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void CAN_Transmit(CAN_TypeDef * CANx, uint32_t format, uint32_t id, uint8_t data[], uint32_t size, uint32_t once);
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void CAN_TransmitRequest(CAN_TypeDef * CANx, uint32_t format, uint32_t id, uint32_t once);
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void CAN_Receive(CAN_TypeDef * CANx, CAN_RXMessage *msg);
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uint32_t CAN_TXComplete(CAN_TypeDef * CANx);
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uint32_t CAN_TXSuccess(CAN_TypeDef * CANx);
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void CAN_AbortTransmit(CAN_TypeDef * CANx);
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uint32_t CAN_TXBufferReady(CAN_TypeDef * CANx);
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uint32_t CAN_RXDataAvailable(CAN_TypeDef * CANx);
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void CAN_SetBaudrate(CAN_TypeDef * CANx, uint32_t baudrate, uint32_t CAN_BS1, uint32_t CAN_BS2, uint32_t CAN_SJW);
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void CAN_SetFilter32b(CAN_TypeDef * CANx, uint32_t check, uint32_t mask);
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void CAN_SetFilter16b(CAN_TypeDef * CANx, uint16_t check1, uint16_t mask1, uint16_t check2, uint16_t mask2);
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void CAN_INTRXNotEmptyEn(CAN_TypeDef * CANx);
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void CAN_INTRXNotEmptyDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTRXNotEmptyStat(CAN_TypeDef * CANx);
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void CAN_INTTXBufEmptyEn(CAN_TypeDef * CANx);
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void CAN_INTTXBufEmptyDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTTXBufEmptyStat(CAN_TypeDef * CANx);
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void CAN_INTErrWarningEn(CAN_TypeDef * CANx);
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void CAN_INTErrWarningDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTErrWarningStat(CAN_TypeDef * CANx);
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void CAN_INTRXOverflowEn(CAN_TypeDef * CANx);
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void CAN_INTRXOverflowDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTRXOverflowStat(CAN_TypeDef * CANx);
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void CAN_INTRXOverflowClear(CAN_TypeDef * CANx);
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void CAN_INTWakeupEn(CAN_TypeDef * CANx);
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void CAN_INTWakeupDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTWakeupStat(CAN_TypeDef * CANx);
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void CAN_INTErrPassiveEn(CAN_TypeDef * CANx);
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void CAN_INTErrPassiveDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTErrPassiveStat(CAN_TypeDef * CANx);
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void CAN_INTArbitrLostEn(CAN_TypeDef * CANx);
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void CAN_INTArbitrLostDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTArbitrLostStat(CAN_TypeDef * CANx);
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void CAN_INTBusErrorEn(CAN_TypeDef * CANx);
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void CAN_INTBusErrorDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTBusErrorStat(CAN_TypeDef * CANx);
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#endif //__SWM320_CAN_H__
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