1015 lines
36 KiB
C
1015 lines
36 KiB
C
/**********************************************************************
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* $Id$ lpc_can.h 2011-06-02
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*//**
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* @file lpc_can.h
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* @brief Contains all macro definitions and function prototypes
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* support for CAN firmware library on LPC
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* @version 1.0
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* @date 02. June. 2011
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* @author NXP MCU SW Application Team
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*
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* Copyright(C) 2011, NXP Semiconductor
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* All rights reserved.
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*
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***********************************************************************
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* Software that is described herein is for illustrative purposes only
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* which provides customers with programming information regarding the
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* products. This software is supplied "AS IS" without any warranties.
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* NXP Semiconductors assumes no responsibility or liability for the
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* use of the software, conveys no license or title under any patent,
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* copyright, or mask work right to the product. NXP Semiconductors
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* reserves the right to make changes in the software without
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* notification. NXP Semiconductors also make no representation or
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* warranty that such application will be suitable for the specified
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* use without further testing or modification.
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* Permission to use, copy, modify, and distribute this software and its
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* documentation is hereby granted, under NXP Semiconductors'
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* relevant copyright in the software, without fee, provided that it
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* is used in conjunction with NXP Semiconductors microcontrollers. This
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* copyright, permission, and disclaimer notice must appear in all copies of
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* this code.
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**********************************************************************/
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/* Peripheral group ----------------------------------------------------------- */
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/** @defgroup CAN CAN (Controller Area Network)
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* @ingroup LPC_CMSIS_FwLib_Drivers
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* @{
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*/
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#ifndef __LPC_CAN_H_
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#define __LPC_CAN_H_
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/* Includes ------------------------------------------------------------------- */
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#include "LPC407x_8x_177x_8x.h"
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#include "lpc_types.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/* Public Types --------------------------------------------------------------- */
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/** @defgroup CAN_Public_Macros CAN Public Macros
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* @{
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*/
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/** Controller ID for CAN1 */
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#define CAN1_CTRL ((uint8_t)(0))
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/** Controller ID for CAN2 */
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#define CAN2_CTRL ((uint8_t)(1))
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/** Message(s) Acceptance is enabled */
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#define MSG_ENABLE ((uint8_t)(0))
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/** Message(s) Acceptance is disabled */
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#define MSG_DISABLE ((uint8_t)(1))
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/**
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* @}
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*/
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/* Private Macros ------------------------------------------------------------- */
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/** @defgroup CAN_Private_Macros CAN Private Macros
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* @{
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*/
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/* --------------------- BIT DEFINITIONS -------------------------------------- */
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/*********************************************************************//**
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* Macro defines for CAN Mode Register
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**********************************************************************/
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/** CAN Reset mode */
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#define CAN_MOD_RM ((uint32_t)(1<<0))
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/** CAN Listen Only Mode */
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#define CAN_MOD_LOM ((uint32_t)(1<<1))
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/** CAN Self Test mode */
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#define CAN_MOD_STM ((uint32_t)(1<<2))
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/** CAN Transmit Priority mode */
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#define CAN_MOD_TPM ((uint32_t)(1<<3))
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/** CAN Sleep mode */
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#define CAN_MOD_SM ((uint32_t)(1<<4))
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/** CAN Receive Polarity mode */
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#define CAN_MOD_RPM ((uint32_t)(1<<5))
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/** CAN Test mode */
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#define CAN_MOD_TM ((uint32_t)(1<<7))
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/*********************************************************************//**
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* Macro defines for CAN Command Register
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**********************************************************************/
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/** CAN Transmission Request */
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#define CAN_CMR_TR ((uint32_t)(1))
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/** CAN Abort Transmission */
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#define CAN_CMR_AT ((uint32_t)(1<<1))
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/** CAN Release Receive Buffer */
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#define CAN_CMR_RRB ((uint32_t)(1<<2))
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/** CAN Clear Data Overrun */
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#define CAN_CMR_CDO ((uint32_t)(1<<3))
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/** CAN Self Reception Request */
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#define CAN_CMR_SRR ((uint32_t)(1<<4))
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/** CAN Select Tx Buffer 1 */
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#define CAN_CMR_STB1 ((uint32_t)(1<<5))
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/** CAN Select Tx Buffer 2 */
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#define CAN_CMR_STB2 ((uint32_t)(1<<6))
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/** CAN Select Tx Buffer 3 */
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#define CAN_CMR_STB3 ((uint32_t)(1<<7))
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/*********************************************************************//**
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* Macro defines for CAN Global Status Register
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**********************************************************************/
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/** CAN Receive Buffer Status */
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#define CAN_GSR_RBS ((uint32_t)(1))
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/** CAN Data Overrun Status */
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#define CAN_GSR_DOS ((uint32_t)(1<<1))
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/** CAN Transmit Buffer Status */
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#define CAN_GSR_TBS ((uint32_t)(1<<2))
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/** CAN Transmit Complete Status */
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#define CAN_GSR_TCS ((uint32_t)(1<<3))
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/** CAN Receive Status */
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#define CAN_GSR_RS ((uint32_t)(1<<4))
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/** CAN Transmit Status */
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#define CAN_GSR_TS ((uint32_t)(1<<5))
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/** CAN Error Status */
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#define CAN_GSR_ES ((uint32_t)(1<<6))
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/** CAN Bus Status */
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#define CAN_GSR_BS ((uint32_t)(1<<7))
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/** CAN Current value of the Rx Error Counter */
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#define CAN_GSR_RXERR(n) ((uint32_t)((n&0xFF)<<16))
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/** CAN Current value of the Tx Error Counter */
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#define CAN_GSR_TXERR(n) ((uint32_t)(n&0xFF)<<24))
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/*********************************************************************//**
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* Macro defines for CAN Interrupt and Capture Register
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**********************************************************************/
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/** CAN Receive Interrupt */
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#define CAN_ICR_RI ((uint32_t)(1))
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/** CAN Transmit Interrupt 1 */
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#define CAN_ICR_TI1 ((uint32_t)(1<<1))
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/** CAN Error Warning Interrupt */
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#define CAN_ICR_EI ((uint32_t)(1<<2))
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/** CAN Data Overrun Interrupt */
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#define CAN_ICR_DOI ((uint32_t)(1<<3))
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/** CAN Wake-Up Interrupt */
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#define CAN_ICR_WUI ((uint32_t)(1<<4))
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/** CAN Error Passive Interrupt */
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#define CAN_ICR_EPI ((uint32_t)(1<<5))
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/** CAN Arbitration Lost Interrupt */
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#define CAN_ICR_ALI ((uint32_t)(1<<6))
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/** CAN Bus Error Interrupt */
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#define CAN_ICR_BEI ((uint32_t)(1<<7))
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/** CAN ID Ready Interrupt */
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#define CAN_ICR_IDI ((uint32_t)(1<<8))
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/** CAN Transmit Interrupt 2 */
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#define CAN_ICR_TI2 ((uint32_t)(1<<9))
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/** CAN Transmit Interrupt 3 */
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#define CAN_ICR_TI3 ((uint32_t)(1<<10))
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/** CAN Error Code Capture */
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#define CAN_ICR_ERRBIT(n) ((uint32_t)((n&0x1F)<<16))
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/** CAN Error Direction */
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#define CAN_ICR_ERRDIR ((uint32_t)(1<<21))
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/** CAN Error Capture */
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#define CAN_ICR_ERRC(n) ((uint32_t)((n&0x3)<<22))
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/** CAN Arbitration Lost Capture */
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#define CAN_ICR_ALCBIT(n) ((uint32_t)((n&0xFF)<<24))
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/*********************************************************************//**
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* Macro defines for CAN Interrupt Enable Register
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**********************************************************************/
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/** CAN Receive Interrupt Enable */
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#define CAN_IER_RIE ((uint32_t)(1))
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/** CAN Transmit Interrupt Enable for buffer 1 */
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#define CAN_IER_TIE1 ((uint32_t)(1<<1))
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/** CAN Error Warning Interrupt Enable */
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#define CAN_IER_EIE ((uint32_t)(1<<2))
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/** CAN Data Overrun Interrupt Enable */
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#define CAN_IER_DOIE ((uint32_t)(1<<3))
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/** CAN Wake-Up Interrupt Enable */
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#define CAN_IER_WUIE ((uint32_t)(1<<4))
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/** CAN Error Passive Interrupt Enable */
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#define CAN_IER_EPIE ((uint32_t)(1<<5))
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/** CAN Arbitration Lost Interrupt Enable */
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#define CAN_IER_ALIE ((uint32_t)(1<<6))
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/** CAN Bus Error Interrupt Enable */
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#define CAN_IER_BEIE ((uint32_t)(1<<7))
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/** CAN ID Ready Interrupt Enable */
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#define CAN_IER_IDIE ((uint32_t)(1<<8))
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/** CAN Transmit Enable Interrupt for Buffer 2 */
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#define CAN_IER_TIE2 ((uint32_t)(1<<9))
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/** CAN Transmit Enable Interrupt for Buffer 3 */
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#define CAN_IER_TIE3 ((uint32_t)(1<<10))
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/*********************************************************************//**
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* Macro defines for CAN Bus Timing Register
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**********************************************************************/
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/** CAN Baudrate Prescaler */
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#define CAN_BTR_BRP(n) ((uint32_t)(n&0x3FF))
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/** CAN Synchronization Jump Width */
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#define CAN_BTR_SJM(n) ((uint32_t)((n&0x3)<<14))
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/** CAN Time Segment 1 */
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#define CAN_BTR_TESG1(n) ((uint32_t)(n&0xF)<<16))
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/** CAN Time Segment 2 */
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#define CAN_BTR_TESG2(n) ((uint32_t)(n&0xF)<<20))
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/** CAN Sampling */
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#define CAN_BTR_SAM(n) ((uint32_t)(1<<23))
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/*********************************************************************//**
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* Macro defines for CAN Error Warning Limit Register
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**********************************************************************/
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/** CAN Error Warning Limit */
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#define CAN_EWL_EWL(n) ((uint32_t)(n&0xFF))
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/*********************************************************************//**
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* Macro defines for CAN Status Register
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**********************************************************************/
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/** CAN Receive Buffer Status */
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#define CAN_SR_RBS ((uint32_t)(1))
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/** CAN Data Overrun Status */
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#define CAN_SR_DOS ((uint32_t)(1<<1))
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/** CAN Transmit Buffer Status 1 */
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#define CAN_SR_TBS1 ((uint32_t)(1<<2))
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/** CAN Transmission Complete Status of Buffer 1 */
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#define CAN_SR_TCS1 ((uint32_t)(1<<3))
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/** CAN Receive Status */
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#define CAN_SR_RS ((uint32_t)(1<<4))
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/** CAN Transmit Status 1 */
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#define CAN_SR_TS1 ((uint32_t)(1<<5))
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/** CAN Error Status */
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#define CAN_SR_ES ((uint32_t)(1<<6))
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/** CAN Bus Status */
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#define CAN_SR_BS ((uint32_t)(1<<7))
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/** CAN Transmit Buffer Status 2 */
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#define CAN_SR_TBS2 ((uint32_t)(1<<10))
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/** CAN Transmission Complete Status of Buffer 2 */
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#define CAN_SR_TCS2 ((uint32_t)(1<<11))
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/** CAN Transmit Status 2 */
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#define CAN_SR_TS2 ((uint32_t)(1<<13))
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/** CAN Transmit Buffer Status 2 */
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#define CAN_SR_TBS3 ((uint32_t)(1<<18))
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/** CAN Transmission Complete Status of Buffer 2 */
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#define CAN_SR_TCS3 ((uint32_t)(1<<19))
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/** CAN Transmit Status 2 */
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#define CAN_SR_TS3 ((uint32_t)(1<<21))
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/*********************************************************************//**
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* Macro defines for CAN Receive Frame Status Register
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**********************************************************************/
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/** CAN ID Index */
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#define CAN_RFS_ID_INDEX(n) ((uint32_t)(n&0x3FF))
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/** CAN Bypass */
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#define CAN_RFS_BP ((uint32_t)(1<<10))
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/** CAN Data Length Code */
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#define CAN_RFS_DLC(n) ((uint32_t)((n&0xF)<<16)
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/** CAN Remote Transmission Request */
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#define CAN_RFS_RTR ((uint32_t)(1<<30))
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/** CAN control 11 bit or 29 bit Identifier */
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#define CAN_RFS_FF ((uint32_t)(1<<31))
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/*********************************************************************//**
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* Macro defines for CAN Receive Identifier Register
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**********************************************************************/
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/** CAN 11 bit Identifier */
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#define CAN_RID_ID_11(n) ((uint32_t)(n&0x7FF))
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/** CAN 29 bit Identifier */
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#define CAN_RID_ID_29(n) ((uint32_t)(n&0x1FFFFFFF))
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/*********************************************************************//**
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* Macro defines for CAN Receive Data A Register
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**********************************************************************/
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/** CAN Receive Data 1 */
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#define CAN_RDA_DATA1(n) ((uint32_t)(n&0xFF))
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/** CAN Receive Data 2 */
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#define CAN_RDA_DATA2(n) ((uint32_t)((n&0xFF)<<8))
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/** CAN Receive Data 3 */
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#define CAN_RDA_DATA3(n) ((uint32_t)((n&0xFF)<<16))
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/** CAN Receive Data 4 */
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#define CAN_RDA_DATA4(n) ((uint32_t)((n&0xFF)<<24))
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/*********************************************************************//**
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* Macro defines for CAN Receive Data B Register
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**********************************************************************/
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/** CAN Receive Data 5 */
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#define CAN_RDB_DATA5(n) ((uint32_t)(n&0xFF))
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/** CAN Receive Data 6 */
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#define CAN_RDB_DATA6(n) ((uint32_t)((n&0xFF)<<8))
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/** CAN Receive Data 7 */
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#define CAN_RDB_DATA7(n) ((uint32_t)((n&0xFF)<<16))
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/** CAN Receive Data 8 */
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#define CAN_RDB_DATA8(n) ((uint32_t)((n&0xFF)<<24))
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/*********************************************************************//**
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* Macro defines for CAN Transmit Frame Information Register
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**********************************************************************/
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/** CAN Priority */
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#define CAN_TFI_PRIO(n) ((uint32_t)(n&0xFF))
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/** CAN Data Length Code */
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#define CAN_TFI_DLC(n) ((uint32_t)((n&0xF)<<16))
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/** CAN Remote Frame Transmission */
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#define CAN_TFI_RTR ((uint32_t)(1<<30))
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/** CAN control 11-bit or 29-bit Identifier */
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#define CAN_TFI_FF ((uint32_t)(1<<31))
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/*********************************************************************//**
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* Macro defines for CAN Transmit Identifier Register
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**********************************************************************/
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/** CAN 11-bit Identifier */
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#define CAN_TID_ID11(n) ((uint32_t)(n&0x7FF))
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/** CAN 11-bit Identifier */
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#define CAN_TID_ID29(n) ((uint32_t)(n&0x1FFFFFFF))
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/*********************************************************************//**
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* Macro defines for CAN Transmit Data A Register
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**********************************************************************/
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/** CAN Transmit Data 1 */
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#define CAN_TDA_DATA1(n) ((uint32_t)(n&0xFF))
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/** CAN Transmit Data 2 */
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#define CAN_TDA_DATA2(n) ((uint32_t)((n&0xFF)<<8))
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/** CAN Transmit Data 3 */
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#define CAN_TDA_DATA3(n) ((uint32_t)((n&0xFF)<<16))
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/** CAN Transmit Data 4 */
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#define CAN_TDA_DATA4(n) ((uint32_t)((n&0xFF)<<24))
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/*********************************************************************//**
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* Macro defines for CAN Transmit Data B Register
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**********************************************************************/
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/** CAN Transmit Data 5 */
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#define CAN_TDA_DATA5(n) ((uint32_t)(n&0xFF))
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/** CAN Transmit Data 6 */
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#define CAN_TDA_DATA6(n) ((uint32_t)((n&0xFF)<<8))
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/** CAN Transmit Data 7 */
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#define CAN_TDA_DATA7(n) ((uint32_t)((n&0xFF)<<16))
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/** CAN Transmit Data 8 */
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#define CAN_TDA_DATA8(n) ((uint32_t)((n&0xFF)<<24))
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/*********************************************************************//**
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* Macro defines for CAN Sleep Clear Register
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**********************************************************************/
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/** CAN1 Sleep mode */
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#define CAN1SLEEPCLR ((uint32_t)(1<<1))
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/** CAN2 Sleep Mode */
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#define CAN2SLEEPCLR ((uint32_t)(1<<2))
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/*********************************************************************//**
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* Macro defines for CAN Wake up Flags Register
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**********************************************************************/
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/** CAN1 Sleep mode */
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#define CAN_WAKEFLAGES_CAN1WAKE ((uint32_t)(1<<1))
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/** CAN2 Sleep Mode */
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#define CAN_WAKEFLAGES_CAN2WAKE ((uint32_t)(1<<2))
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/*********************************************************************//**
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* Macro defines for Central transmit Status Register
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**********************************************************************/
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/** CAN Transmit 1 */
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#define CAN_TSR_TS1 ((uint32_t)(1))
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/** CAN Transmit 2 */
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#define CAN_TSR_TS2 ((uint32_t)(1<<1))
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/** CAN Transmit Buffer Status 1 */
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#define CAN_TSR_TBS1 ((uint32_t)(1<<8))
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/** CAN Transmit Buffer Status 2 */
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#define CAN_TSR_TBS2 ((uint32_t)(1<<9))
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/** CAN Transmission Complete Status 1 */
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#define CAN_TSR_TCS1 ((uint32_t)(1<<16))
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/** CAN Transmission Complete Status 2 */
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#define CAN_TSR_TCS2 ((uint32_t)(1<<17))
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/*********************************************************************//**
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* Macro defines for Central Receive Status Register
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**********************************************************************/
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/** CAN Receive Status 1 */
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#define CAN_RSR_RS1 ((uint32_t)(1))
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/** CAN Receive Status 1 */
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#define CAN_RSR_RS2 ((uint32_t)(1<<1))
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/** CAN Receive Buffer Status 1*/
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#define CAN_RSR_RB1 ((uint32_t)(1<<8))
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/** CAN Receive Buffer Status 2*/
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#define CAN_RSR_RB2 ((uint32_t)(1<<9))
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/** CAN Data Overrun Status 1 */
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#define CAN_RSR_DOS1 ((uint32_t)(1<<16))
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/** CAN Data Overrun Status 1 */
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#define CAN_RSR_DOS2 ((uint32_t)(1<<17))
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/*********************************************************************//**
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* Macro defines for Central Miscellaneous Status Register
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**********************************************************************/
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/** Same CAN Error Status in CAN1GSR */
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#define CAN_MSR_E1 ((uint32_t)(1))
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/** Same CAN Error Status in CAN2GSR */
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#define CAN_MSR_E2 ((uint32_t)(1<<1))
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/** Same CAN Bus Status in CAN1GSR */
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#define CAN_MSR_BS1 ((uint32_t)(1<<8))
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/** Same CAN Bus Status in CAN2GSR */
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#define CAN_MSR_BS2 ((uint32_t)(1<<9))
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/*********************************************************************//**
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* Macro defines for Acceptance Filter Mode Register
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**********************************************************************/
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/** CAN Acceptance Filter Off mode */
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#define CAN_AFMR_AccOff ((uint32_t)(1))
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/** CAN Acceptance File Bypass mode */
|
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#define CAN_AFMR_AccBP ((uint32_t)(1<<1))
|
|
|
|
/** FullCAN Mode Enhancements */
|
|
#define CAN_AFMR_eFCAN ((uint32_t)(1<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for Standard Frame Individual Start Address Register
|
|
**********************************************************************/
|
|
/** The start address of the table of individual Standard Identifier */
|
|
#define CAN_STT_sa(n) ((uint32_t)((n&1FF)<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for Standard Frame Group Start Address Register
|
|
**********************************************************************/
|
|
/** The start address of the table of grouped Standard Identifier */
|
|
#define CAN_SFF_GRP_sa(n) ((uint32_t)((n&3FF)<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for Extended Frame Start Address Register
|
|
**********************************************************************/
|
|
/** The start address of the table of individual Extended Identifier */
|
|
#define CAN_EFF_sa(n) ((uint32_t)((n&1FF)<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for Extended Frame Group Start Address Register
|
|
**********************************************************************/
|
|
/** The start address of the table of grouped Extended Identifier */
|
|
#define CAN_Eff_GRP_sa(n) ((uint32_t)((n&3FF)<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for End Of AF Table Register
|
|
**********************************************************************/
|
|
/** The End of Table of AF LookUp Table */
|
|
#define CAN_EndofTable(n) ((uint32_t)((n&3FF)<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for LUT Error Address Register
|
|
**********************************************************************/
|
|
/** CAN Look-Up Table Error Address */
|
|
#define CAN_LUTerrAd(n) ((uint32_t)((n&1FF)<<2))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for LUT Error Register
|
|
**********************************************************************/
|
|
/** CAN Look-Up Table Error */
|
|
#define CAN_LUTerr ((uint32_t)(1))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for Global FullCANInterrupt Enable Register
|
|
**********************************************************************/
|
|
/** Global FullCANInterrupt Enable */
|
|
#define CAN_FCANIE ((uint32_t)(1))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for FullCAN Interrupt and Capture Register 0
|
|
**********************************************************************/
|
|
/** FullCAN Interrupt and Capture (0-31)*/
|
|
#define CAN_FCANIC0_IntPnd(n) ((uint32_t)(1<<n))
|
|
|
|
/*********************************************************************//**
|
|
* Macro defines for FullCAN Interrupt and Capture Register 1
|
|
**********************************************************************/
|
|
/** FullCAN Interrupt and Capture (0-31)*/
|
|
#define CAN_FCANIC1_IntPnd(n) ((uint32_t)(1<<(n-32)))
|
|
|
|
|
|
/* ---------------- CHECK PARAMETER DEFINITIONS ---------------------------- */
|
|
/** Macro to determine if it is valid CAN peripheral or not */
|
|
#define PARAM_CANx(x) ((((uint32_t*)x)==((uint32_t *)LPC_CAN1)) \
|
|
||(((uint32_t*)x)==((uint32_t *)LPC_CAN2)))
|
|
|
|
/* Macro to determine if it is valid CANAF or not*/
|
|
#define PARAM_CANAFx(x) (((uint32_t*)x)== ((uint32_t*)LPC_CANAF))
|
|
|
|
/* Macro to determine if it is valid CANAF RAM or not*/
|
|
#define PARAM_CANAFRAMx(x) (((uint32_t*)x)== (uint32_t*)LPC_CANAF_RAM)
|
|
|
|
/* Macro to determine if it is valid CANCR or not*/
|
|
#define PARAM_CANCRx(x) (((uint32_t*)x)==((uint32_t*)LPC_CANCR))
|
|
|
|
/** Macro to check Data to send valid */
|
|
#define PARAM_I2S_DATA(data) ((data>=0)&&(data <= 0xFFFFFFFF))
|
|
|
|
/** Macro to check frequency value */
|
|
#define PRAM_I2S_FREQ(freq) ((freq>=16000)&&(freq <= 96000))
|
|
|
|
/** Macro to check Frame Identifier */
|
|
#define PARAM_ID_11(n) ((n>>11)==0) /*-- 11 bit --*/
|
|
#define PARAM_ID_29(n) ((n>>29)==0) /*-- 29 bit --*/
|
|
|
|
/** Macro to check DLC value */
|
|
#define PARAM_DLC(n) ((n>>4)==0) /*-- 4 bit --*/
|
|
|
|
/** Macro to check ID format type */
|
|
#define PARAM_ID_FORMAT(n) ((n==STD_ID_FORMAT)||(n==EXT_ID_FORMAT))
|
|
|
|
/** Macro to check Group identifier */
|
|
#define PARAM_GRP_ID(x, y) ((x<=y))
|
|
|
|
/** Macro to check Frame type */
|
|
#define PARAM_FRAME_TYPE(n) ((n==DATA_FRAME)||(n==REMOTE_FRAME))
|
|
|
|
/** Macro to check Control/Central Status type parameter */
|
|
#define PARAM_CTRL_STS_TYPE(n) ((n==CANCTRL_GLOBAL_STS)||(n==CANCTRL_INT_CAP) \
|
|
||(n==CANCTRL_ERR_WRN)||(n==CANCTRL_STS))
|
|
|
|
/** Macro to check CR status type */
|
|
#define PARAM_CR_STS_TYPE(n) ((n==CANCR_TX_STS)||(n==CANCR_RX_STS) \
|
|
||(n==CANCR_MS))
|
|
|
|
/** Macro to check AF Mode type parameter */
|
|
#define PARAM_AFMODE_TYPE(n) ((n==CAN_NORMAL)||(n==CAN_ACC_OFF) \
|
|
||(n==CAN_ACC_BP)||(n==CAN_EFCAN))
|
|
|
|
/** Macro to check Operation Mode */
|
|
#define PARAM_MODE_TYPE(n) ((n==CAN_OPERATING_MODE)||(n==CAN_RESET_MODE) \
|
|
||(n==CAN_LISTENONLY_MODE)||(n==CAN_SELFTEST_MODE) \
|
|
||(n==CAN_TXPRIORITY_MODE)||(n==CAN_SLEEP_MODE) \
|
|
||(n==CAN_RXPOLARITY_MODE)||(n==CAN_TEST_MODE))
|
|
|
|
/** Macro define for struct AF_Section parameter */
|
|
#define PARAM_CTRL(n) ((n==CAN1_CTRL)|(n==CAN2_CTRL))
|
|
|
|
/** Macro define for struct AF_Section parameter */
|
|
#define PARAM_MSG_DISABLE(n) ((n==MSG_ENABLE)|(n==MSG_DISABLE))
|
|
|
|
/**Macro to check Interrupt Type parameter */
|
|
#define PARAM_INT_EN_TYPE(n) ((n==CANINT_RIE)||(n==CANINT_TIE1) \
|
|
||(n==CANINT_EIE)||(n==CANINT_DOIE) \
|
|
||(n==CANINT_WUIE)||(n==CANINT_EPIE) \
|
|
||(n==CANINT_ALIE)||(n==CANINT_BEIE) \
|
|
||(n==CANINT_IDIE)||(n==CANINT_TIE2) \
|
|
||(n==CANINT_TIE3)||(n==CANINT_FCE))
|
|
|
|
/** Macro to check AFLUT Entry type */
|
|
#define PARAM_AFLUT_ENTRY_TYPE(n) ((n==FULLCAN_ENTRY)||(n==EXPLICIT_STANDARD_ENTRY)\
|
|
||(n==GROUP_STANDARD_ENTRY)||(n==EXPLICIT_EXTEND_ENTRY) \
|
|
||(n==GROUP_EXTEND_ENTRY))
|
|
|
|
/** Macro to check position */
|
|
#define PARAM_POSITION(n) ((n>=0)&&(n<512))
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* Public Types --------------------------------------------------------------- */
|
|
/** @defgroup CAN_Public_Types CAN Public Types
|
|
* @{
|
|
*/
|
|
|
|
|
|
/***********************************************************************
|
|
* CAN device configuration commands (IOCTL commands and arguments)
|
|
**********************************************************************/
|
|
/** CAN peripheral ID 0 */
|
|
#define CAN_1 0
|
|
|
|
/** CAN peripheral ID 1 */
|
|
#define CAN_2 1
|
|
|
|
/**
|
|
* @brief CAN peripheral ID no
|
|
*/
|
|
typedef enum
|
|
{
|
|
CAN_ID_1 = CAN_1,
|
|
CAN_ID_2 = CAN_2
|
|
} en_CAN_unitId;
|
|
|
|
/**
|
|
* @brief CAN ID format definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
STD_ID_FORMAT = 0, /**< Use standard ID format (11 bit ID) */
|
|
EXT_ID_FORMAT = 1 /**< Use extended ID format (29 bit ID) */
|
|
} CAN_ID_FORMAT_Type;
|
|
|
|
/**
|
|
* @brief AFLUT Entry type definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
FULLCAN_ENTRY = 0,
|
|
EXPLICIT_STANDARD_ENTRY,
|
|
GROUP_STANDARD_ENTRY,
|
|
EXPLICIT_EXTEND_ENTRY,
|
|
GROUP_EXTEND_ENTRY,
|
|
} AFLUT_ENTRY_Type;
|
|
|
|
/**
|
|
* @brief Symbolic names for type of CAN message
|
|
*/
|
|
typedef enum
|
|
{
|
|
DATA_FRAME = 0, /**< Data frame */
|
|
REMOTE_FRAME = 1 /**< Remote frame */
|
|
} CAN_FRAME_Type;
|
|
|
|
/**
|
|
* @brief CAN Control status definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
CANCTRL_GLOBAL_STS = 0, /**< CAN Global Status */
|
|
CANCTRL_INT_CAP, /**< CAN Interrupt and Capture */
|
|
CANCTRL_ERR_WRN, /**< CAN Error Warning Limit */
|
|
CANCTRL_STS /**< CAN Control Status */
|
|
} CAN_CTRL_STS_Type;
|
|
|
|
/**
|
|
* @brief Central CAN status type definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
CANCR_TX_STS = 0, /**< Central CAN Tx Status */
|
|
CANCR_RX_STS, /**< Central CAN Rx Status */
|
|
CANCR_MS /**< Central CAN Miscellaneous Status */
|
|
} CAN_CR_STS_Type;
|
|
|
|
/**
|
|
* @brief FullCAN Interrupt Capture type definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
FULLCAN_IC0, /**< FullCAN Interrupt and Capture 0 */
|
|
FULLCAN_IC1 /**< FullCAN Interrupt and Capture 1 */
|
|
}FullCAN_IC_Type;
|
|
|
|
/**
|
|
* @brief CAN interrupt enable type definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
CANINT_RIE = 0, /**< CAN Receiver Interrupt Enable */
|
|
CANINT_TIE1, /**< CAN Transmit Interrupt Enable */
|
|
CANINT_EIE, /**< CAN Error Warning Interrupt Enable */
|
|
CANINT_DOIE, /**< CAN Data Overrun Interrupt Enable */
|
|
CANINT_WUIE, /**< CAN Wake-Up Interrupt Enable */
|
|
CANINT_EPIE, /**< CAN Error Passive Interrupt Enable */
|
|
CANINT_ALIE, /**< CAN Arbitration Lost Interrupt Enable */
|
|
CANINT_BEIE, /**< CAN Bus Error Inter rupt Enable */
|
|
CANINT_IDIE, /**< CAN ID Ready Interrupt Enable */
|
|
CANINT_TIE2, /**< CAN Transmit Interrupt Enable for Buffer2 */
|
|
CANINT_TIE3, /**< CAN Transmit Interrupt Enable for Buffer3 */
|
|
CANINT_FCE /**< FullCAN Interrupt Enable */
|
|
} CAN_INT_EN_Type;
|
|
|
|
/**
|
|
* @brief Acceptance Filter Mode type definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
CAN_NORMAL = 0, /**< Normal Mode */
|
|
CAN_ACC_OFF, /**< Acceptance Filter Off Mode */
|
|
CAN_ACC_BP, /**< Acceptance Fileter Bypass Mode */
|
|
CAN_EFCAN /**< FullCAN Mode Enhancement */
|
|
} CAN_AFMODE_Type;
|
|
|
|
/**
|
|
* @brief CAN Mode Type definition
|
|
*/
|
|
typedef enum
|
|
{
|
|
CAN_OPERATING_MODE = 0, /**< Operating Mode */
|
|
CAN_RESET_MODE, /**< Reset Mode */
|
|
CAN_LISTENONLY_MODE, /**< Listen Only Mode */
|
|
CAN_SELFTEST_MODE, /**< Seft Test Mode */
|
|
CAN_TXPRIORITY_MODE, /**< Transmit Priority Mode */
|
|
CAN_SLEEP_MODE, /**< Sleep Mode */
|
|
CAN_RXPOLARITY_MODE, /**< Receive Polarity Mode */
|
|
CAN_TEST_MODE /**< Test Mode */
|
|
} CAN_MODE_Type;
|
|
|
|
/**
|
|
* @brief Error values that functions can return
|
|
*/
|
|
typedef enum
|
|
{
|
|
CAN_OK = 1, /**< No error */
|
|
CAN_OBJECTS_FULL_ERROR, /**< No more rx or tx objects available */
|
|
CAN_FULL_OBJ_NOT_RCV, /**< Full CAN object not received */
|
|
CAN_NO_RECEIVE_DATA, /**< No have receive data available */
|
|
CAN_AF_ENTRY_ERROR, /**< Entry load in AFLUT is unvalid */
|
|
CAN_CONFLICT_ID_ERROR, /**< Conflict ID occur */
|
|
CAN_ENTRY_NOT_EXIT_ERROR /**< Entry remove outo AFLUT is not exit */
|
|
} CAN_ERROR;
|
|
|
|
/**
|
|
* @brief Pin Configuration structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint8_t RD; /**< Serial Inputs, from CAN transceivers, should be:
|
|
** For CAN1:
|
|
- CAN_RD1_P0_0: RD pin is on P0.0
|
|
- CAN_RD1_P0_21 : RD pin is on P0.21
|
|
** For CAN2:
|
|
- CAN_RD2_P0_4: RD pin is on P0.4
|
|
- CAN_RD2_P2_7: RD pin is on P2.7
|
|
*/
|
|
uint8_t TD; /**< Serial Outputs, To CAN transceivers, should be:
|
|
** For CAN1:
|
|
- CAN_TD1_P0_1: TD pin is on P0.1
|
|
- CAN_TD1_P0_22: TD pin is on P0.22
|
|
** For CAN2:
|
|
- CAN_TD2_P0_5: TD pin is on P0.5
|
|
- CAN_TD2_P2_8: TD pin is on P2.8
|
|
*/
|
|
} CAN_PinCFG_Type;
|
|
|
|
/**
|
|
* @brief CAN message object structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint32_t id; /**< 29 bit identifier, it depend on "format" value
|
|
- if format = STD_ID_FORMAT, id should be 11 bit identifier
|
|
- if format = EXT_ID_FORMAT, id should be 29 bit identifier
|
|
*/
|
|
uint8_t dataA[4]; /**< Data field A */
|
|
uint8_t dataB[4]; /**< Data field B */
|
|
uint8_t len; /**< Length of data field in bytes, should be:
|
|
- 0000b-0111b: 0-7 bytes
|
|
- 1xxxb: 8 bytes
|
|
*/
|
|
uint8_t format; /**< Identifier Format, should be:
|
|
- STD_ID_FORMAT: Standard ID - 11 bit format
|
|
- EXT_ID_FORMAT: Extended ID - 29 bit format
|
|
*/
|
|
uint8_t type; /**< Remote Frame transmission, should be:
|
|
- DATA_FRAME: the number of data bytes called out by the DLC
|
|
field are send from the CANxTDA and CANxTDB registers
|
|
- REMOTE_FRAME: Remote Frame is sent
|
|
*/
|
|
} CAN_MSG_Type;
|
|
|
|
/**
|
|
* @brief FullCAN Entry structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint8_t controller; /**< CAN Controller, should be:
|
|
- CAN1_CTRL: CAN1 Controller
|
|
- CAN2_CTRL: CAN2 Controller
|
|
*/
|
|
uint8_t disable; /**< Disable bit, should be:
|
|
- MSG_ENABLE: disable bit = 0
|
|
- MSG_DISABLE: disable bit = 1
|
|
*/
|
|
uint16_t id_11; /**< Standard ID, should be 11-bit value */
|
|
} FullCAN_Entry;
|
|
|
|
/**
|
|
* @brief Standard ID Frame Format Entry structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint8_t controller; /**< CAN Controller, should be:
|
|
- CAN1_CTRL: CAN1 Controller
|
|
- CAN2_CTRL: CAN2 Controller
|
|
*/
|
|
uint8_t disable; /**< Disable bit, should be:
|
|
- MSG_ENABLE: disable bit = 0
|
|
- MSG_DISABLE: disable bit = 1
|
|
*/
|
|
uint16_t id_11; /**< Standard ID, should be 11-bit value */
|
|
} SFF_Entry;
|
|
|
|
/**
|
|
* @brief Group of Standard ID Frame Format Entry structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint8_t controller1; /**< First CAN Controller, should be:
|
|
- CAN1_CTRL: CAN1 Controller
|
|
- CAN2_CTRL: CAN2 Controller
|
|
*/
|
|
uint8_t disable1; /**< First Disable bit, should be:
|
|
- MSG_ENABLE: disable bit = 0)
|
|
- MSG_DISABLE: disable bit = 1
|
|
*/
|
|
uint16_t lowerID; /**< ID lower bound, should be 11-bit value */
|
|
uint8_t controller2; /**< Second CAN Controller, should be:
|
|
- CAN1_CTRL: CAN1 Controller
|
|
- CAN2_CTRL: CAN2 Controller
|
|
*/
|
|
uint8_t disable2; /**< Second Disable bit, should be:
|
|
- MSG_ENABLE: disable bit = 0
|
|
- MSG_DISABLE: disable bit = 1
|
|
*/
|
|
uint16_t upperID; /**< ID upper bound, should be 11-bit value and
|
|
equal or greater than lowerID
|
|
*/
|
|
} SFF_GPR_Entry;
|
|
|
|
/**
|
|
* @brief Extended ID Frame Format Entry structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint8_t controller; /**< CAN Controller, should be:
|
|
- CAN1_CTRL: CAN1 Controller
|
|
- CAN2_CTRL: CAN2 Controller
|
|
*/
|
|
uint32_t ID_29; /**< Extend ID, shoud be 29-bit value */
|
|
} EFF_Entry;
|
|
|
|
|
|
/**
|
|
* @brief Group of Extended ID Frame Format Entry structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
uint8_t controller1; /**< First CAN Controller, should be:
|
|
- CAN1_CTRL: CAN1 Controller
|
|
- CAN2_CTRL: CAN2 Controller
|
|
*/
|
|
uint8_t controller2; /**< Second Disable bit, should be:
|
|
- MSG_ENABLE: disable bit = 0(default)
|
|
- MSG_DISABLE: disable bit = 1
|
|
*/
|
|
uint32_t lowerEID; /**< Extended ID lower bound, should be 29-bit value */
|
|
uint32_t upperEID; /**< Extended ID upper bound, should be 29-bit value */
|
|
} EFF_GPR_Entry;
|
|
|
|
|
|
/**
|
|
* @brief Acceptance Filter Section Table structure
|
|
*/
|
|
typedef struct
|
|
{
|
|
FullCAN_Entry* FullCAN_Sec; /**< The pointer point to FullCAN_Entry */
|
|
uint8_t FC_NumEntry; /**< FullCAN Entry Number */
|
|
SFF_Entry* SFF_Sec; /**< The pointer point to SFF_Entry */
|
|
uint8_t SFF_NumEntry; /**< Standard ID Entry Number */
|
|
SFF_GPR_Entry* SFF_GPR_Sec; /**< The pointer point to SFF_GPR_Entry */
|
|
uint8_t SFF_GPR_NumEntry; /**< Group Standard ID Entry Number */
|
|
EFF_Entry* EFF_Sec; /**< The pointer point to EFF_Entry */
|
|
uint8_t EFF_NumEntry; /**< Extended ID Entry Number */
|
|
EFF_GPR_Entry* EFF_GPR_Sec; /**< The pointer point to EFF_GPR_Entry */
|
|
uint8_t EFF_GPR_NumEntry; /**< Group Extended ID Entry Number */
|
|
} AF_SectionDef;
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
|
|
/* Public Functions ----------------------------------------------------------- */
|
|
/** @defgroup CAN_Public_Functions CAN Public Functions
|
|
* @{
|
|
*/
|
|
|
|
/* Init/DeInit CAN peripheral -----------*/
|
|
void CAN_Init(uint8_t canId, uint32_t baudrate);
|
|
void CAN_DeInit(uint8_t canId);
|
|
|
|
/* CAN messages functions ---------------*/
|
|
Status CAN_SendMsg(uint8_t canId, CAN_MSG_Type *CAN_Msg);
|
|
Status CAN_ReceiveMsg(uint8_t canId, CAN_MSG_Type *CAN_Msg);
|
|
CAN_ERROR FCAN_ReadObj(CAN_MSG_Type *CAN_Msg);
|
|
|
|
/* CAN configure functions ---------------*/
|
|
void CAN_ModeConfig(uint8_t canId, CAN_MODE_Type mode,
|
|
FunctionalState NewState);
|
|
void CAN_SetAFMode(CAN_AFMODE_Type AFmode);
|
|
void CAN_SetCommand(uint8_t canId, uint32_t CMRType);
|
|
|
|
/* AFLUT functions ---------------------- */
|
|
CAN_ERROR CAN_SetupAFLUT(AF_SectionDef* AFSection);
|
|
CAN_ERROR CAN_LoadFullCANEntry(uint8_t canId, uint16_t ID);
|
|
CAN_ERROR CAN_LoadExplicitEntry(uint8_t canId, uint32_t ID,
|
|
CAN_ID_FORMAT_Type format);
|
|
CAN_ERROR CAN_LoadGroupEntry(uint8_t canId, uint32_t lowerID,
|
|
uint32_t upperID, CAN_ID_FORMAT_Type format);
|
|
CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position);
|
|
|
|
/* CAN interrupt functions -----------------*/
|
|
void CAN_IRQCmd(uint8_t canId, CAN_INT_EN_Type arg, FunctionalState NewState);
|
|
uint32_t CAN_IntGetStatus(uint8_t canId);
|
|
|
|
/* CAN get status functions ----------------*/
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IntStatus CAN_FullCANIntGetStatus (void);
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uint32_t CAN_FullCANPendGetStatus (FullCAN_IC_Type type);
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uint32_t CAN_GetCTRLStatus(uint8_t canId, CAN_CTRL_STS_Type arg);
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uint32_t CAN_GetCRStatus(CAN_CR_STS_Type arg);
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/**
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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#endif /* LPC_CAN_H_ */
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/**
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* @}
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*/
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/* --------------------------------- End Of File ------------------------------ */
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