341 lines
14 KiB
C
341 lines
14 KiB
C
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////////////////////////////////////////////////////////////////////////////////
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/// @file hal_can.h
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/// @author AE TEAM
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/// @brief THIS FILE CONTAINS ALL THE FUNCTIONS PROTOTYPES FOR THE CAN
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/// FIRMWARE LIBRARY.
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////////////////////////////////////////////////////////////////////////////////
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/// @attention
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///
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/// THE EXISTING FIRMWARE IS ONLY FOR REFERENCE, WHICH IS DESIGNED TO PROVIDE
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/// CUSTOMERS WITH CODING INFORMATION ABOUT THEIR PRODUCTS SO THEY CAN SAVE
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/// TIME. THEREFORE, MINDMOTION SHALL NOT BE LIABLE FOR ANY DIRECT, INDIRECT OR
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/// CONSEQUENTIAL DAMAGES ABOUT ANY CLAIMS ARISING OUT OF THE CONTENT OF SUCH
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/// HARDWARE AND/OR THE USE OF THE CODING INFORMATION CONTAINED HEREIN IN
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/// CONNECTION WITH PRODUCTS MADE BY CUSTOMERS.
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///
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/// <H2><CENTER>© COPYRIGHT MINDMOTION </CENTER></H2>
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////////////////////////////////////////////////////////////////////////////////
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// Define to prevent recursive inclusion
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#ifndef __HAL_CAN_H
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#define __HAL_CAN_H
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// Files includes
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#include "types.h"
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#include "reg_can.h"
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////////////////////////////////////////////////////////////////////////////////
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/// @addtogroup MM32_Hardware_Abstract_Layer
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/// @{
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////////////////////////////////////////////////////////////////////////////////
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/// @defgroup CAN_HAL
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/// @brief CAN HAL modules
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/// @{
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////////////////////////////////////////////////////////////////////////////////
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/// @defgroup CAN_Exported_Types
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/// @{
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Initialization
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CANINITFAILED = 0x00000000, ///< CAN initialization failed
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CANINITOK = 0x00000001 ///< CAN initialization ok
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} emCAN_INIT_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_sleep_constants
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CANSLEEPFAILED = 0x00000000, ///< CAN did not enter the sleep mode
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CANSLEEPOK = 0x00000001 ///< CAN entered the sleep mode
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} emCAN_SLEEP_conts_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_wake_up_constants
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CANWAKEUPFAILED = 0x00000000, ///< CAN did not leave the sleep mode
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CANWAKEUPOK = 0x00000001 ///< CAN leaved the sleep mode
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} emCAN_WAKE_conts_Typedef;
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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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CAN_BASICMode = 0x00000000,
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CAN_PELIMode = 0x00000080,
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CAN_WorkMode = 0x00000080,
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CAN_ResetMode = 0x00000001,
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CAN_ListenOnlyMode = 0x00000002,
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CAN_SeftTestMode = 0x00000004,
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CAN_FilterMode_Singal = 0x00000008,
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CAN_FilterMode_Double = 0x000000f7,
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CAN_SleepMode = 0x00000010
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} emCAN_CAN_Mode_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief BASIC_CAN_interrupt
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CAN_IT_RIE = CAN_CR_RIE, ///< Overflow interrupt enable
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CAN_IT_TIE = CAN_CR_TIE, ///< Transmit interrupt enable
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CAN_IT_EIE = CAN_CR_EIE, ///< Error interrupt enable
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CAN_IT_OIE = CAN_CR_OIE ///< Receive interrupt enable
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} emCAN_BASIC_IntEn_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief PELI_CAN_interrupt
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CAN_IT_RI = CAN_IR_RI, ///< Overflow interrupt enable
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CAN_IT_TI = CAN_IR_TI, ///< Transmit interrupt enable
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CAN_IT_EI = CAN_IR_EI, ///< Error interrupt enable
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CAN_IT_DOI = CAN_IR_DOI, ///< Receive interrupt enable
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CAN_IT_WUI = 0x00001010, ///< Receive interrupt enable
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CAN_IT_EPI = CAN_IR_EPI, ///< Receive interrupt enable
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CAN_IT_ALI = CAN_IR_ALI, ///< Receive interrupt enable
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CAN_IT_BEI = CAN_IR_BEI, ///< Receive interrupt enable
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CAN_IT_ALL = 0xFFFF ///< Receive interrupt enable
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} emCAN_PELI_IntEn_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Status
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CAN_STATUS_RBS = CAN_SR_RBS,
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CAN_STATUS_DOS = CAN_SR_DOS,
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CAN_STATUS_TBS = CAN_SR_TBS,
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CAN_STATUS_TCS = CAN_SR_TCS,
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CAN_STATUS_RS = CAN_SR_RS,
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CAN_STATUS_TS = CAN_SR_TS,
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CAN_STATUS_ES = CAN_SR_ES,
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CAN_STATUS_BS = CAN_SR_BS
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} emCAN_Status_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Command_register
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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CAN_TR = CAN_CMR_TR, ///< Transmission request
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CAN_AT = CAN_CMR_AT,
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CAN_RRB = CAN_CMR_RRB,
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CAN_CDO = CAN_CMR_CDO
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} emCAN_Command_Typedef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Peli transmit frame definition
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////////////////////////////////////////////////////////////////////////////////
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typedef enum {
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DataFrame = 0, ///< Data Frame
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RemoteFrame = !DataFrame
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} TransFrame;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Basic init structure definition
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////////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u8 SJW;
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u8 BRP;
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FlagStatus SAM;
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u8 TESG2;
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u8 TESG1;
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FunctionalState GTS;
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u8 CDCLK;
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u8 CLOSE_OPEN_CLK;
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u8 RXINTEN;
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u8 CBP;
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} CAN_Basic_InitTypeDef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Peli init structure definition
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////////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u8 SJW;
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u8 BRP;
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FlagStatus SAM;
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u8 TESG2;
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u8 TESG1;
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FunctionalState LOM;
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FunctionalState STM;
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FunctionalState SM;
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FunctionalState SRR;
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u32 EWLR;
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} CAN_Peli_InitTypeDef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Basic filter init structure definition
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////////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u8 CAN_FilterId; ///< Specifies the filter identification number. This parameter can be a value between 0x00 and 0xFF.
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u8 CAN_FilterMaskId; ///< Specifies the filter mask number or identification number, This parameter can be a value between
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///< 0x00 and 0xFF.
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} CAN_Basic_FilterInitTypeDef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Peli filter init structure definition
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////////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u8 AFM;
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u8 CAN_FilterId0; ///< Specifies the filter identification number, This parameter can be a value between 0x00 and 0xFF
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u8 CAN_FilterId1;
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u8 CAN_FilterId2;
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u8 CAN_FilterId3;
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u8 CAN_FilterMaskId0; ///< Specifies the filter mask number or identification number, This parameter can be a value between
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///< 0x00 and 0xFF
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u8 CAN_FilterMaskId1;
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u8 CAN_FilterMaskId2;
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u8 CAN_FilterMaskId3;
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} CAN_Peli_FilterInitTypeDef;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Basic Tx message structure definition
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////////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u8 IDH; ///< Specifies the standard high identifier. This parameter can be a value between 0 to 0xFF.
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u8 IDL; ///< Specifies the standard low identifier. This parameter can be a value between 0 to 0x7.
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u8 RTR; ///< Specifies the type of frame for the message that will be transmitted. This parameter can be @TransFrame.
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u8 DLC; ///< Specifies the length of the frame that will be transmitted. This parameter can be a value between 0 to 8.
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u8 Data[8]; ///< Contains the data to be transmitted. It ranges from 0 to 0xFF.
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} CanBasicTxMsg;
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////////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Basic Rx message structure definition
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////////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u16 ID; ///< Specifies the standard identifier. This parameter can be a value between 0 to 0x7FF.
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u8 RTR; ///< Specifies the type of frame for the received message. This parameter can be a value of @ref TransFrame
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u8 DLC; ///< Specifies the length of the frame that will be received. This parameter can be a value between 0 to 8
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u8 Data[8]; ///< Contains the data to be received. It ranges from 0 to 0xFF.
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} CanBasicRxMsg;
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///////////////////////////////////////////////////////////////////////////////
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/// @brief CAN_Peli_Tx message structure definition
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///////////////////////////////////////////////////////////////////////////////
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typedef struct {
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u8 IDLL; ///< Specifies the extended identifier.
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///< This parameter can be a value between 0 to 0xFF.
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u8 IDLH;
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u8 IDHL;
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u8 IDHH;
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u8 FF; ///< Specifies the type of identifier for the message that will be transmitted. This parameter can be a value of @ref
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///< CAN_identifier_type
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u8 RTR; ///< Specifies the type of frame for the message that will be transmitted. This parameter can be a value of @ref
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///< TransFrame.
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u8 DLC; ///< Specifies the length of the frame that will be transmitted. This parameter can be a value between 0 to 8.
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u8 Data[8]; ///< Contains the data to be transmitted. It ranges from 0 to 0xFF.
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} CanPeliTxMsg;
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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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u32 ID; ///< Specifies the extended identifier. This parameter can be a value between 0 to 0x1FFFFFFF.
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u8 FF; ///< Specifies the type of identifier for the message that will be received. This parameter can be a value of @ref
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///< CAN_identifier_type.
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u8 RTR; ///< Specifies the type of frame for the received message. This parameter can be a value of @ref TransFrame.
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u8 DLC; ///< Specifies the length of the frame that will be received. This parameter can be a value between 0 to 8.
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u8 Data[8]; ///< Contains the data to be received. It ranges from 0 to0xFF.
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} CanPeliRxMsg;
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/// @}
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////////////////////////////////////////////////////////////////////////////////
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/// @defgroup CAN_Exported_Constants
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/// @{
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////////////////////////////////////////////////////////////////////////////////
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/// @defgroup parasmeter_of_CAN_transmission_register
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/// @{
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#define CANTXFAILED (0x00U) ///< CAN transmission failed
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#define CANTXOK (0x01U) ///< CAN transmission succeeded
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#define CANTXPENDING (0x02U) ///< CAN transmission pending
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#define CAN_NO_MB (0x04U) ///< CAN cell did not provide an empty mailbox
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/// @}
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/// @}
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////////////////////////////////////////////////////////////////////////////////
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/// @defgroup CAN_Exported_Variables
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/// @{
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#ifdef _HAL_CAN_C_
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#define GLOBAL
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#else
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#define GLOBAL extern
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#endif
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#undef GLOBAL
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/// @}
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////////////////////////////////////////////////////////////////////////////////
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/// @defgroup CAN_Exported_Functions
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/// @{
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// Basic and Peli Work all need function ---------------------------------------
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void CAN_Mode_Cmd(CAN_TypeDef* can, u32 mode);
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void CAN_ResetMode_Cmd(CAN_TypeDef* can, FunctionalState state);
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void CAN_ClearDataOverflow(CAN_TypeDef* can);
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void CAN_ClearITPendingBit(CAN_TypeDef* can);
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// Basic Work function ---------------------------------------------------------
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void CAN_DeInit(CAN_TypeDef* can);
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void CAN_FilterInit(CAN_Basic_FilterInitTypeDef* basic_filter_init_struct);
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void CAN_StructInit(CAN_Basic_InitTypeDef* basic_init_struct);
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void CAN_ITConfig(CAN_TypeDef* can, u32 it, FunctionalState state);
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void CAN_CancelTransmit(CAN_TypeDef* can);
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void CAN_FIFORelease(CAN_TypeDef* can);
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void CAN_Receive(CAN_TypeDef* can, CanBasicRxMsg* basic_receive_message);
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u8 CAN_Transmit(CAN_TypeDef* can, CanBasicTxMsg* basic_transmit_message);
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u8 CAN_Init(CAN_TypeDef* can, CAN_Basic_InitTypeDef* basic_init_struct);
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u8 CAN_Sleep(CAN_TypeDef* can);
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u8 CAN_WakeUp(CAN_TypeDef* can);
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FlagStatus CAN_GetFlagStatus(CAN_TypeDef* can, u32 flag);
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ITStatus CAN_GetITStatus(CAN_TypeDef* can, u32 it);
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// Peli Work function ----------------------------------------------------------
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void CAN_Peli_SleepMode_Cmd(FunctionalState state);
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void CAN_Peli_Init(CAN_Peli_InitTypeDef* init_struct);
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void CAN_Peli_StructInit(CAN_Peli_InitTypeDef* peli_init_struct);
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void CAN_Peli_FilterInit(CAN_Peli_FilterInitTypeDef* peli_filter_init_struct);
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void CAN_Peli_FilterStructInit(CAN_Peli_FilterInitTypeDef* peli_filter_init_struct);
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void CAN_Peli_Transmit(CanPeliTxMsg* peli_transmit_message);
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void CAN_Peli_TransmitRepeat(CanPeliTxMsg* peli_transmit_message);
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void CAN_Peli_Receive(CanPeliRxMsg* peli_receive_message);
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void CAN_Peli_ITConfig(u32 it, FunctionalState state);
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void CAN_AutoCfg_BaudParam(CAN_Peli_InitTypeDef* init_struct, u32 src_clk, u32 baud);
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u32 CAN_Peli_GetRxFIFOInfo(void);
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u8 CAN_Peli_GetLastErrorCode(void);
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u8 CAN_Peli_GetReceiveErrorCounter(void);
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u8 CAN_Peli_GetLSBTransmitErrorCounter(void);
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ITStatus CAN_Peli_GetITStatus(u32 it);
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/// @}
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/// @}
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/// @}
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////////////////////////////////////////////////////////////////////////////////
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#endif
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////////////////////////////////////////////////////////////////////////////////
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