rt-thread-official/bsp/swm320/libraries/SWM320_StdPeriph_Driver/SWM320_can.h

#ifndef __SWM320_CAN_H__
#define __SWM320_CAN_H__

#define CAN_FRAME_STD 0
#define CAN_FRAME_EXT 1

typedef struct
{
    uint8_t Mode;       //CAN_MODE_NORMAL、CAN_MODE_LISTEN、CAN_MODE_SELFTEST
    uint8_t CAN_BS1;    //CAN_BS1_1tq、CAN_BS1_2tq、... ... 、CAN_BS1_16tq
    uint8_t CAN_BS2;    //CAN_BS2_1tq、CAN_BS2_2tq、... ... 、CAN_BS2_8tq
    uint8_t CAN_SJW;    //CAN_SJW_1tq、CAN_SJW_2tq、CAN_SJW_3tq、CAN_SJW_4tq
    uint32_t Baudrate;  //波特率，即位传输速率，取值1--1000000
    uint8_t FilterMode; //CAN_FILTER_16b、CAN_FILTER_32b
    union
    {
        uint32_t FilterMask32b; //FilterCheck & (~FilterMask) == ID & (~FilterMask)的Message通过过滤
        struct
        { // 0 must match    1 don't care
            uint16_t FilterMask16b1;
            uint16_t FilterMask16b2;
        };
    };
    union
    {
        uint32_t FilterCheck32b;
        struct
        {
            uint16_t FilterCheck16b1;
            uint16_t FilterCheck16b2;
        };
    };
    uint8_t RXNotEmptyIEn; //接收FIFO非空，有数据可读
    uint8_t RXOverflowIEn; //接收FIFO溢出，有数据丢失
    uint8_t ArbitrLostIEn; //控制器丢失仲裁变成接收方
    uint8_t ErrPassiveIEn; //接收/发送错误计数值达到127
} CAN_InitStructure;

#define CAN_MODE_NORMAL 0   //常规模式
#define CAN_MODE_LISTEN 1   //监听模式
#define CAN_MODE_SELFTEST 2 //自测模式

#define CAN_BS1_1tq 0
#define CAN_BS1_2tq 1
#define CAN_BS1_3tq 2
#define CAN_BS1_4tq 3
#define CAN_BS1_5tq 4
#define CAN_BS1_6tq 5
#define CAN_BS1_7tq 6
#define CAN_BS1_8tq 7
#define CAN_BS1_9tq 8
#define CAN_BS1_10tq 9
#define CAN_BS1_11tq 10
#define CAN_BS1_12tq 11
#define CAN_BS1_13tq 12
#define CAN_BS1_14tq 13
#define CAN_BS1_15tq 14
#define CAN_BS1_16tq 15

#define CAN_BS2_1tq 0
#define CAN_BS2_2tq 1
#define CAN_BS2_3tq 2
#define CAN_BS2_4tq 3
#define CAN_BS2_5tq 4
#define CAN_BS2_6tq 5
#define CAN_BS2_7tq 6
#define CAN_BS2_8tq 7

#define CAN_SJW_1tq 0
#define CAN_SJW_2tq 1
#define CAN_SJW_3tq 2
#define CAN_SJW_4tq 3

#define CAN_FILTER_16b 0 //两个16位过滤器
#define CAN_FILTER_32b 1 //一个32位过滤器

typedef struct
{
    uint32_t id;     //消息ID
    uint8_t format;  //帧格式：CAN_FRAME_STD、CAN_FRAME_EXT
    uint8_t remote;  //消息是否为远程帧
    uint8_t size;    //接收到的数据个数
    uint8_t data[8]; //接收到的数据
} CAN_RXMessage;

void CAN_Init(CAN_TypeDef *CANx, CAN_InitStructure *initStruct);
void CAN_Open(CAN_TypeDef *CANx);
void CAN_Close(CAN_TypeDef *CANx);

void CAN_Transmit(CAN_TypeDef *CANx, uint32_t format, uint32_t id, uint8_t data[], uint32_t size, uint32_t once);
void CAN_TransmitRequest(CAN_TypeDef *CANx, uint32_t format, uint32_t id, uint32_t once);
void CAN_Receive(CAN_TypeDef *CANx, CAN_RXMessage *msg);

uint32_t CAN_TXComplete(CAN_TypeDef *CANx);
uint32_t CAN_TXSuccess(CAN_TypeDef *CANx);

void CAN_AbortTransmit(CAN_TypeDef *CANx);

uint32_t CAN_TXBufferReady(CAN_TypeDef *CANx);
uint32_t CAN_RXDataAvailable(CAN_TypeDef *CANx);

void CAN_SetBaudrate(CAN_TypeDef *CANx, uint32_t baudrate, uint32_t CAN_BS1, uint32_t CAN_BS2, uint32_t CAN_SJW);

void CAN_SetFilter32b(CAN_TypeDef *CANx, uint32_t check, uint32_t mask);
void CAN_SetFilter16b(CAN_TypeDef *CANx, uint16_t check1, uint16_t mask1, uint16_t check2, uint16_t mask2);

void CAN_INTRXNotEmptyEn(CAN_TypeDef *CANx);
void CAN_INTRXNotEmptyDis(CAN_TypeDef *CANx);

void CAN_INTTXBufEmptyEn(CAN_TypeDef *CANx);
void CAN_INTTXBufEmptyDis(CAN_TypeDef *CANx);

void CAN_INTErrWarningEn(CAN_TypeDef *CANx);
void CAN_INTErrWarningDis(CAN_TypeDef *CANx);

void CAN_INTRXOverflowEn(CAN_TypeDef *CANx);
void CAN_INTRXOverflowDis(CAN_TypeDef *CANx);
void CAN_INTRXOverflowClear(CAN_TypeDef *CANx);

void CAN_INTWakeupEn(CAN_TypeDef *CANx);
void CAN_INTWakeupDis(CAN_TypeDef *CANx);

void CAN_INTErrPassiveEn(CAN_TypeDef *CANx);
void CAN_INTErrPassiveDis(CAN_TypeDef *CANx);

void CAN_INTArbitrLostEn(CAN_TypeDef *CANx);
void CAN_INTArbitrLostDis(CAN_TypeDef *CANx);

void CAN_INTBusErrorEn(CAN_TypeDef *CANx);
void CAN_INTBusErrorDis(CAN_TypeDef *CANx);

uint32_t CAN_INTStat(CAN_TypeDef *CANx);

#endif //__SWM320_CAN_H__