131 lines
4.4 KiB
C
131 lines
4.4 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、CAN_MODE_LISTEN、CAN_MODE_SELFTEST
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uint8_t CAN_BS1; //CAN_BS1_1tq、CAN_BS1_2tq、... ... 、CAN_BS1_16tq
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uint8_t CAN_BS2; //CAN_BS2_1tq、CAN_BS2_2tq、... ... 、CAN_BS2_8tq
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uint8_t CAN_SJW; //CAN_SJW_1tq、CAN_SJW_2tq、CAN_SJW_3tq、CAN_SJW_4tq
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uint32_t Baudrate; //波特率，即位传输速率，取值1--1000000
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uint8_t FilterMode; //CAN_FILTER_16b、CAN_FILTER_32b
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union {
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uint32_t FilterMask32b; //FilterCheck & (~FilterMask) == ID & (~FilterMask)的Message通过过滤
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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; //接收FIFO非空，有数据可读
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uint8_t RXOverflowIEn; //接收FIFO溢出，有数据丢失
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uint8_t ArbitrLostIEn; //控制器丢失仲裁变成接收方
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uint8_t ErrPassiveIEn; //接收/发送错误计数值达到127
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} CAN_InitStructure;
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#define CAN_MODE_NORMAL 0 //常规模式
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#define CAN_MODE_LISTEN 1 //监听模式
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#define CAN_MODE_SELFTEST 2 //自测模式
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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 //两个16位过滤器
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#define CAN_FILTER_32b 1 //一个32位过滤器
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typedef struct {
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uint32_t id; //消息ID
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uint8_t format; //帧格式：CAN_FRAME_STD、CAN_FRAME_EXT
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uint8_t remote; //消息是否为远程帧
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uint8_t size; //接收到的数据个数
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uint8_t data[8]; //接收到的数据
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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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void CAN_INTTXBufEmptyEn(CAN_TypeDef * CANx);
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void CAN_INTTXBufEmptyDis(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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void CAN_INTRXOverflowEn(CAN_TypeDef * CANx);
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void CAN_INTRXOverflowDis(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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void CAN_INTErrPassiveEn(CAN_TypeDef * CANx);
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void CAN_INTErrPassiveDis(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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void CAN_INTBusErrorEn(CAN_TypeDef * CANx);
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void CAN_INTBusErrorDis(CAN_TypeDef * CANx);
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uint32_t CAN_INTStat(CAN_TypeDef * CANx);
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#endif //__SWM320_CAN_H__
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