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rt-thread-official/bsp/loongson/ls1cdev/libraries/ls1c_can.h

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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs: (Pelican Mode)
* Date Author Notes
* 2018-01-06 sundm75 first version
*/
#ifndef __OPENLOONGSON_CAN_H
#define __OPENLOONGSON_CAN_H
#define CAN0 ( (CAN_TypeDef* )LS1C_REG_BASE_CAN0)
#define CAN1 ( (CAN_TypeDef* )LS1C_REG_BASE_CAN1)
#define CAN_InitStatus_Failed ((unsigned char)0x00) /*!< CAN initialization failed */
#define CAN_InitStatus_Success ((unsigned char)0x01) /*!< CAN initialization OK */
#define CAN_SJW_1tq ((unsigned char)0x00) /*!< 1 time quantum */
#define CAN_SJW_2tq ((unsigned char)0x01) /*!< 2 time quantum */
#define CAN_SJW_3tq ((unsigned char)0x02) /*!< 3 time quantum */
#define CAN_SJW_4tq ((unsigned char)0x03) /*!< 4 time quantum */
#define CAN_BS1_1tq ((unsigned char)0x00) /*!< 1 time quantum */
#define CAN_BS1_2tq ((unsigned char)0x01) /*!< 2 time quantum */
#define CAN_BS1_3tq ((unsigned char)0x02) /*!< 3 time quantum */
#define CAN_BS1_4tq ((unsigned char)0x03) /*!< 4 time quantum */
#define CAN_BS1_5tq ((unsigned char)0x04) /*!< 5 time quantum */
#define CAN_BS1_6tq ((unsigned char)0x05) /*!< 6 time quantum */
#define CAN_BS1_7tq ((unsigned char)0x06) /*!< 7 time quantum */
#define CAN_BS1_8tq ((unsigned char)0x07) /*!< 8 time quantum */
#define CAN_BS1_9tq ((unsigned char)0x08) /*!< 9 time quantum */
#define CAN_BS1_10tq ((unsigned char)0x09) /*!< 10 time quantum */
#define CAN_BS1_11tq ((unsigned char)0x0A) /*!< 11 time quantum */
#define CAN_BS1_12tq ((unsigned char)0x0B) /*!< 12 time quantum */
#define CAN_BS1_13tq ((unsigned char)0x0C) /*!< 13 time quantum */
#define CAN_BS1_14tq ((unsigned char)0x0D) /*!< 14 time quantum */
#define CAN_BS1_15tq ((unsigned char)0x0E) /*!< 15 time quantum */
#define CAN_BS1_16tq ((unsigned char)0x0F) /*!< 16 time quantum */
#define CAN_BS2_1tq ((unsigned char)0x00) /*!< 1 time quantum */
#define CAN_BS2_2tq ((unsigned char)0x01) /*!< 2 time quantum */
#define CAN_BS2_3tq ((unsigned char)0x02) /*!< 3 time quantum */
#define CAN_BS2_4tq ((unsigned char)0x03) /*!< 4 time quantum */
#define CAN_BS2_5tq ((unsigned char)0x04) /*!< 5 time quantum */
#define CAN_BS2_6tq ((unsigned char)0x05) /*!< 6 time quantum */
#define CAN_BS2_7tq ((unsigned char)0x06) /*!< 7 time quantum */
#define CAN_BS2_8tq ((unsigned char)0x07) /*!< 8 time quantum */
#define CAN_Id_Standard 0
#define CAN_Id_Extended 1
#define CAN_RTR_DATA 0
#define CAN_RTR_Remote 1
#define CAN_MODE_NORMAL 0
#define CAN_MODE_LISTEN 1
#define CAN_MODE_LOOPBACK 2
#define CAN_MODE_LOOPBACKANLISTEN 3
/*!< CAN 控制状态寄存器 */
/************************** CAN_MOD 寄存器位定义*******************************/
#define CAN_Mode_RM ((unsigned char)0x01) /*!< 复位模式 */
#define CAN_Mode_LOM ((unsigned char)0x02) /*!< 只听模式 1:只听 0:正常 */
#define CAN_Mode_STM ((unsigned char)0x04) /*!< 正常工作模式1:自检测 0:正常 */
#define CAN_Mode_AFM ((unsigned char)0x08) /*!< 单/双滤波模式 1:单 0: 双*/
#define CAN_Mode_SM ((unsigned char)0x10) /*!< 睡眠模式1: 睡眠 0: 唤醒 */
/************************** CAN_CMR 寄存器位定义*******************************/
#define CAN_CMR_TR ((unsigned char)0x01) /*!< 发送请求 1: 当前信息被发送 0: 空 */
#define CAN_CMR_AT ((unsigned char)0x02) /*!< 中止发送 1: 等待发送的信息取消 0: 空缺 */
#define CAN_CMR_RRB ((unsigned char)0x04) /*!< 释放接收缓冲器 1:释放 0: 无动作 */
#define CAN_CMR_CDO ((unsigned char)0x08) /*!< 清除数据溢出 1:清除 0: 无动作 */
//#define CAN_CMR_GTS ((unsigned char)0x10) /*!< STD模式< 睡眠: 1:进入睡眠 0: 唤醒 */
#define CAN_CMR_SRR ((unsigned char)0x10) /*!< 自接收请求 1: 0: */
#define CAN_CMR_EFF ((unsigned char)0x80) /*!< 扩展模式 1:扩展帧 0: 标准帧 */
/************************** CAN_SR 寄存器位定义********************************/
#define CAN_SR_BBS ((unsigned char)0x01) /*!< 接收缓存器状态1: 满 0: 空 */
#define CAN_SR_DOS ((unsigned char)0x02) /*!< 数据溢出状态 1: 溢出 0: 空缺 */
#define CAN_SR_TBS ((unsigned char)0x04) /*!< 发送缓存器状态1: 释放 0: 锁定 */
#define CAN_SR_TCS ((unsigned char)0x08) /*!< 发送完毕状态1: 完毕 0: 未完毕 */
#define CAN_SR_RS ((unsigned char)0x10) /*!< 接收状态1: 接收 0: 空闲 */
#define CAN_SR_TS ((unsigned char)0x20) /*!< 发送状态1: 发送 0: 空闲*/
#define CAN_SR_ES ((unsigned char)0x40) /*!< 出错状态1:出错 0: 正常 */
#define CAN_SR_BS ((unsigned char)0x80) /*!< 总线状态1: 关闭 0: 开启 */
/************************** CAN_IR 中断寄存器位定义****************************/
#define CAN_IR_RI ((unsigned char)0x01) /*!< 接收中断 */
#define CAN_IR_TI ((unsigned char)0x02) /*!< 发送中断 */
#define CAN_IR_EI ((unsigned char)0x04) /*!< 错误中断 */
#define CAN_IR_DOI ((unsigned char)0x08) /*!< 数据溢出中断 */
#define CAN_IR_WUI ((unsigned char)0x10) /*!< 唤醒中断 */
#define CAN_IR_EPI ((unsigned char)0x20) /*!< 错误消极中断 */
#define CAN_IR_ALI ((unsigned char)0x40) /*!< 仲裁丢失中断 */
#define CAN_IR_BEI ((unsigned char)0x80) /*!< 总线错误中断 */
/************************* CAN_IER 中断使能寄存器位定义************************/
#define CAN_IER_RIE ((unsigned char)0x01) /*!< 接收中断使能 */
#define CAN_IER_TIE ((unsigned char)0x02) /*!< 发送中断使能 */
#define CAN_IER_EIE ((unsigned char)0x04) /*!< 错误中断使能 */
#define CAN_IER_DOIE ((unsigned char)0x08) /*!< 数据溢出中断使能 */
#define CAN_IER_WUIE ((unsigned char)0x10) /*!< 唤醒中断使能 */
#define CAN_IER_EPIE ((unsigned char)0x20) /*!< 错误消极中断使能 */
#define CAN_IER_ALIE ((unsigned char)0x40) /*!< 仲裁丢失中断使能 */
#define CAN_IER_BEIE ((unsigned char)0x80) /*!< 总线错误中断使能 */
typedef enum
{
LS1C_CAN1MBaud=0, // 1 MBit/sec
LS1C_CAN800kBaud, // 800 kBit/sec
LS1C_CAN500kBaud, // 500 kBit/sec
LS1C_CAN250kBaud, // 250 kBit/sec
LS1C_CAN125kBaud, // 125 kBit/sec
LS1C_CAN100kBaud, // 100 kBit/sec
LS1C_CAN50kBaud, // 50 kBit/sec
LS1C_CAN40kBaud, // 40 kBit/sec
}Ls1c_CanBPS_t;
typedef struct
{
unsigned char MOD;
unsigned char CMR;
unsigned char SR;
unsigned char IR;
unsigned char IER;
unsigned char reserved0;
unsigned char BTR0;
unsigned char BTR1;
unsigned char OCR;
unsigned char reserved[2];
unsigned char ALC;
unsigned char ECC ;
unsigned char EMLR;
unsigned char RXERR;
unsigned char TXERR;
unsigned char IDE_RTR_DLC;
unsigned char ID[4];
unsigned char BUF[8];
unsigned char RMCR;
unsigned char CDR;
} CAN_TypeDef;
typedef struct
{
unsigned char CAN_Prescaler; /* 波特率分频系数1 to 31. */
unsigned char CAN_Mode; /*0x10:睡眠0x08:单,双滤波 0x40:正常工作0x20:只听 0x01:复位*/
unsigned char CAN_SJW; /*同步跳转宽度 */
unsigned char CAN_BS1; /*时间段1计数值*/
unsigned char CAN_BS2; /*时间段2计数值*/
} CAN_InitTypeDef;
typedef struct
{
unsigned char IDE; /*0: 使用标准标识符1: 使用扩展标识符*/
unsigned char RTR; /*0: 数据帧 1: 远程帧*/
unsigned char MODE; /* 0- 双滤波器模式;1-单滤波器模式*/
unsigned long First_Data; /*双滤波器模式下信息第一个数据字节*/
unsigned long Data_Mask; /*双滤波器模式下信息第一个数据字节屏蔽*/
unsigned long ID; /*验收代码*/
/*
双滤波器- 扩展帧: 2个滤波器的前16位,分别放在ID 的前16位和 ID的后16位.
双滤波器- 标准帧: 2个滤波器的11位,分别放在ID 的前16位和 ID的后16位,第1个滤波器同时使用First_Data和Data_Mask
单滤波器- 扩展帧: 使用29位, 放在ID 的后29位.
单滤波器- 标准帧: 使用11位, 放在ID 的后11位.
*/
unsigned long IDMASK; /*验收屏蔽*/
} CAN_FilterInitTypeDef;
typedef struct
{
unsigned long StdId; /* 11位ID*/
unsigned long ExtId; /*29位ID**/
unsigned char IDE; /*IDE: 标识符选择
该位决定发送邮箱中报文使用的标识符类型
0: 使用标准标识符
1: 使用扩展标识符*/
unsigned char RTR; /*远程发送请求
0: 数据帧
1: 远程帧*/
unsigned char DLC; /*数据帧长度*/
unsigned char Data[8]; /*8字节数据*/
} CanRxMsg;
typedef struct
{
unsigned long StdId; /* 11位ID*/
unsigned long ExtId; /*29位ID**/
unsigned char IDE; /*IDE: 标识符选择
该位决定发送邮箱中报文使用的标识符类型
0: 使用标准标识符
1: 使用扩展标识符*/
unsigned char RTR; /*远程发送请求
0: 数据帧
1: 远程帧*/
unsigned char DLC; /*数据帧长度*/
unsigned char Data[8]; /*8字节数据*/
} CanTxMsg;
unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps);
unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode);
void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef* CAN_FilterInitStruct);
unsigned char CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
void CAN_Receive(CAN_TypeDef* CANx, CanRxMsg* RxMessage);
unsigned char set_reset_mode(CAN_TypeDef* CANx);
unsigned char set_start(CAN_TypeDef* CANx);
#endif
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