394 lines
16 KiB
C
394 lines
16 KiB
C
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/*
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******************************************************************************
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* @file HAL_Can.h
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* @version V1.0.0
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* @date 2020
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* @brief Header file of CAN HAL module.
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******************************************************************************
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*/
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#ifndef __HAL_CAN_H__
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#define __HAL_CAN_H__
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#include "ACM32Fxx_HAL.h"
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/**
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* @}
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*/
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/******************************************************************************/
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/* Peripheral Registers Bits Definition */
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/******************************************************************************/
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/******************************************************************************/
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/* (CAN) */
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/******************************************************************************/
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/**************** Bit definition for CAN MOD register ***********************/
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#define CAN_MOD_RM BIT0
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#define CAN_MOD_LOM BIT1
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#define CAN_MOD_STM BIT2
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#define CAN_MOD_AFM BIT3
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#define CAN_MOD_SM BIT4
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/**************** Bit definition for CAN CMR register ***********************/
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#define CAN_CMR_TR BIT0
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#define CAN_CMR_AT BIT1
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#define CAN_CMR_RRB BIT2
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#define CAN_CMR_CDO BIT3
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#define CAN_CMR_SRR BIT4
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/**************** Bit definition for CAN SR register ***********************/
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#define CAN_SR_RBS BIT0
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#define CAN_SR_DOS BIT1
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#define CAN_SR_TBS BIT2
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#define CAN_SR_TCS BIT3
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#define CAN_SR_RS BIT4
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#define CAN_SR_TS BIT5
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#define CAN_SR_ES BIT6
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#define CAN_SR_BS BIT7
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/**************** Bit definition for CAN IR register ***********************/
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#define CAN_IR_RI BIT0
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#define CAN_IR_TI BIT1
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#define CAN_IR_EI BIT2
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#define CAN_IR_DOI BIT3
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#define CAN_IR_WUI BIT4
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#define CAN_IR_EPI BIT5
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#define CAN_IR_ALI BIT6
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#define CAN_IR_BEI BIT7
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/**************** Bit definition for CAN IER register ***********************/
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#define CAN_IER_RIE BIT0
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#define CAN_IER_TIE BIT1
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#define CAN_IER_EIE BIT2
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#define CAN_IER_DOIE BIT3
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#define CAN_IER_WUIE BIT4
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#define CAN_IER_EPIE BIT5
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#define CAN_IER_ALIE BIT6
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#define CAN_IER_BEIE BIT7
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/**
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* @brief CAN init structure definition
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*/
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typedef struct
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{
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uint32_t CAN_Mode; /*!< Specifies the CAN operating mode.
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This parameter can be a value of
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@ref CAN_mode e.g:CAN_Mode_Normal CAN_Mode_Normal*/
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uint32_t CAN_SJW; /*!< Specifies the maximum number of time quanta
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the CAN hardware is allowed to lengthen or
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shorten a bit to perform resynchronization.
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This parameter can be a value of
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@ref CAN_SJW e.g:CAN_SJW_1tq--CAN_SJW_4tq*/
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uint32_t CAN_BRP ; /*!< Specifies the number of time quanta in Bit
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Segment 1. This parameter can be a value between 0 and 63 */
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uint32_t CAN_TSEG1; /*!< Specifies the number of time quanta in Bit
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Segment 1. This parameter can be a value of
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@ref CAN_TSEG1 e.g: CAN_TSEG1_1tq-CAN_TSEG1_16tq*/
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uint32_t CAN_TSEG2; /*!< Specifies the number of time quanta in Bit
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Segment 2.This parameter can be a value of
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@ref CAN_TSEG2 e.g:CAN_TSEG1_1tq-CAN_TSEG16_tq*/
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uint32_t CAN_SAM ; /*!< Specifies the CAN operating mode.
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This parameter can be a value of
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@ref CAN_SAM e.g:CAN_SAM_1time CAN_SAM_3time*/
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} CAN_InitTypeDef;
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/**
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* @brief CAN filter init structure definition
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*/
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typedef struct
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{
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uint32_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized.
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This parameter can be a value of
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@ref CAN_filter_mode e.g:CAN_FilterMode_Dual CAN_FilterMode_Single*/
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uint32_t CAN_FilterId1; /*!< Specifies the filter identification number
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This parameter can be a value between 0x0000 and 0x1FFFFFFF */
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uint32_t CAN_FilterId2; /*!< Specifies the filter identification number
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only CAN_FilterMode=CAN_FilterMode_Dual Enable
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This parameter can be a value between 0x0000 and 0x1FFFFFFF */
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uint32_t CAN_FilterMaskId1; /*!< Specifies the filter identification mask number
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This parameter can be a value between 0x0000 and 0x1FFFFFFF */
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uint32_t CAN_FilterMaskId2; /*!< Specifies the filter identification mask number
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only CAN_FilterMode=CAN_FilterMode_Dual Enable
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This parameter can be a value between 0x0000 and 0x1FFFFFFF */
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} CAN_FilterInitTypeDef;
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/**
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* @brief CAN RxTxMessege structure definition
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*/
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typedef struct
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{
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uint32_t StdId; /*!< Specifies the standard identifier.
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This parameter can be a value between 0 to 0x7FF. */
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uint32_t ExtId; /*!< Specifies the extended identifier.
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This parameter can be a value between 0 to 0x1FFFFFFF. */
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uint32_t IDE; /*!< Specifies the type of identifier for the message that
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will be transmitted. This parameter can be a value
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of @ref CAN_identifier_type e.g: CAN_Id_Standard CAN_Id_Extended*/
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uint32_t RTR; /*!< Specifies the type of frame for the message that will
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be transmitted. This parameter can be a value of
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@ref CAN_remote_transmission e.g: CAN_RTR_Data CAN_RTR_Remote */
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uint32_t DLC; /*!< Specifies the length of the frame that will be
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transmitted. This parameter can be a value between 0 to 8 */
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uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
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} CanTxRxMsg;
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/**
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* @brief CAN handle Structure definition
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*/
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typedef struct __CAN_HandleTypeDef
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{
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CAN_TypeDef *Instance; /*!< Register base address */
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CAN_InitTypeDef Init; /*!< CAN required parameters */
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CanTxRxMsg *RxMessage; /*!< CAN RxMessage */
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void (*CAN_ReceiveIT_Callback)(struct __CAN_HandleTypeDef *hcan); /* CAN ReceiveIT complete callback */
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void (*CAN_TransmitIT_Callback)(struct __CAN_HandleTypeDef *hcan); /* CAN TransmitIT complete callback */
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} CAN_HandleTypeDef;
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typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
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#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
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#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1))
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/** @defgroup CAN_identifier_type
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* @{
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*/
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#define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */
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#define CAN_Id_Extended ((uint32_t)0x00000001) /*!< Extended Id */
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#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \
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((IDTYPE) == CAN_Id_Extended))
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/**
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* @}
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*/
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/** @defgroup CAN_remote_transmission
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* @{
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*/
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#define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */
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#define CAN_RTR_Remote ((uint32_t)0x00000001) /*!< Remote frame */
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#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote))
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/**
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* @}
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*/
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/** @defgroup CAN_TxRxMessege
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* @{
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*/
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#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
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#define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
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#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
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#define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_SR_RBS) || ((FLAG) == CAN_SR_DOS) || \
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((FLAG) == CAN_SR_TBS) || ((FLAG) == CAN_SR_TCS) || \
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((FLAG) == CAN_SR_RS) || ((FLAG) == CAN_SR_TS) || \
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((FLAG) == CAN_SR_ES) || ((FLAG) == CAN_SR_BS))
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#define IS_CAN_BRP(BRP) (((BRP) <= 63))
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/**
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* @defgroup CAN_Mode
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* @{
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*/
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#define CAN_Mode_Normal ((uint8_t)0x00) /*!< Normal mode */
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#define CAN_Mode_SlefTest ((uint8_t)0x01) /*!< SlefTest mode */
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#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) ||\
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((MODE) == CAN_Mode_SlefTest))
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Operating_Mode
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* @{
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*/
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#define CAN_OperatingMode_Normal ((uint8_t)0x00) /*!< Initialization mode */
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#define CAN_OperatingMode_Initialization ((uint8_t)0x01) /*!< Normal mode */
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#define CAN_OperatingMode_Listen ((uint8_t)0x02) /*!< Listen mode */
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#define CAN_OperatingMode_SelfTest ((uint8_t)0x04) /*!< Listen mode */
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#define CAN_OperatingMode_Sleep ((uint8_t)0x10) /*!< sleep mode */
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#define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\
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((MODE) == CAN_OperatingMode_Normal)|| \
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((MODE) == CAN_OperatingMode_Sleep)|| \
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((MODE) == CAN_OperatingMode_SelfTest)|| \
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((MODE) == CAN_OperatingMode_Listen))
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/**
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* @}
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*/
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/** @defgroup CAN_SAM
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* @{
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*/
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#define CAN_SAM_1time ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_SAM_3time ((uint8_t)0x01) /*!< 2 time quantum */
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#define IS_CAN_SAM(SAM) (((SAM) == CAN_SAM_1time) || ((SAM) == CAN_SAM_3time))
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/**
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* @}
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*/
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/** @defgroup CAN_synchronisation_jump_width
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* @{
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*/
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#define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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#define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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#define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
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((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
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/**
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* @}
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*/
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/** @defgroup CAN_time_quantum_in_bit_segment_1
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* @{
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*/
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#define CAN_TSEG1_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_TSEG1_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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#define CAN_TSEG1_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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#define CAN_TSEG1_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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#define CAN_TSEG1_5tq ((uint8_t)0x04) /*!< 5 time quantum */
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#define CAN_TSEG1_6tq ((uint8_t)0x05) /*!< 6 time quantum */
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#define CAN_TSEG1_7tq ((uint8_t)0x06) /*!< 7 time quantum */
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#define CAN_TSEG1_8tq ((uint8_t)0x07) /*!< 8 time quantum */
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#define CAN_TSEG1_9tq ((uint8_t)0x08) /*!< 9 time quantum */
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#define CAN_TSEG1_10tq ((uint8_t)0x09) /*!< 10 time quantum */
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#define CAN_TSEG1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */
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#define CAN_TSEG1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */
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#define CAN_TSEG1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */
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#define CAN_TSEG1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */
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#define CAN_TSEG1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */
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#define CAN_TSEG1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */
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#define IS_CAN_TSEG1(TSEG1) ((TSEG1) <= CAN_TSEG1_16tq)
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/**
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* @}
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*/
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/** @defgroup CAN_time_quantum_in_bit_segment_2
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* @{
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*/
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#define CAN_TSEG2_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_TSEG2_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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#define CAN_TSEG2_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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#define CAN_TSEG2_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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#define CAN_TSEG2_5tq ((uint8_t)0x04) /*!< 5 time quantum */
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#define CAN_TSEG2_6tq ((uint8_t)0x05) /*!< 6 time quantum */
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#define CAN_TSEG2_7tq ((uint8_t)0x06) /*!< 7 time quantum */
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#define CAN_TSEG2_8tq ((uint8_t)0x07) /*!< 8 time quantum */
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#define IS_CAN_TSEG2(TSEG) ((TSEG) <= CAN_TSEG2_8tq)
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/**
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* @}
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*/
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/** @defgroup CAN_filter_mode
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* @{
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*/
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#define CAN_FilterMode_Dual ((uint8_t)0x00) /*!< identifier list mode */
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#define CAN_FilterMode_Single ((uint8_t)0x01) /*!< identifier/mask mode */
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#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_Dual) || \
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((MODE) == CAN_FilterMode_Single))
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/**
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* @}
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*/
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/** @defgroup CAN_ErrorCode
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* @{
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*/
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#define CAN_ErrorType_ErrCode ((uint8_t)0xC0) /*!< identifier list mode */
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#define CAN_ErrorType_Direction ((uint8_t)0x20) /*!< identifier/mask mode */
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#define CAN_ErrorType_SegCode ((uint8_t)0x1F) /*!< identifier/mask mode */
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#define IS_CAN_ErrorType(ErrorType) (((ErrorType) == CAN_ErrorType_ErrCode) || \
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((ErrorType) == CAN_ErrorType_Direction)|| \
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((ErrorType) == CAN_ErrorType_SegCode))
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/**
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* @}
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*/
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/* Initialization and Configuration functions *********************************/
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void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan);
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void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan);
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HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan);
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HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan);
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void HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan,CAN_FilterInitTypeDef* CAN_FilterInitStruct);
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/* Transmit functions *********************************************************/
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HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, CanTxRxMsg* TxMessage);
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void HAL_CAN_CancelTransmit(CAN_HandleTypeDef *hcan);
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/* Receive functions **********************************************************/
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HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, CanTxRxMsg* RxMessage);
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HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, CanTxRxMsg* RxMessage);
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int8_t HAL_CAN_GetReceiveFiFoCounter(CAN_HandleTypeDef *hcan);
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int8_t HAL_CAN_GetReceiveFiFoAddr(CAN_HandleTypeDef *hcan);
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void HAL_CAN_ReleaseReceiveFIFO(CAN_HandleTypeDef *hcan);
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void HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, CanTxRxMsg* RxMessage);
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/* Operation modes functions **************************************************/
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HAL_StatusTypeDef HAL_CAN_OperatingModeRequest(CAN_HandleTypeDef *hcan, uint8_t CAN_OperatingMode);
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void HAL_CAN_ClearOverload(CAN_HandleTypeDef *hcan);
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void HAL_CAN_SelfReceive(CAN_HandleTypeDef *hcan);
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HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
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HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
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/* Error Code management functions **********************************/
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int8_t HAL_CAN_GetErrorCode(CAN_HandleTypeDef *hcan,uint32_t Error_Type);
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int8_t HAL_CAN_GetErrorAlarmCounter(CAN_HandleTypeDef *hcan);
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int8_t HAL_CAN_GetArbitrationErrorPosition(CAN_HandleTypeDef *hcan);
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int8_t HAL_CAN_GetReceiveErrorCounter(CAN_HandleTypeDef *hcan);
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int8_t HAL_CAN_GetTransmitErrorCounter(CAN_HandleTypeDef *hcan);
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void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan);
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#endif
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