380 lines
10 KiB
C
380 lines
10 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
* @file HAL_can.h
|
||
|
|
* @author AE Team
|
||
|
|
* @version V1.5.0
|
||
|
|
* @date 02/08/2017
|
||
|
|
* @brief This file contains all the functions prototypes for the BKP firmware
|
||
|
|
* library.
|
||
|
|
******************************************************************************
|
||
|
|
* @copy
|
||
|
|
*
|
||
|
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||
|
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||
|
|
* TIME. AS A RESULT, MindMotion SHALL NOT BE HELD LIABLE FOR ANY
|
||
|
|
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||
|
|
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||
|
|
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||
|
|
*
|
||
|
|
* <h2><center>© COPYRIGHT 2017 MindMotion</center></h2>
|
||
|
|
*/
|
||
|
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
||
|
|
#ifndef __HAL_CAN_H
|
||
|
|
#define __HAL_CAN_H
|
||
|
|
|
||
|
|
/* Includes ------------------------------------------------------------------*/
|
||
|
|
#include "HAL_device.h"
|
||
|
|
|
||
|
|
|
||
|
|
/** @defgroup CAN_sleep_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CANINITFAILED ((uint8_t)0x00) /* CAN initialization failed */
|
||
|
|
#define CANINITOK ((uint8_t)0x01) /* CAN initialization ok */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/** @defgroup CAN_sleep_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CANSLEEPFAILED ((uint8_t)0x00) /* CAN did not enter the sleep mode */
|
||
|
|
#define CANSLEEPOK ((uint8_t)0x01) /* CAN entered the sleep mode */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
/** @defgroup CAN_wake_up_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CANWAKEUPFAILED ((uint8_t)0x00) /* CAN did not leave the sleep mode */
|
||
|
|
#define CANWAKEUPOK ((uint8_t)0x01) /* CAN leaved the sleep mode */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief parasmeter of CAN Mode
|
||
|
|
*/
|
||
|
|
#define CAN_BASICMode ((uint32_t)0x0)
|
||
|
|
#define CAN_PELIMode ((uint32_t)0x80)
|
||
|
|
#define CAN_WorkMode ((uint32_t)0x80)
|
||
|
|
#define CAN_ResetMode ((uint32_t)0x1)
|
||
|
|
#define CAN_ListenOnlyMode ((uint32_t)0x2)
|
||
|
|
#define CAN_SeftTestMode ((uint32_t)0x4)
|
||
|
|
#define CAN_FilterMode_Singal ((uint32_t)0x8)
|
||
|
|
#define CAN_FilterMode_Double ((uint32_t)0xf7)
|
||
|
|
#define CAN_SleepMode ((uint32_t)0x10)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief parasmeter of BASIC CAN interrupt
|
||
|
|
*/
|
||
|
|
#define CAN_IT_RIE ((uint32_t)0x2)
|
||
|
|
#define CAN_IT_TIE ((uint32_t)0x4)
|
||
|
|
#define CAN_IT_EIE ((uint32_t)0x8)
|
||
|
|
#define CAN_IT_OIE ((uint32_t)0x10)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief parasmeter of PELI CAN interrupt
|
||
|
|
*/
|
||
|
|
#define CAN_IT_RI ((uint32_t)0x1)
|
||
|
|
#define CAN_IT_TI ((uint32_t)0x2)
|
||
|
|
#define CAN_IT_EI ((uint32_t)0x4)
|
||
|
|
#define CAN_IT_DOI ((uint32_t)0x8)
|
||
|
|
#define CAN_IT_WUI ((uint32_t)0x10)
|
||
|
|
#define CAN_IT_EPI ((uint32_t)0x20)
|
||
|
|
#define CAN_IT_ALI ((uint32_t)0x40)
|
||
|
|
#define CAN_IT_BEI ((uint32_t)0x80)
|
||
|
|
#define CAN_IT_ALL ((uint32_t)0xff)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief parasmeter of CAN Status
|
||
|
|
*/
|
||
|
|
#define CAN_STATUS_RBS ((uint32_t)0x1)
|
||
|
|
#define CAN_STATUS_DOS ((uint32_t)0x2)
|
||
|
|
#define CAN_STATUS_TBS ((uint32_t)0x4)
|
||
|
|
#define CAN_STATUS_TCS ((uint32_t)0x8)
|
||
|
|
#define CAN_STATUS_RS ((uint32_t)0x10)
|
||
|
|
#define CAN_STATUS_TS ((uint32_t)0x20)
|
||
|
|
#define CAN_STATUS_ES ((uint32_t)0x40)
|
||
|
|
#define CAN_STATUS_BS ((uint32_t)0x80)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief parasmeter of CAN Command register
|
||
|
|
*/
|
||
|
|
#define CAN_TR 0x1
|
||
|
|
#define CAN_AT 0x2
|
||
|
|
#define CAN_RRB 0x4
|
||
|
|
#define CAN_CDO 0x8
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Basic init structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t SJW;
|
||
|
|
uint8_t BRP;
|
||
|
|
FlagStatus SAM;
|
||
|
|
uint8_t TESG2;
|
||
|
|
uint8_t TESG1;
|
||
|
|
FunctionalState GTS;
|
||
|
|
uint8_t CDCLK;
|
||
|
|
uint8_t CLOSE_OPEN_CLK;
|
||
|
|
uint8_t RXINTEN;
|
||
|
|
uint8_t CBP;
|
||
|
|
}CAN_Basic_InitTypeDef;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Peli init structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t SJW;
|
||
|
|
uint8_t BRP;
|
||
|
|
FlagStatus SAM;
|
||
|
|
uint8_t TESG2;
|
||
|
|
uint8_t TESG1;
|
||
|
|
FunctionalState LOM;
|
||
|
|
FunctionalState STM;
|
||
|
|
FunctionalState SM;
|
||
|
|
FunctionalState SRR;
|
||
|
|
uint32_t EWLR;
|
||
|
|
}CAN_Peli_InitTypeDef;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Basic filter init structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t CAN_FilterId; /*!< Specifies the filter identification number .
|
||
|
|
This parameter can be a value between 0x00 and 0xFF */
|
||
|
|
|
||
|
|
uint8_t CAN_FilterMaskId; /*!< Specifies the filter mask number or identification number,
|
||
|
|
This parameter can be a value between 0x00 and 0xFF */
|
||
|
|
} CAN_Basic_FilterInitTypeDef;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Peli filter init structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t AFM;
|
||
|
|
uint8_t CAN_FilterId0; /*!< Specifies the filter identification number
|
||
|
|
This parameter can be a value between 0x00 and 0xFF */
|
||
|
|
uint8_t CAN_FilterId1;
|
||
|
|
uint8_t CAN_FilterId2;
|
||
|
|
uint8_t CAN_FilterId3;
|
||
|
|
|
||
|
|
uint8_t CAN_FilterMaskId0; /*!< Specifies the filter mask number or identification number,
|
||
|
|
This parameter can be a value between 0x00 and 0xFF */
|
||
|
|
uint8_t CAN_FilterMaskId1;
|
||
|
|
uint8_t CAN_FilterMaskId2;
|
||
|
|
uint8_t CAN_FilterMaskId3;
|
||
|
|
} CAN_Peli_FilterInitTypeDef;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Peli transmit frame definition
|
||
|
|
*/
|
||
|
|
typedef enum {DataFrame = 0,RemoteFrame = !DataFrame}TransFrame;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Basic Tx message structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t IDH; /*!< Specifies the standard high identifier.
|
||
|
|
This parameter can be a value between 0 to 0xFF. */
|
||
|
|
uint8_t IDL; /*!< Specifies the standard low identifier.
|
||
|
|
This parameter can be a value between 0 to 0x7. */
|
||
|
|
uint8_t RTR; /*!< Specifies the type of frame for the message that will
|
||
|
|
be transmitted. This parameter can be @TransFrame */
|
||
|
|
|
||
|
|
uint8_t DLC; /*!< Specifies the length of the frame that will be
|
||
|
|
transmitted. This parameter can be a value between
|
||
|
|
0 to 8 */
|
||
|
|
|
||
|
|
uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0
|
||
|
|
to 0xFF. */
|
||
|
|
} CanBasicTxMsg;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Basic Rx message structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint16_t ID; /*!< Specifies the standard identifier.
|
||
|
|
This parameter can be a value between 0 to 0x7FF. */
|
||
|
|
uint8_t RTR; /*!< Specifies the type of frame for the received message.
|
||
|
|
This parameter can be a value of
|
||
|
|
@ref TransFrame */
|
||
|
|
|
||
|
|
uint8_t DLC; /*!< Specifies the length of the frame that will be received.
|
||
|
|
This parameter can be a value between 0 to 8 */
|
||
|
|
|
||
|
|
uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to
|
||
|
|
0xFF. */
|
||
|
|
|
||
|
|
} CanBasicRxMsg;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN_Peli_Tx message structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t IDLL; /*!< Specifies the extended identifier.
|
||
|
|
This parameter can be a value between 0 to 0xFF. */
|
||
|
|
uint8_t IDLH;
|
||
|
|
uint8_t IDHL;
|
||
|
|
uint8_t IDHH;
|
||
|
|
uint8_t FF; /*!< Specifies the type of identifier for the message that
|
||
|
|
will be transmitted. This parameter can be a value
|
||
|
|
of @ref CAN_identifier_type */
|
||
|
|
|
||
|
|
uint8_t RTR; /*!< Specifies the type of frame for the message that will
|
||
|
|
be transmitted. This parameter can be a value of
|
||
|
|
@ref TransFrame */
|
||
|
|
|
||
|
|
uint8_t DLC; /*!< Specifies the length of the frame that will be
|
||
|
|
transmitted. This parameter can be a value between
|
||
|
|
0 to 8 */
|
||
|
|
|
||
|
|
uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0
|
||
|
|
to 0xFF. */
|
||
|
|
} CanPeliTxMsg;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN Rx message structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint32_t ID; /*!< Specifies the extended identifier.
|
||
|
|
This parameter can be a value between 0 to 0x1FFFFFFF. */
|
||
|
|
uint8_t FF; /*!< Specifies the type of identifier for the message that
|
||
|
|
will be received. This parameter can be a value of
|
||
|
|
@ref CAN_identifier_type */
|
||
|
|
|
||
|
|
uint8_t RTR; /*!< Specifies the type of frame for the received message.
|
||
|
|
This parameter can be a value of
|
||
|
|
@ref TransFrame */
|
||
|
|
|
||
|
|
uint8_t DLC; /*!< Specifies the length of the frame that will be received.
|
||
|
|
This parameter can be a value between 0 to 8 */
|
||
|
|
|
||
|
|
uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to
|
||
|
|
0xFF. */
|
||
|
|
|
||
|
|
} CanPeliRxMsg;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#define CANTXFAILED ((uint8_t)0x00) /* CAN transmission failed */
|
||
|
|
#define CANTXOK ((uint8_t)0x01) /* CAN transmission succeeded */
|
||
|
|
#define CANTXPENDING ((uint8_t)0x02) /* CAN transmission pending */
|
||
|
|
#define CAN_NO_MB ((uint8_t)0x04) /* CAN cell did not provide an empty mailbox */
|
||
|
|
|
||
|
|
|
||
|
|
/************************ Basic and Peli Work all need function ********************/
|
||
|
|
|
||
|
|
void CAN_Mode_Cmd(CAN_TypeDef* CANx, uint32_t CAN_MODE);
|
||
|
|
void CAN_ResetMode_Cmd(CAN_TypeDef* CANx,FunctionalState NewState);
|
||
|
|
void CAN_ClearDataOverflow(CAN_TypeDef* CANx);
|
||
|
|
void CAN_ClearITPendingBit(CAN_TypeDef* CANx);
|
||
|
|
|
||
|
|
|
||
|
|
/************************ Basic Work function ********************/
|
||
|
|
void CAN_DeInit(CAN_TypeDef* CANx);
|
||
|
|
uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_Basic_InitTypeDef* CAN_Basic_InitStruct);
|
||
|
|
void CAN_FilterInit(CAN_Basic_FilterInitTypeDef* CAN_Basic_FilterInitStruct);
|
||
|
|
void CAN_StructInit(CAN_Basic_InitTypeDef* CAN_Basic_InitStruct);
|
||
|
|
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState Newstate);
|
||
|
|
uint8_t CAN_Transmit(CAN_TypeDef* CANx,CanBasicTxMsg* BasicTxMessage);
|
||
|
|
void CAN_CancelTransmit(CAN_TypeDef* CANx);
|
||
|
|
void CAN_FIFORelease(CAN_TypeDef* CANx);
|
||
|
|
void CAN_Receive(CAN_TypeDef* CANx,CanBasicRxMsg* BasicRxMessage);
|
||
|
|
uint8_t CAN_Sleep(CAN_TypeDef* CANx);
|
||
|
|
uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
|
||
|
|
FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx,uint32_t CAN_FLAG);
|
||
|
|
ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
|
||
|
|
|
||
|
|
|
||
|
|
/************************ Peli Work function *********************/
|
||
|
|
void CAN_Peli_SleepMode_Cmd(FunctionalState NewState);
|
||
|
|
void CAN_Peli_Init(CAN_Peli_InitTypeDef* CAN_InitStruct);
|
||
|
|
void CAN_Peli_StructInit(CAN_Peli_InitTypeDef* CAN_Peli_InitStruct);
|
||
|
|
void CAN_Peli_FilterInit(CAN_Peli_FilterInitTypeDef* CAN_Peli_FilterInitStruct);
|
||
|
|
void CAN_Peli_FilterStructInit(CAN_Peli_FilterInitTypeDef* CAN_Peli_FilterInitStruct);
|
||
|
|
void CAN_Peli_Transmit(CanPeliTxMsg* PeliTxMessage);
|
||
|
|
void CAN_Peli_TransmitRepeat(CanPeliTxMsg* PeliTxMessage);
|
||
|
|
void CAN_Peli_Receive(CanPeliRxMsg* PeliRxMessage);
|
||
|
|
uint32_t CAN_Peli_GetRxFIFOInfo(void);
|
||
|
|
uint8_t CAN_Peli_GetLastErrorCode(void);
|
||
|
|
uint8_t CAN_Peli_GetReceiveErrorCounter(void);
|
||
|
|
uint8_t CAN_Peli_GetLSBTransmitErrorCounter(void);
|
||
|
|
void CAN_Peli_ITConfig(uint32_t CAN_IT, FunctionalState NewState);
|
||
|
|
ITStatus CAN_Peli_GetITStatus(uint32_t CAN_IT);
|
||
|
|
void CAN_AutoCfg_BaudParam(CAN_Peli_InitTypeDef *CAN_Peli_InitStruct,unsigned int SrcClk,unsigned int baud );
|
||
|
|
#endif /* __HAL_CAN_H */
|
||
|
|
|