189 lines
7.1 KiB
C
189 lines
7.1 KiB
C
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/**************************************************************************//**
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* @file nu_can.h
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* @version V3.00
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* @brief CAN Driver Header File
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*
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* @copyright SPDX-License-Identifier: Apache-2.0
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* @copyright Copyright (C) 2020 Nuvoton Technology Corp. All rights reserved.
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******************************************************************************/
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#ifndef __NU_CAN_H__
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#define __NU_CAN_H__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/** @addtogroup Standard_Driver Standard Driver
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@{
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*/
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/** @addtogroup CAN_Driver CAN Driver
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@{
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*/
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/** @addtogroup CAN_EXPORTED_CONSTANTS CAN Exported Constants
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@{
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*/
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/*---------------------------------------------------------------------------------------------------------*/
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/* CAN Test Mode Constant Definitions */
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/*---------------------------------------------------------------------------------------------------------*/
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#define CAN_NORMAL_MODE 0U /*!< CAN select normal mode */
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#define CAN_BASIC_MODE 1U /*!< CAN select basic mode */
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/*---------------------------------------------------------------------------------------------------------*/
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/* Message ID Type Constant Definitions */
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/*---------------------------------------------------------------------------------------------------------*/
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#define CAN_STD_ID 0UL /*!< CAN select standard ID */
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#define CAN_EXT_ID 1UL /*!< CAN select extended ID */
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/*---------------------------------------------------------------------------------------------------------*/
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/* Message Frame Type Constant Definitions */
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/*---------------------------------------------------------------------------------------------------------*/
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#define CAN_REMOTE_FRAME 0 /*!< CAN frame select remote frame */
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#define CAN_DATA_FRAME 1 /*!< CAN frame select data frame */
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/**@}*/ /* end of group CAN_EXPORTED_CONSTANTS */
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/** @addtogroup CAN_EXPORTED_STRUCTS CAN Exported Structs
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@{
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*/
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/**
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* @details CAN message structure
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*/
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typedef struct
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{
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uint32_t IdType; /*!< ID type */
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uint32_t FrameType; /*!< Frame type */
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uint32_t Id; /*!< Message ID */
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uint8_t DLC; /*!< Data length */
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uint8_t Data[8]; /*!< Data */
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uint8_t padding[3]; /*!< Just for padding for memory alignment*/
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} STR_CANMSG_T;
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/**
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* @details CAN mask message structure
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*/
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typedef struct
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{
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uint8_t u8Xtd; /*!< Extended ID */
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uint8_t u8Dir; /*!< Direction */
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uint32_t u32Id; /*!< Message ID */
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uint8_t u8IdType; /*!< ID type*/
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} STR_CANMASK_T;
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/**@}*/ /* end of group CAN_EXPORTED_STRUCTS */
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/** @cond HIDDEN_SYMBOLS */
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#define MSG(id) (id)
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/** @endcond HIDDEN_SYMBOLS */
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/** @addtogroup CAN_EXPORTED_FUNCTIONS CAN Exported Functions
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@{
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*/
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/**
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* @brief Get interrupt status.
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*
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* @param[in] can The base address of can module.
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*
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* @return CAN module status register value.
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*
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* @details Status Interrupt is generated by bits BOff (CAN_STATUS[7]), EWarn (CAN_STATUS[6]),
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* EPass (CAN_STATUS[5]), RxOk (CAN_STATUS[4]), TxOk (CAN_STATUS[3]), and LEC (CAN_STATUS[2:0]).
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*/
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#define CAN_GET_INT_STATUS(can) ((can)->STATUS)
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/**
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* @brief Get specified interrupt pending status.
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*
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* @param[in] can The base address of can module.
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*
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* @return The source of the interrupt.
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*
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* @details If several interrupts are pending, the CAN Interrupt Register will point to the pending interrupt
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* with the highest priority, disregarding their chronological order.
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*/
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#define CAN_GET_INT_PENDING_STATUS(can) ((can)->IIDR)
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/**
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* @brief Disable wake-up function.
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*
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* @param[in] can The base address of can module.
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*
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* @return None
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*
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* @details The macro is used to disable wake-up function.
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*/
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#define CAN_DISABLE_WAKEUP(can) ((can)->WU_EN = 0)
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/**
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* @brief Enable wake-up function.
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*
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* @param[in] can The base address of can module.
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*
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* @return None
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*
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* @details User can wake-up system when there is a falling edge in the CAN_Rx pin.
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*/
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#define CAN_ENABLE_WAKEUP(can) ((can)->WU_EN = CAN_WU_EN_WAKUP_EN_Msk)
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/**
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* @brief Get specified Message Object new data into bit value.
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*
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* @param[in] can The base address of can module.
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* @param[in] u32MsgNum Specified Message Object number, valid value are from 0 to 31.
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*
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* @return Specified Message Object new data into bit value.
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*
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* @details The NewDat bit (CAN_IFn_MCON[15]) of a specific Message Object can be set/reset by the software through the IFn Message Interface Registers
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* or by the Message Handler after reception of a Data Frame or after a successful transmission.
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*/
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#define CAN_GET_NEW_DATA_IN_BIT(can, u32MsgNum) ((u32MsgNum) < 16 ? (can)->NDAT1 & (1 << (u32MsgNum)) : (can)->NDAT2 & (1 << ((u32MsgNum)-16)))
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/*---------------------------------------------------------------------------------------------------------*/
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/* Define CAN functions prototype */
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/*---------------------------------------------------------------------------------------------------------*/
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uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate);
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void CAN_Close(CAN_T *tCAN);
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uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode);
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void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum);
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void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask);
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void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask);
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int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
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int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
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int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID);
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int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID);
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int32_t CAN_SetRxMsgAndMsk(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID, uint32_t u32IDMask);
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int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
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int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum);
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void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask);
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void CAN_LeaveInitMode(CAN_T *tCAN);
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void CAN_WaitMsg(CAN_T *tCAN);
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uint32_t CAN_GetCANBitRate(CAN_T *tCAN);
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void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask);
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void CAN_LeaveTestMode(CAN_T *tCAN);
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uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj);
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int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg);
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int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg);
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int32_t CAN_SetRxMsgObjAndMsk(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint32_t u32idmask, uint8_t u8singleOrFifoLast);
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int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast);
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int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg);
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/**@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */
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/**@}*/ /* end of group CAN_Driver */
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/**@}*/ /* end of group Standard_Driver */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __NU_CAN_H__ */
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