/* * Copyright (c) 2015, Freescale Semiconductor, Inc. * Copyright 2016-2018 NXP * All rights reserved. * * SPDX-License-Identifier: BSD-3-Clause */ #ifndef _FSL_FLEXCAN_H_ #define _FSL_FLEXCAN_H_ #include "fsl_common.h" /*! * @addtogroup flexcan_driver * @{ */ /****************************************************************************** * Definitions *****************************************************************************/ /*! @name Driver version */ /*@{*/ /*! @brief FlexCAN driver version 2.3.0. */ #define FSL_FLEXCAN_DRIVER_VERSION (MAKE_VERSION(2, 3, 2)) /*@}*/ #ifndef FLEXCAN_WAIT_TIMEOUT /* Define to 1000 means keep waiting 1000 times until the flag is assert/deassert. */ #define FLEXCAN_WAIT_TIMEOUT (1000U) #endif /*! @brief FlexCAN Frame ID helper macro. */ #define FLEXCAN_ID_STD(id) \ (((uint32_t)(((uint32_t)(id)) << CAN_ID_STD_SHIFT)) & CAN_ID_STD_MASK) /*!< Standard Frame ID helper macro. */ #define FLEXCAN_ID_EXT(id) \ (((uint32_t)(((uint32_t)(id)) << CAN_ID_EXT_SHIFT)) & \ (CAN_ID_EXT_MASK | CAN_ID_STD_MASK)) /*!< Extend Frame ID helper macro. */ /*! @brief FlexCAN Rx Message Buffer Mask helper macro. */ #define FLEXCAN_RX_MB_STD_MASK(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \ FLEXCAN_ID_STD(id)) /*!< Standard Rx Message Buffer Mask helper macro. */ #define FLEXCAN_RX_MB_EXT_MASK(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \ FLEXCAN_ID_EXT(id)) /*!< Extend Rx Message Buffer Mask helper macro. */ /*! @brief FlexCAN Rx FIFO Mask helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_A(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \ (FLEXCAN_ID_STD(id) << 1)) /*!< Standard Rx FIFO Mask helper macro Type A helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_HIGH(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \ (((uint32_t)(id)&0x7FF) << 19)) /*!< Standard Rx FIFO Mask helper macro Type B upper part helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_LOW(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 15) | (uint32_t)((uint32_t)(ide) << 14)) | \ (((uint32_t)(id)&0x7FF) << 3)) /*!< Standard Rx FIFO Mask helper macro Type B lower part helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_HIGH(id) \ (((uint32_t)(id)&0x7F8) << 21) /*!< Standard Rx FIFO Mask helper macro Type C upper part helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_HIGH(id) \ (((uint32_t)(id)&0x7F8) << 13) /*!< Standard Rx FIFO Mask helper macro Type C mid-upper part helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_LOW(id) \ (((uint32_t)(id)&0x7F8) << 5) /*!< Standard Rx FIFO Mask helper macro Type C mid-lower part helper macro. */ #define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_LOW(id) \ (((uint32_t)(id)&0x7F8) >> 3) /*!< Standard Rx FIFO Mask helper macro Type C lower part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_A(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \ (FLEXCAN_ID_EXT(id) << 1)) /*!< Extend Rx FIFO Mask helper macro Type A helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_HIGH(id, rtr, ide) \ ( \ ((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \ ((FLEXCAN_ID_EXT(id) & 0x1FFF8000) \ << 1)) /*!< Extend Rx FIFO Mask helper macro Type B upper part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_LOW(id, rtr, ide) \ (((uint32_t)((uint32_t)(rtr) << 15) | (uint32_t)((uint32_t)(ide) << 14)) | \ ((FLEXCAN_ID_EXT(id) & 0x1FFF8000) >> \ 15)) /*!< Extend Rx FIFO Mask helper macro Type B lower part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_HIGH(id) \ ((FLEXCAN_ID_EXT(id) & 0x1FE00000) << 3) /*!< Extend Rx FIFO Mask helper macro Type C upper part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_HIGH(id) \ ((FLEXCAN_ID_EXT(id) & 0x1FE00000) >> \ 5) /*!< Extend Rx FIFO Mask helper macro Type C mid-upper part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_LOW(id) \ ((FLEXCAN_ID_EXT(id) & 0x1FE00000) >> \ 13) /*!< Extend Rx FIFO Mask helper macro Type C mid-lower part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_LOW(id) \ ((FLEXCAN_ID_EXT(id) & 0x1FE00000) >> 21) /*!< Extend Rx FIFO Mask helper macro Type C lower part helper macro. */ /*! @brief FlexCAN Rx FIFO Filter helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_A(id, rtr, ide) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_A(id, rtr, ide) /*!< Standard Rx FIFO Filter helper macro Type A helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_B_HIGH(id, rtr, ide) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_HIGH( \ id, rtr, ide) /*!< Standard Rx FIFO Filter helper macro Type B upper part helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_B_LOW(id, rtr, ide) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_LOW( \ id, rtr, ide) /*!< Standard Rx FIFO Filter helper macro Type B lower part helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_HIGH(id) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_HIGH( \ id) /*!< Standard Rx FIFO Filter helper macro Type C upper part helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_MID_HIGH(id) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_HIGH( \ id) /*!< Standard Rx FIFO Filter helper macro Type C mid-upper part helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_MID_LOW(id) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_LOW( \ id) /*!< Standard Rx FIFO Filter helper macro Type C mid-lower part helper macro. */ #define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_LOW(id) \ FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_LOW( \ id) /*!< Standard Rx FIFO Filter helper macro Type C lower part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_A(id, rtr, ide) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_A(id, rtr, ide) /*!< Extend Rx FIFO Filter helper macro Type A helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_B_HIGH(id, rtr, ide) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_HIGH( \ id, rtr, ide) /*!< Extend Rx FIFO Filter helper macro Type B upper part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_B_LOW(id, rtr, ide) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_LOW( \ id, rtr, ide) /*!< Extend Rx FIFO Filter helper macro Type B lower part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_HIGH(id) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_HIGH( \ id) /*!< Extend Rx FIFO Filter helper macro Type C upper part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_MID_HIGH(id) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_HIGH( \ id) /*!< Extend Rx FIFO Filter helper macro Type C mid-upper part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_MID_LOW(id) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_LOW( \ id) /*!< Extend Rx FIFO Filter helper macro Type C mid-lower part helper macro. */ #define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_LOW(id) \ FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_LOW(id) /*!< Extend Rx FIFO Filter helper macro Type C lower part helper macro. */ /*! @brief FlexCAN transfer status. */ enum _flexcan_status { kStatus_FLEXCAN_TxBusy = MAKE_STATUS(kStatusGroup_FLEXCAN, 0), /*!< Tx Message Buffer is Busy. */ kStatus_FLEXCAN_TxIdle = MAKE_STATUS(kStatusGroup_FLEXCAN, 1), /*!< Tx Message Buffer is Idle. */ kStatus_FLEXCAN_TxSwitchToRx = MAKE_STATUS( kStatusGroup_FLEXCAN, 2), /*!< Remote Message is send out and Message buffer changed to Receive one. */ kStatus_FLEXCAN_RxBusy = MAKE_STATUS(kStatusGroup_FLEXCAN, 3), /*!< Rx Message Buffer is Busy. */ kStatus_FLEXCAN_RxIdle = MAKE_STATUS(kStatusGroup_FLEXCAN, 4), /*!< Rx Message Buffer is Idle. */ kStatus_FLEXCAN_RxOverflow = MAKE_STATUS(kStatusGroup_FLEXCAN, 5), /*!< Rx Message Buffer is Overflowed. */ kStatus_FLEXCAN_RxFifoBusy = MAKE_STATUS(kStatusGroup_FLEXCAN, 6), /*!< Rx Message FIFO is Busy. */ kStatus_FLEXCAN_RxFifoIdle = MAKE_STATUS(kStatusGroup_FLEXCAN, 7), /*!< Rx Message FIFO is Idle. */ kStatus_FLEXCAN_RxFifoOverflow = MAKE_STATUS(kStatusGroup_FLEXCAN, 8), /*!< Rx Message FIFO is overflowed. */ kStatus_FLEXCAN_RxFifoWarning = MAKE_STATUS(kStatusGroup_FLEXCAN, 9), /*!< Rx Message FIFO is almost overflowed. */ kStatus_FLEXCAN_ErrorStatus = MAKE_STATUS(kStatusGroup_FLEXCAN, 10), /*!< FlexCAN Module Error and Status. */ kStatus_FLEXCAN_WakeUp = MAKE_STATUS(kStatusGroup_FLEXCAN, 11), /*!< FlexCAN is waken up from STOP mode. */ kStatus_FLEXCAN_UnHandled = MAKE_STATUS(kStatusGroup_FLEXCAN, 12), /*!< UnHadled Interrupt asserted. */ }; /*! @brief FlexCAN frame format. */ typedef enum _flexcan_frame_format { kFLEXCAN_FrameFormatStandard = 0x0U, /*!< Standard frame format attribute. */ kFLEXCAN_FrameFormatExtend = 0x1U, /*!< Extend frame format attribute. */ } flexcan_frame_format_t; /*! @brief FlexCAN frame type. */ typedef enum _flexcan_frame_type { kFLEXCAN_FrameTypeData = 0x0U, /*!< Data frame type attribute. */ kFLEXCAN_FrameTypeRemote = 0x1U, /*!< Remote frame type attribute. */ } flexcan_frame_type_t; /*! @brief FlexCAN clock source. */ typedef enum _flexcan_clock_source { kFLEXCAN_ClkSrcOsc = 0x0U, /*!< FlexCAN Protocol Engine clock from Oscillator. */ kFLEXCAN_ClkSrcPeri = 0x1U, /*!< FlexCAN Protocol Engine clock from Peripheral Clock. */ } flexcan_clock_source_t; /*! @brief FlexCAN wake up source. */ typedef enum _flexcan_wake_up_source { kFLEXCAN_WakeupSrcUnfiltered = 0x0U, /*!< FlexCAN uses unfiltered Rx input to detect edge. */ kFLEXCAN_WakeupSrcFiltered = 0x1U, /*!< FlexCAN uses filtered Rx input to detect edge. */ } flexcan_wake_up_source_t; /*! @brief FlexCAN Rx Fifo Filter type. */ typedef enum _flexcan_rx_fifo_filter_type { kFLEXCAN_RxFifoFilterTypeA = 0x0U, /*!< One full ID (standard and extended) per ID Filter element. */ kFLEXCAN_RxFifoFilterTypeB = 0x1U, /*!< Two full standard IDs or two partial 14-bit ID slices per ID Filter Table element. */ kFLEXCAN_RxFifoFilterTypeC = 0x2U, /*!< Four partial 8-bit Standard or extended ID slices per ID Filter Table element. */ kFLEXCAN_RxFifoFilterTypeD = 0x3U, /*!< All frames rejected. */ } flexcan_rx_fifo_filter_type_t; #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief FlexCAN Message Buffer Data Size. */ typedef enum _flexcan_mb_size { kFLEXCAN_8BperMB = 0x0U, /*!< Selects 8 bytes per Message Buffer. */ kFLEXCAN_16BperMB = 0x1U, /*!< Selects 16 bytes per Message Buffer. */ kFLEXCAN_32BperMB = 0x2U, /*!< Selects 32 bytes per Message Buffer. */ kFLEXCAN_64BperMB = 0x3U, /*!< Selects 64 bytes per Message Buffer. */ } flexcan_mb_size_t; #endif /*! * @brief FlexCAN Rx FIFO priority. * * The matching process starts from the Rx MB(or Rx FIFO) with higher priority. * If no MB(or Rx FIFO filter) is satisfied, the matching process goes on with * the Rx FIFO(or Rx MB) with lower priority. */ typedef enum _flexcan_rx_fifo_priority { kFLEXCAN_RxFifoPrioLow = 0x0U, /*!< Matching process start from Rx Message Buffer first*/ kFLEXCAN_RxFifoPrioHigh = 0x1U, /*!< Matching process start from Rx FIFO first*/ } flexcan_rx_fifo_priority_t; /*! * @brief FlexCAN interrupt configuration structure, default settings all disabled. * * This structure contains the settings for all of the FlexCAN Module interrupt configurations. * Note: FlexCAN Message Buffers and Rx FIFO have their own interrupts. */ enum _flexcan_interrupt_enable { kFLEXCAN_BusOffInterruptEnable = CAN_CTRL1_BOFFMSK_MASK, /*!< Bus Off interrupt. */ kFLEXCAN_ErrorInterruptEnable = CAN_CTRL1_ERRMSK_MASK, /*!< Error interrupt. */ kFLEXCAN_RxWarningInterruptEnable = CAN_CTRL1_RWRNMSK_MASK, /*!< Rx Warning interrupt. */ kFLEXCAN_TxWarningInterruptEnable = CAN_CTRL1_TWRNMSK_MASK, /*!< Tx Warning interrupt. */ kFLEXCAN_WakeUpInterruptEnable = CAN_MCR_WAKMSK_MASK, /*!< Wake Up interrupt. */ }; /*! * @brief FlexCAN status flags. * * This provides constants for the FlexCAN status flags for use in the FlexCAN functions. * Note: The CPU read action clears FlEXCAN_ErrorFlag, therefore user need to * read FlEXCAN_ErrorFlag and distinguish which error is occur using * @ref _flexcan_error_flags enumerations. */ enum _flexcan_flags { #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) kFLEXCAN_FDErrorIntFlag = CAN_ESR1_ERRINT_FAST_MASK, /*!< Error Overrun Status. */ kFLEXCAN_BusoffDoneIntFlag = CAN_ESR1_BOFFDONEINT_MASK, /*!< Error Overrun Status. */ #endif kFLEXCAN_SynchFlag = CAN_ESR1_SYNCH_MASK, /*!< CAN Synchronization Status. */ kFLEXCAN_TxWarningIntFlag = CAN_ESR1_TWRNINT_MASK, /*!< Tx Warning Interrupt Flag. */ kFLEXCAN_RxWarningIntFlag = CAN_ESR1_RWRNINT_MASK, /*!< Rx Warning Interrupt Flag. */ kFLEXCAN_TxErrorWarningFlag = CAN_ESR1_TXWRN_MASK, /*!< Tx Error Warning Status. */ kFLEXCAN_RxErrorWarningFlag = CAN_ESR1_RXWRN_MASK, /*!< Rx Error Warning Status. */ kFLEXCAN_IdleFlag = CAN_ESR1_IDLE_MASK, /*!< CAN IDLE Status Flag. */ kFLEXCAN_FaultConfinementFlag = CAN_ESR1_FLTCONF_MASK, /*!< Fault Confinement State Flag. */ kFLEXCAN_TransmittingFlag = CAN_ESR1_TX_MASK, /*!< FlexCAN In Transmission Status. */ kFLEXCAN_ReceivingFlag = CAN_ESR1_RX_MASK, /*!< FlexCAN In Reception Status. */ kFLEXCAN_BusOffIntFlag = CAN_ESR1_BOFFINT_MASK, /*!< Bus Off Interrupt Flag. */ kFLEXCAN_ErrorIntFlag = CAN_ESR1_ERRINT_MASK, /*!< Error Interrupt Flag. */ kFLEXCAN_WakeUpIntFlag = CAN_ESR1_WAKINT_MASK, /*!< Wake-Up Interrupt Flag. */ kFLEXCAN_ErrorFlag = (int)( /*!< All FlexCAN Error Status. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) CAN_ESR1_STFERR_FAST_MASK | CAN_ESR1_FRMERR_FAST_MASK | CAN_ESR1_CRCERR_FAST_MASK | CAN_ESR1_BIT0ERR_FAST_MASK | CAN_ESR1_BIT1ERR_FAST_MASK | CAN_ESR1_ERROVR_MASK | #endif CAN_ESR1_BIT1ERR_MASK | CAN_ESR1_BIT0ERR_MASK | CAN_ESR1_ACKERR_MASK | CAN_ESR1_CRCERR_MASK | CAN_ESR1_FRMERR_MASK | CAN_ESR1_STFERR_MASK), }; /*! * @brief FlexCAN error status flags. * * The FlexCAN Error Status enumerations is used to report current error of the FlexCAN bus. * This enumerations should be used with KFLEXCAN_ErrorFlag in @ref _flexcan_flags enumerations * to ditermine which error is generated. */ enum _flexcan_error_flags { #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) kFLEXCAN_FDStuffingError = CAN_ESR1_STFERR_FAST_MASK, /*!< Stuffing Error. */ kFLEXCAN_FDFormError = CAN_ESR1_FRMERR_FAST_MASK, /*!< Form Error. */ kFLEXCAN_FDCrcError = CAN_ESR1_CRCERR_FAST_MASK, /*!< Cyclic Redundancy Check Error. */ kFLEXCAN_FDBit0Error = CAN_ESR1_BIT0ERR_FAST_MASK, /*!< Unable to send dominant bit. */ kFLEXCAN_FDBit1Error = (int)CAN_ESR1_BIT1ERR_FAST_MASK, /*!< Unable to send recessive bit. */ kFLEXCAN_OverrunError = CAN_ESR1_ERROVR_MASK, /*!< Error Overrun Status. */ #endif kFLEXCAN_StuffingError = CAN_ESR1_STFERR_MASK, /*!< Stuffing Error. */ kFLEXCAN_FormError = CAN_ESR1_FRMERR_MASK, /*!< Form Error. */ kFLEXCAN_CrcError = CAN_ESR1_CRCERR_MASK, /*!< Cyclic Redundancy Check Error. */ kFLEXCAN_AckError = CAN_ESR1_ACKERR_MASK, /*!< Received no ACK on transmission. */ kFLEXCAN_Bit0Error = CAN_ESR1_BIT0ERR_MASK, /*!< Unable to send dominant bit. */ kFLEXCAN_Bit1Error = CAN_ESR1_BIT1ERR_MASK, /*!< Unable to send recessive bit. */ }; /*! * @brief FlexCAN Rx FIFO status flags. * * The FlexCAN Rx FIFO Status enumerations are used to determine the status of the * Rx FIFO. Because Rx FIFO occupy the MB0 ~ MB7 (Rx Fifo filter also occupies * more Message Buffer space), Rx FIFO status flags are mapped to the corresponding * Message Buffer status flags. */ enum _flexcan_rx_fifo_flags { kFLEXCAN_RxFifoOverflowFlag = CAN_IFLAG1_BUF7I_MASK, /*!< Rx FIFO overflow flag. */ kFLEXCAN_RxFifoWarningFlag = CAN_IFLAG1_BUF6I_MASK, /*!< Rx FIFO almost full flag. */ kFLEXCAN_RxFifoFrameAvlFlag = CAN_IFLAG1_BUF5I_MASK, /*!< Frames available in Rx FIFO flag. */ }; #if defined(__CC_ARM) #pragma anon_unions #endif /*! @brief FlexCAN message frame structure. */ typedef struct _flexcan_frame { struct { uint32_t timestamp : 16; /*!< FlexCAN internal Free-Running Counter Time Stamp. */ uint32_t length : 4; /*!< CAN frame payload length in bytes(Range: 0~8). */ uint32_t type : 1; /*!< CAN Frame Type(DATA or REMOTE). */ uint32_t format : 1; /*!< CAN Frame Identifier(STD or EXT format). */ uint32_t : 1; /*!< Reserved. */ uint32_t idhit : 9; /*!< CAN Rx FIFO filter hit id(This value is only used in Rx FIFO receive mode). */ }; struct { uint32_t id : 29; /*!< CAN Frame Identifier, should be set using FLEXCAN_ID_EXT() or FLEXCAN_ID_STD() macro. */ uint32_t : 3; /*!< Reserved. */ }; union { struct { uint32_t dataWord0; /*!< CAN Frame payload word0. */ uint32_t dataWord1; /*!< CAN Frame payload word1. */ }; struct { uint8_t dataByte3; /*!< CAN Frame payload byte3. */ uint8_t dataByte2; /*!< CAN Frame payload byte2. */ uint8_t dataByte1; /*!< CAN Frame payload byte1. */ uint8_t dataByte0; /*!< CAN Frame payload byte0. */ uint8_t dataByte7; /*!< CAN Frame payload byte7. */ uint8_t dataByte6; /*!< CAN Frame payload byte6. */ uint8_t dataByte5; /*!< CAN Frame payload byte5. */ uint8_t dataByte4; /*!< CAN Frame payload byte4. */ }; }; } flexcan_frame_t; #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! @brief CAN FDmessage frame structure. */ typedef struct _flexcan_fd_frame { struct { uint32_t timestamp : 16; /*!< FlexCAN internal Free-Running Counter Time Stamp. */ uint32_t length : 4; /*!< CAN frame payload length in bytes(Range: 0~8). */ uint32_t type : 1; /*!< CAN Frame Type(DATA or REMOTE). */ uint32_t format : 1; /*!< CAN Frame Identifier(STD or EXT format). */ uint32_t srr : 1; /*!< Substitute Remote request. */ uint32_t : 1; uint32_t code : 4; /*!< Message Buffer Code. */ uint32_t : 1; uint32_t esi : 1; /*!< Error State Indicator. */ uint32_t brs : 1; /*!< Bit Rate Switch. */ uint32_t edl : 1; /*!< Extended Data Length. */ }; struct { uint32_t id : 29; /*!< CAN Frame Identifier, should be set using FLEXCAN_ID_EXT() or FLEXCAN_ID_STD() macro. */ uint32_t : 3; /*!< Reserved. */ }; union { struct { uint32_t dataWord[16]; /*!< CAN FD Frame payload, 16 double word maximum. */ }; /* Note: the maximum databyte* below is actually 64, user can add them if needed, or just use dataWord[*] instead. */ struct { uint8_t dataByte3; /*!< CAN Frame payload byte3. */ uint8_t dataByte2; /*!< CAN Frame payload byte2. */ uint8_t dataByte1; /*!< CAN Frame payload byte1. */ uint8_t dataByte0; /*!< CAN Frame payload byte0. */ uint8_t dataByte7; /*!< CAN Frame payload byte7. */ uint8_t dataByte6; /*!< CAN Frame payload byte6. */ uint8_t dataByte5; /*!< CAN Frame payload byte5. */ uint8_t dataByte4; /*!< CAN Frame payload byte4. */ }; }; } flexcan_fd_frame_t; #endif /*! @brief FlexCAN protocol timing characteristic configuration structure. */ typedef struct _flexcan_timing_config { uint16_t preDivider; /*!< Clock Pre-scaler Division Factor. */ uint8_t rJumpwidth; /*!< Re-sync Jump Width. */ uint8_t phaseSeg1; /*!< Phase Segment 1. */ uint8_t phaseSeg2; /*!< Phase Segment 2. */ uint8_t propSeg; /*!< Propagation Segment. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) uint16_t fpreDivider; /*!< Fast Clock Pre-scaler Division Factor. */ uint8_t frJumpwidth; /*!< Fast Re-sync Jump Width. */ uint8_t fphaseSeg1; /*!< Fast Phase Segment 1. */ uint8_t fphaseSeg2; /*!< Fast Phase Segment 2. */ uint8_t fpropSeg; /*!< Fast Propagation Segment. */ #endif } flexcan_timing_config_t; /*! @brief FlexCAN module configuration structure. */ typedef struct _flexcan_config { uint32_t baudRate; /*!< FlexCAN baud rate in bps. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) uint32_t baudRateFD; /*!< FlexCAN FD baud rate in bps. */ #endif flexcan_clock_source_t clkSrc; /*!< Clock source for FlexCAN Protocol Engine. */ flexcan_wake_up_source_t wakeupSrc; /*!< Wake up source selection. */ uint8_t maxMbNum; /*!< The maximum number of Message Buffers used by user. */ bool enableLoopBack; /*!< Enable or Disable Loop Back Self Test Mode. */ bool enableTimerSync; /*!< Enable or Disable Timer Synchronization. */ bool enableSelfWakeup; /*!< Enable or Disable Self Wakeup Mode. */ bool enableIndividMask; /*!< Enable or Disable Rx Individual Mask. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) bool enableDoze; /*!< Enable or Disable Doze Mode. */ #endif flexcan_timing_config_t timingConfig; /* Protocol timing . */ } flexcan_config_t; /*! * @brief FlexCAN Receive Message Buffer configuration structure * * This structure is used as the parameter of FLEXCAN_SetRxMbConfig() function. * The FLEXCAN_SetRxMbConfig() function is used to configure FlexCAN Receive * Message Buffer. The function abort previous receiving process, clean the * Message Buffer and activate the Rx Message Buffer using given Message Buffer * setting. */ typedef struct _flexcan_rx_mb_config { uint32_t id; /*!< CAN Message Buffer Frame Identifier, should be set using FLEXCAN_ID_EXT() or FLEXCAN_ID_STD() macro. */ flexcan_frame_format_t format; /*!< CAN Frame Identifier format(Standard of Extend). */ flexcan_frame_type_t type; /*!< CAN Frame Type(Data or Remote). */ } flexcan_rx_mb_config_t; /*! @brief FlexCAN Rx FIFO configuration structure. */ typedef struct _flexcan_rx_fifo_config { uint32_t *idFilterTable; /*!< Pointer to the FlexCAN Rx FIFO identifier filter table. */ uint8_t idFilterNum; /*!< The quantity of filter elements. */ flexcan_rx_fifo_filter_type_t idFilterType; /*!< The FlexCAN Rx FIFO Filter type. */ flexcan_rx_fifo_priority_t priority; /*!< The FlexCAN Rx FIFO receive priority. */ } flexcan_rx_fifo_config_t; /*! @brief FlexCAN Message Buffer transfer. */ typedef struct _flexcan_mb_transfer { #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) flexcan_fd_frame_t *framefd; #endif flexcan_frame_t *frame; /*!< The buffer of CAN Message to be transfer. */ uint8_t mbIdx; /*!< The index of Message buffer used to transfer Message. */ } flexcan_mb_transfer_t; /*! @brief FlexCAN Rx FIFO transfer. */ typedef struct _flexcan_fifo_transfer { flexcan_frame_t *frame; /*!< The buffer of CAN Message to be received from Rx FIFO. */ } flexcan_fifo_transfer_t; /*! @brief FlexCAN handle structure definition. */ typedef struct _flexcan_handle flexcan_handle_t; /*! @brief FlexCAN transfer callback function. * * The FlexCAN transfer callback returns a value from the underlying layer. * If the status equals to kStatus_FLEXCAN_ErrorStatus, the result parameter is the Content of * FlexCAN status register which can be used to get the working status(or error status) of FlexCAN module. * If the status equals to other FlexCAN Message Buffer transfer status, the result is the index of * Message Buffer that generate transfer event. * If the status equals to other FlexCAN Message Buffer transfer status, the result is meaningless and should be * Ignored. */ typedef void (*flexcan_transfer_callback_t)( CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData); /*! @brief FlexCAN handle structure. */ struct _flexcan_handle { flexcan_transfer_callback_t callback; /*!< Callback function. */ void *userData; /*!< FlexCAN callback function parameter.*/ flexcan_frame_t *volatile mbFrameBuf[CAN_WORD1_COUNT]; #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) flexcan_fd_frame_t *volatile mbFDFrameBuf[CAN_WORD1_COUNT]; #endif /*!< The buffer for received data from Message Buffers. */ flexcan_frame_t *volatile rxFifoFrameBuf; /*!< The buffer for received data from Rx FIFO. */ volatile uint8_t mbState[CAN_WORD1_COUNT]; /*!< Message Buffer transfer state. */ volatile uint8_t rxFifoState; /*!< Rx FIFO transfer state. */ }; /****************************************************************************** * API *****************************************************************************/ #if defined(__cplusplus) extern "C" { #endif /*! * @name Initialization and deinitialization * @{ */ /*! * @brief Get the FlexCAN instance from peripheral base address. * * @param base FlexCAN peripheral base address. * @return FlexCAN instance. */ uint32_t FLEXCAN_GetInstance(CAN_Type *base); /*! * @brief Initializes a FlexCAN instance. * * This function initializes the FlexCAN module with user-defined settings. * This example shows how to set up the flexcan_config_t parameters and how * to call the FLEXCAN_Init function by passing in these parameters. * @code * flexcan_config_t flexcanConfig; * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc; * flexcanConfig.baudRate = 1000000U; * flexcanConfig.maxMbNum = 16; * flexcanConfig.enableLoopBack = false; * flexcanConfig.enableSelfWakeup = false; * flexcanConfig.enableIndividMask = false; * flexcanConfig.enableDoze = false; * flexcanConfig.timingConfig = timingConfig; * FLEXCAN_Init(CAN0, &flexcanConfig, 8000000UL); * @endcode * * @param base FlexCAN peripheral base address. * @param config Pointer to the user-defined configuration structure. * @param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz. */ void FLEXCAN_Init(CAN_Type *base, const flexcan_config_t *config, uint32_t sourceClock_Hz); #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief Initializes a FlexCAN instance. * * This function initializes the FlexCAN module with user-defined settings. * This example shows how to set up the flexcan_config_t parameters and how * to call the FLEXCAN_FDInit function by passing in these parameters. * @code * flexcan_config_t flexcanConfig; * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc; * flexcanConfig.baudRate = 1000000U; * flexcanConfig.baudRateFD = 2000000U; * flexcanConfig.maxMbNum = 16; * flexcanConfig.enableLoopBack = false; * flexcanConfig.enableSelfWakeup = false; * flexcanConfig.enableIndividMask = false; * flexcanConfig.enableDoze = false; * flexcanConfig.timingConfig = timingConfig; * FLEXCAN_FDInit(CAN0, &flexcanConfig, 8000000UL, kFLEXCAN_16BperMB, false); * @endcode * * @param base FlexCAN peripheral base address. * @param config Pointer to the user-defined configuration structure. * @param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz. * @param dataSize FlexCAN FD frame payload size. * @param brs If bitrate switch is enabled in FD mode. */ void FLEXCAN_FDInit( CAN_Type *base, const flexcan_config_t *config, uint32_t sourceClock_Hz, flexcan_mb_size_t dataSize, bool brs); #endif /*! * @brief De-initializes a FlexCAN instance. * * This function disables the FlexCAN module clock and sets all register values * to the reset value. * * @param base FlexCAN peripheral base address. */ void FLEXCAN_Deinit(CAN_Type *base); /*! * @brief Gets the default configuration structure. * * This function initializes the FlexCAN configuration structure to default values. The default * values are as follows. * flexcanConfig->clkSrc = kFLEXCAN_ClkSrcOsc; * flexcanConfig->baudRate = 1000000U; * flexcanConfig->baudRateFD = 2000000U; * flexcanConfig->maxMbNum = 16; * flexcanConfig->enableLoopBack = false; * flexcanConfig->enableSelfWakeup = false; * flexcanConfig->enableIndividMask = false; * flexcanConfig->enableDoze = false; * flexcanConfig.timingConfig = timingConfig; * * @param config Pointer to the FlexCAN configuration structure. */ void FLEXCAN_GetDefaultConfig(flexcan_config_t *config); /* @} */ /*! * @name Configuration. * @{ */ /*! * @brief Sets the FlexCAN protocol timing characteristic. * * This function gives user settings to CAN bus timing characteristic. * The function is for an experienced user. For less experienced users, call * the FLEXCAN_Init() and fill the baud rate field with a desired value. * This provides the default timing characteristics to the module. * * Note that calling FLEXCAN_SetTimingConfig() overrides the baud rate set * in FLEXCAN_Init(). * * @param base FlexCAN peripheral base address. * @param config Pointer to the timing configuration structure. */ void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *config); #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief Sets the FlexCAN FD protocol timing characteristic. * * This function gives user settings to CAN bus timing characteristic. * The function is for an experienced user. For less experienced users, call * the FLEXCAN_Init() and fill the baud rate field with a desired value. * This provides the default timing characteristics to the module. * * Note that calling FLEXCAN_SetFDTimingConfig() overrides the baud rate set * in FLEXCAN_Init(). * * @param base FlexCAN peripheral base address. * @param config Pointer to the timing configuration structure. */ void FLEXCAN_SetFDTimingConfig(CAN_Type *base, const flexcan_timing_config_t *config); #endif /*! * @brief Sets the FlexCAN receive message buffer global mask. * * This function sets the global mask for the FlexCAN message buffer in a matching process. * The configuration is only effective when the Rx individual mask is disabled in the FLEXCAN_Init(). * * @param base FlexCAN peripheral base address. * @param mask Rx Message Buffer Global Mask value. */ void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask); /*! * @brief Sets the FlexCAN receive FIFO global mask. * * This function sets the global mask for FlexCAN FIFO in a matching process. * * @param base FlexCAN peripheral base address. * @param mask Rx Fifo Global Mask value. */ void FLEXCAN_SetRxFifoGlobalMask(CAN_Type *base, uint32_t mask); /*! * @brief Sets the FlexCAN receive individual mask. * * This function sets the individual mask for the FlexCAN matching process. * The configuration is only effective when the Rx individual mask is enabled in the FLEXCAN_Init(). * If the Rx FIFO is disabled, the individual mask is applied to the corresponding Message Buffer. * If the Rx FIFO is enabled, the individual mask for Rx FIFO occupied Message Buffer is applied to * the Rx Filter with the same index. Note that only the first 32 * individual masks can be used as the Rx FIFO filter mask. * * @param base FlexCAN peripheral base address. * @param maskIdx The Index of individual Mask. * @param mask Rx Individual Mask value. */ void FLEXCAN_SetRxIndividualMask(CAN_Type *base, uint8_t maskIdx, uint32_t mask); /*! * @brief Configures a FlexCAN transmit message buffer. * * This function aborts the previous transmission, cleans the Message Buffer, and * configures it as a Transmit Message Buffer. * * @param base FlexCAN peripheral base address. * @param mbIdx The Message Buffer index. * @param enable Enable/disable Tx Message Buffer. * - true: Enable Tx Message Buffer. * - false: Disable Tx Message Buffer. */ void FLEXCAN_SetTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable); #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief Configures a FlexCAN transmit message buffer. * * This function aborts the previous transmission, cleans the Message Buffer, and * configures it as a Transmit Message Buffer. * * @param base FlexCAN peripheral base address. * @param mbIdx The Message Buffer index. * @param enable Enable/disable Tx Message Buffer. * - true: Enable Tx Message Buffer. * - false: Disable Tx Message Buffer. */ void FLEXCAN_SetFDTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable); #endif /*! * @brief Configures a FlexCAN Receive Message Buffer. * * This function cleans a FlexCAN build-in Message Buffer and configures it * as a Receive Message Buffer. * * @param base FlexCAN peripheral base address. * @param mbIdx The Message Buffer index. * @param config Pointer to the FlexCAN Message Buffer configuration structure. * @param enable Enable/disable Rx Message Buffer. * - true: Enable Rx Message Buffer. * - false: Disable Rx Message Buffer. */ void FLEXCAN_SetRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *config, bool enable); #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief Configures a FlexCAN Receive Message Buffer. * * This function cleans a FlexCAN build-in Message Buffer and configures it * as a Receive Message Buffer. * * @param base FlexCAN peripheral base address. * @param mbIdx The Message Buffer index. * @param config Pointer to the FlexCAN Message Buffer configuration structure. * @param enable Enable/disable Rx Message Buffer. * - true: Enable Rx Message Buffer. * - false: Disable Rx Message Buffer. */ void FLEXCAN_SetFDRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *config, bool enable); #endif /*! * @brief Configures the FlexCAN Rx FIFO. * * This function configures the Rx FIFO with given Rx FIFO configuration. * * @param base FlexCAN peripheral base address. * @param config Pointer to the FlexCAN Rx FIFO configuration structure. * @param enable Enable/disable Rx FIFO. * - true: Enable Rx FIFO. * - false: Disable Rx FIFO. */ void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *config, bool enable); /* @} */ /*! * @name Status * @{ */ /*! * @brief Gets the FlexCAN module interrupt flags. * * This function gets all FlexCAN status flags. The flags are returned as the logical * OR value of the enumerators @ref _flexcan_flags. To check the specific status, * compare the return value with enumerators in @ref _flexcan_flags. * * @param base FlexCAN peripheral base address. * @return FlexCAN status flags which are ORed by the enumerators in the _flexcan_flags. */ static inline uint32_t FLEXCAN_GetStatusFlags(CAN_Type *base) { return base->ESR1; } /*! * @brief Clears status flags with the provided mask. * * This function clears the FlexCAN status flags with a provided mask. An automatically cleared flag * can't be cleared by this function. * * @param base FlexCAN peripheral base address. * @param mask The status flags to be cleared, it is logical OR value of @ref _flexcan_flags. */ static inline void FLEXCAN_ClearStatusFlags(CAN_Type *base, uint32_t mask) { /* Write 1 to clear status flag. */ base->ESR1 = mask; } /*! * @brief Gets the FlexCAN Bus Error Counter value. * * This function gets the FlexCAN Bus Error Counter value for both Tx and * Rx direction. These values may be needed in the upper layer error handling. * * @param base FlexCAN peripheral base address. * @param txErrBuf Buffer to store Tx Error Counter value. * @param rxErrBuf Buffer to store Rx Error Counter value. */ static inline void FLEXCAN_GetBusErrCount(CAN_Type *base, uint8_t *txErrBuf, uint8_t *rxErrBuf) { if (txErrBuf) { *txErrBuf = (uint8_t)((base->ECR & CAN_ECR_TXERRCNT_MASK) >> CAN_ECR_TXERRCNT_SHIFT); } if (rxErrBuf) { *rxErrBuf = (uint8_t)((base->ECR & CAN_ECR_RXERRCNT_MASK) >> CAN_ECR_RXERRCNT_SHIFT); } } /*! * @brief Gets the FlexCAN Message Buffer interrupt flags. * * This function gets the interrupt flags of a given Message Buffers. * * @param base FlexCAN peripheral base address. * @param mask The ORed FlexCAN Message Buffer mask. * @return The status of given Message Buffers. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) static inline uint64_t FLEXCAN_GetMbStatusFlags(CAN_Type *base, uint64_t mask) #else static inline uint32_t FLEXCAN_GetMbStatusFlags(CAN_Type *base, uint32_t mask) #endif { #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) return ((((uint64_t)base->IFLAG1) & mask) | ((((uint64_t)base->IFLAG2) << 32) & mask)); #else return (base->IFLAG1 & mask); #endif } /*! * @brief Clears the FlexCAN Message Buffer interrupt flags. * * This function clears the interrupt flags of a given Message Buffers. * * @param base FlexCAN peripheral base address. * @param mask The ORed FlexCAN Message Buffer mask. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) static inline void FLEXCAN_ClearMbStatusFlags(CAN_Type *base, uint64_t mask) #else static inline void FLEXCAN_ClearMbStatusFlags(CAN_Type *base, uint32_t mask) #endif { #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) base->IFLAG1 = (uint32_t)(mask & 0xFFFFFFFFU); base->IFLAG2 = (uint32_t)(mask >> 32); #else base->IFLAG1 = mask; #endif } /* @} */ /*! * @name Interrupts * @{ */ /*! * @brief Enables FlexCAN interrupts according to the provided mask. * * This function enables the FlexCAN interrupts according to the provided mask. The mask * is a logical OR of enumeration members, see @ref _flexcan_interrupt_enable. * * @param base FlexCAN peripheral base address. * @param mask The interrupts to enable. Logical OR of @ref _flexcan_interrupt_enable. */ static inline void FLEXCAN_EnableInterrupts(CAN_Type *base, uint32_t mask) { /* Solve Wake Up Interrupt. */ if (mask & kFLEXCAN_WakeUpInterruptEnable) { base->MCR |= CAN_MCR_WAKMSK_MASK; } /* Solve others. */ base->CTRL1 |= (mask & (~((uint32_t)kFLEXCAN_WakeUpInterruptEnable))); } /*! * @brief Disables FlexCAN interrupts according to the provided mask. * * This function disables the FlexCAN interrupts according to the provided mask. The mask * is a logical OR of enumeration members, see @ref _flexcan_interrupt_enable. * * @param base FlexCAN peripheral base address. * @param mask The interrupts to disable. Logical OR of @ref _flexcan_interrupt_enable. */ static inline void FLEXCAN_DisableInterrupts(CAN_Type *base, uint32_t mask) { /* Solve Wake Up Interrupt. */ if (mask & kFLEXCAN_WakeUpInterruptEnable) { base->MCR &= ~CAN_MCR_WAKMSK_MASK; } /* Solve others. */ base->CTRL1 &= ~(mask & (~((uint32_t)kFLEXCAN_WakeUpInterruptEnable))); } /*! * @brief Enables FlexCAN Message Buffer interrupts. * * This function enables the interrupts of given Message Buffers. * * @param base FlexCAN peripheral base address. * @param mask The ORed FlexCAN Message Buffer mask. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) static inline void FLEXCAN_EnableMbInterrupts(CAN_Type *base, uint64_t mask) #else static inline void FLEXCAN_EnableMbInterrupts(CAN_Type *base, uint32_t mask) #endif { #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) base->IMASK1 |= (uint32_t)(mask & 0xFFFFFFFFU); base->IMASK2 |= (uint32_t)(mask >> 32); #else base->IMASK1 |= mask; #endif } /*! * @brief Disables FlexCAN Message Buffer interrupts. * * This function disables the interrupts of given Message Buffers. * * @param base FlexCAN peripheral base address. * @param mask The ORed FlexCAN Message Buffer mask. */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) static inline void FLEXCAN_DisableMbInterrupts(CAN_Type *base, uint64_t mask) #else static inline void FLEXCAN_DisableMbInterrupts(CAN_Type *base, uint32_t mask) #endif { #if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) base->IMASK1 &= ~((uint32_t)(mask & 0xFFFFFFFFU)); base->IMASK2 &= ~((uint32_t)(mask >> 32)); #else base->IMASK1 &= ~mask; #endif } /* @} */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) && FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) /*! * @name DMA Control * @{ */ /*! * @brief Enables or disables the FlexCAN Rx FIFO DMA request. * * This function enables or disables the DMA feature of FlexCAN build-in Rx FIFO. * * @param base FlexCAN peripheral base address. * @param enable true to enable, false to disable. */ void FLEXCAN_EnableRxFifoDMA(CAN_Type *base, bool enable); /*! * @brief Gets the Rx FIFO Head address. * * This function returns the FlexCAN Rx FIFO Head address, which is mainly used for the DMA/eDMA use case. * * @param base FlexCAN peripheral base address. * @return FlexCAN Rx FIFO Head address. */ static inline uint32_t FLEXCAN_GetRxFifoHeadAddr(CAN_Type *base) { return (uint32_t) & (base->MB[0].CS); } /* @} */ #endif /* FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA */ /*! * @name Bus Operations * @{ */ /*! * @brief Enables or disables the FlexCAN module operation. * * This function enables or disables the FlexCAN module. * * @param base FlexCAN base pointer. * @param enable true to enable, false to disable. */ static inline void FLEXCAN_Enable(CAN_Type *base, bool enable) { if (enable) { base->MCR &= ~CAN_MCR_MDIS_MASK; /* Wait FlexCAN exit from low-power mode. */ while (base->MCR & CAN_MCR_LPMACK_MASK) { } } else { base->MCR |= CAN_MCR_MDIS_MASK; /* Wait FlexCAN enter low-power mode. */ while (!(base->MCR & CAN_MCR_LPMACK_MASK)) { } } } /*! * @brief Writes a FlexCAN Message to the Transmit Message Buffer. * * This function writes a CAN Message to the specified Transmit Message Buffer * and changes the Message Buffer state to start CAN Message transmit. After * that the function returns immediately. * * @param base FlexCAN peripheral base address. * @param mbIdx The FlexCAN Message Buffer index. * @param txFrame Pointer to CAN message frame to be sent. * @retval kStatus_Success - Write Tx Message Buffer Successfully. * @retval kStatus_Fail - Tx Message Buffer is currently in use. */ status_t FLEXCAN_WriteTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_frame_t *txFrame); /*! * @brief Reads a FlexCAN Message from Receive Message Buffer. * * This function reads a CAN message from a specified Receive Message Buffer. * The function fills a receive CAN message frame structure with * just received data and activates the Message Buffer again. * The function returns immediately. * * @param base FlexCAN peripheral base address. * @param mbIdx The FlexCAN Message Buffer index. * @param rxFrame Pointer to CAN message frame structure for reception. * @retval kStatus_Success - Rx Message Buffer is full and has been read successfully. * @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully. * @retval kStatus_Fail - Rx Message Buffer is empty. */ status_t FLEXCAN_ReadRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *rxFrame); #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief Writes a FlexCAN FD Message to the Transmit Message Buffer. * * This function writes a CAN FD Message to the specified Transmit Message Buffer * and changes the Message Buffer state to start CAN FD Message transmit. After * that the function returns immediately. * * @param base FlexCAN peripheral base address. * @param mbIdx The FlexCAN FD Message Buffer index. * @param txFrame Pointer to CAN FD message frame to be sent. * @retval kStatus_Success - Write Tx Message Buffer Successfully. * @retval kStatus_Fail - Tx Message Buffer is currently in use. */ status_t FLEXCAN_WriteFDTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_fd_frame_t *txFrame); /*! * @brief Reads a FlexCAN FD Message from Receive Message Buffer. * * This function reads a CAN FD message from a specified Receive Message Buffer. * The function fills a receive CAN FD message frame structure with * just received data and activates the Message Buffer again. * The function returns immediately. * * @param base FlexCAN peripheral base address. * @param mbIdx The FlexCAN FD Message Buffer index. * @param rxFrame Pointer to CAN FD message frame structure for reception. * @retval kStatus_Success - Rx Message Buffer is full and has been read successfully. * @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully. * @retval kStatus_Fail - Rx Message Buffer is empty. */ status_t FLEXCAN_ReadFDRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *rxFrame); #endif /*! * @brief Reads a FlexCAN Message from Rx FIFO. * * This function reads a CAN message from the FlexCAN build-in Rx FIFO. * * @param base FlexCAN peripheral base address. * @param rxFrame Pointer to CAN message frame structure for reception. * @retval kStatus_Success - Read Message from Rx FIFO successfully. * @retval kStatus_Fail - Rx FIFO is not enabled. */ status_t FLEXCAN_ReadRxFifo(CAN_Type *base, flexcan_frame_t *rxFrame); /* @} */ /*! * @name Transactional * @{ */ #if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) /*! * @brief Performs a polling send transaction on the CAN bus. * * Note that a transfer handle does not need to be created before calling this API. * * @param base FlexCAN peripheral base pointer. * @param mbIdx The FlexCAN FD Message Buffer index. * @param txFrame Pointer to CAN FD message frame to be sent. * @retval kStatus_Success - Write Tx Message Buffer Successfully. * @retval kStatus_Fail - Tx Message Buffer is currently in use. */ status_t FLEXCAN_TransferFDSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *txFrame); /*! * @brief Performs a polling receive transaction on the CAN bus. * * Note that a transfer handle does not need to be created before calling this API. * * @param base FlexCAN peripheral base pointer. * @param mbIdx The FlexCAN FD Message Buffer index. * @param rxFrame Pointer to CAN FD message frame structure for reception. * @retval kStatus_Success - Rx Message Buffer is full and has been read successfully. * @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully. * @retval kStatus_Fail - Rx Message Buffer is empty. */ status_t FLEXCAN_TransferFDReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *rxFrame); /*! * @brief Sends a message using IRQ. * * This function sends a message using IRQ. This is a non-blocking function, which returns * right away. When messages have been sent out, the send callback function is called. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param xfer FlexCAN FD Message Buffer transfer structure. See the #flexcan_mb_transfer_t. * @retval kStatus_Success Start Tx Message Buffer sending process successfully. * @retval kStatus_Fail Write Tx Message Buffer failed. * @retval kStatus_FLEXCAN_TxBusy Tx Message Buffer is in use. */ status_t FLEXCAN_TransferFDSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer); /*! * @brief Receives a message using IRQ. * * This function receives a message using IRQ. This is non-blocking function, which returns * right away. When the message has been received, the receive callback function is called. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param xfer FlexCAN FD Message Buffer transfer structure. See the #flexcan_mb_transfer_t. * @retval kStatus_Success - Start Rx Message Buffer receiving process successfully. * @retval kStatus_FLEXCAN_RxBusy - Rx Message Buffer is in use. */ status_t FLEXCAN_TransferFDReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer); /*! * @brief Aborts the interrupt driven message send process. * * This function aborts the interrupt driven message send process. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param mbIdx The FlexCAN FD Message Buffer index. */ void FLEXCAN_TransferFDAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx); #endif /*! * @brief Performs a polling send transaction on the CAN bus. * * Note that a transfer handle does not need to be created before calling this API. * * @param base FlexCAN peripheral base pointer. * @param mbIdx The FlexCAN Message Buffer index. * @param txFrame Pointer to CAN message frame to be sent. * @retval kStatus_Success - Write Tx Message Buffer Successfully. * @retval kStatus_Fail - Tx Message Buffer is currently in use. */ status_t FLEXCAN_TransferSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *txFrame); /*! * @brief Performs a polling receive transaction on the CAN bus. * * Note that a transfer handle does not need to be created before calling this API. * * @param base FlexCAN peripheral base pointer. * @param mbIdx The FlexCAN Message Buffer index. * @param rxFrame Pointer to CAN message frame structure for reception. * @retval kStatus_Success - Rx Message Buffer is full and has been read successfully. * @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully. * @retval kStatus_Fail - Rx Message Buffer is empty. */ status_t FLEXCAN_TransferReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *rxFrame); /*! * @brief Performs a polling receive transaction from Rx FIFO on the CAN bus. * * Note that a transfer handle does not need to be created before calling this API. * * @param base FlexCAN peripheral base pointer. * @param rxFrame Pointer to CAN message frame structure for reception. * @retval kStatus_Success - Read Message from Rx FIFO successfully. * @retval kStatus_Fail - Rx FIFO is not enabled. */ status_t FLEXCAN_TransferReceiveFifoBlocking(CAN_Type *base, flexcan_frame_t *rxFrame); /*! * @brief Initializes the FlexCAN handle. * * This function initializes the FlexCAN handle, which can be used for other FlexCAN * transactional APIs. Usually, for a specified FlexCAN instance, * call this API once to get the initialized handle. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param callback The callback function. * @param userData The parameter of the callback function. */ void FLEXCAN_TransferCreateHandle(CAN_Type *base, flexcan_handle_t *handle, flexcan_transfer_callback_t callback, void *userData); /*! * @brief Sends a message using IRQ. * * This function sends a message using IRQ. This is a non-blocking function, which returns * right away. When messages have been sent out, the send callback function is called. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param xfer FlexCAN Message Buffer transfer structure. See the #flexcan_mb_transfer_t. * @retval kStatus_Success Start Tx Message Buffer sending process successfully. * @retval kStatus_Fail Write Tx Message Buffer failed. * @retval kStatus_FLEXCAN_TxBusy Tx Message Buffer is in use. */ status_t FLEXCAN_TransferSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer); /*! * @brief Receives a message using IRQ. * * This function receives a message using IRQ. This is non-blocking function, which returns * right away. When the message has been received, the receive callback function is called. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param xfer FlexCAN Message Buffer transfer structure. See the #flexcan_mb_transfer_t. * @retval kStatus_Success - Start Rx Message Buffer receiving process successfully. * @retval kStatus_FLEXCAN_RxBusy - Rx Message Buffer is in use. */ status_t FLEXCAN_TransferReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer); /*! * @brief Receives a message from Rx FIFO using IRQ. * * This function receives a message using IRQ. This is a non-blocking function, which returns * right away. When all messages have been received, the receive callback function is called. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param xfer FlexCAN Rx FIFO transfer structure. See the @ref flexcan_fifo_transfer_t. * @retval kStatus_Success - Start Rx FIFO receiving process successfully. * @retval kStatus_FLEXCAN_RxFifoBusy - Rx FIFO is currently in use. */ status_t FLEXCAN_TransferReceiveFifoNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_fifo_transfer_t *xfer); /*! * @brief Aborts the interrupt driven message send process. * * This function aborts the interrupt driven message send process. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param mbIdx The FlexCAN Message Buffer index. */ void FLEXCAN_TransferAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx); /*! * @brief Aborts the interrupt driven message receive process. * * This function aborts the interrupt driven message receive process. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. * @param mbIdx The FlexCAN Message Buffer index. */ void FLEXCAN_TransferAbortReceive(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx); /*! * @brief Aborts the interrupt driven message receive from Rx FIFO process. * * This function aborts the interrupt driven message receive from Rx FIFO process. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. */ void FLEXCAN_TransferAbortReceiveFifo(CAN_Type *base, flexcan_handle_t *handle); /*! * @brief FlexCAN IRQ handle function. * * This function handles the FlexCAN Error, the Message Buffer, and the Rx FIFO IRQ request. * * @param base FlexCAN peripheral base address. * @param handle FlexCAN handle pointer. */ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle); /* @} */ #if defined(__cplusplus) } #endif /*! @}*/ #endif /* _FSL_FLEXCAN_H_ */