/********************************************************************** * $Id$ lpc_can.h 2011-06-02 *//** * @file lpc_can.h * @brief Contains all macro definitions and function prototypes * support for CAN firmware library on LPC * @version 1.0 * @date 02. June. 2011 * @author NXP MCU SW Application Team * * Copyright(C) 2011, NXP Semiconductor * All rights reserved. * *********************************************************************** * Software that is described herein is for illustrative purposes only * which provides customers with programming information regarding the * products. This software is supplied "AS IS" without any warranties. * NXP Semiconductors assumes no responsibility or liability for the * use of the software, conveys no license or title under any patent, * copyright, or mask work right to the product. NXP Semiconductors * reserves the right to make changes in the software without * notification. NXP Semiconductors also make no representation or * warranty that such application will be suitable for the specified * use without further testing or modification. * Permission to use, copy, modify, and distribute this software and its * documentation is hereby granted, under NXP Semiconductors' * relevant copyright in the software, without fee, provided that it * is used in conjunction with NXP Semiconductors microcontrollers. This * copyright, permission, and disclaimer notice must appear in all copies of * this code. **********************************************************************/ /* Peripheral group ----------------------------------------------------------- */ /** @defgroup CAN CAN (Controller Area Network) * @ingroup LPC_CMSIS_FwLib_Drivers * @{ */ #ifndef __LPC_CAN_H_ #define __LPC_CAN_H_ /* Includes ------------------------------------------------------------------- */ #include "LPC407x_8x_177x_8x.h" #include "lpc_types.h" #ifdef __cplusplus extern "C" { #endif /* Public Types --------------------------------------------------------------- */ /** @defgroup CAN_Public_Macros CAN Public Macros * @{ */ /** Controller ID for CAN1 */ #define CAN1_CTRL ((uint8_t)(0)) /** Controller ID for CAN2 */ #define CAN2_CTRL ((uint8_t)(1)) /** Message(s) Acceptance is enabled */ #define MSG_ENABLE ((uint8_t)(0)) /** Message(s) Acceptance is disabled */ #define MSG_DISABLE ((uint8_t)(1)) /** * @} */ /* Private Macros ------------------------------------------------------------- */ /** @defgroup CAN_Private_Macros CAN Private Macros * @{ */ /* --------------------- BIT DEFINITIONS -------------------------------------- */ /*********************************************************************//** * Macro defines for CAN Mode Register **********************************************************************/ /** CAN Reset mode */ #define CAN_MOD_RM ((uint32_t)(1<<0)) /** CAN Listen Only Mode */ #define CAN_MOD_LOM ((uint32_t)(1<<1)) /** CAN Self Test mode */ #define CAN_MOD_STM ((uint32_t)(1<<2)) /** CAN Transmit Priority mode */ #define CAN_MOD_TPM ((uint32_t)(1<<3)) /** CAN Sleep mode */ #define CAN_MOD_SM ((uint32_t)(1<<4)) /** CAN Receive Polarity mode */ #define CAN_MOD_RPM ((uint32_t)(1<<5)) /** CAN Test mode */ #define CAN_MOD_TM ((uint32_t)(1<<7)) /*********************************************************************//** * Macro defines for CAN Command Register **********************************************************************/ /** CAN Transmission Request */ #define CAN_CMR_TR ((uint32_t)(1)) /** CAN Abort Transmission */ #define CAN_CMR_AT ((uint32_t)(1<<1)) /** CAN Release Receive Buffer */ #define CAN_CMR_RRB ((uint32_t)(1<<2)) /** CAN Clear Data Overrun */ #define CAN_CMR_CDO ((uint32_t)(1<<3)) /** CAN Self Reception Request */ #define CAN_CMR_SRR ((uint32_t)(1<<4)) /** CAN Select Tx Buffer 1 */ #define CAN_CMR_STB1 ((uint32_t)(1<<5)) /** CAN Select Tx Buffer 2 */ #define CAN_CMR_STB2 ((uint32_t)(1<<6)) /** CAN Select Tx Buffer 3 */ #define CAN_CMR_STB3 ((uint32_t)(1<<7)) /*********************************************************************//** * Macro defines for CAN Global Status Register **********************************************************************/ /** CAN Receive Buffer Status */ #define CAN_GSR_RBS ((uint32_t)(1)) /** CAN Data Overrun Status */ #define CAN_GSR_DOS ((uint32_t)(1<<1)) /** CAN Transmit Buffer Status */ #define CAN_GSR_TBS ((uint32_t)(1<<2)) /** CAN Transmit Complete Status */ #define CAN_GSR_TCS ((uint32_t)(1<<3)) /** CAN Receive Status */ #define CAN_GSR_RS ((uint32_t)(1<<4)) /** CAN Transmit Status */ #define CAN_GSR_TS ((uint32_t)(1<<5)) /** CAN Error Status */ #define CAN_GSR_ES ((uint32_t)(1<<6)) /** CAN Bus Status */ #define CAN_GSR_BS ((uint32_t)(1<<7)) /** CAN Current value of the Rx Error Counter */ #define CAN_GSR_RXERR(n) ((uint32_t)((n&0xFF)<<16)) /** CAN Current value of the Tx Error Counter */ #define CAN_GSR_TXERR(n) ((uint32_t)(n&0xFF)<<24)) /*********************************************************************//** * Macro defines for CAN Interrupt and Capture Register **********************************************************************/ /** CAN Receive Interrupt */ #define CAN_ICR_RI ((uint32_t)(1)) /** CAN Transmit Interrupt 1 */ #define CAN_ICR_TI1 ((uint32_t)(1<<1)) /** CAN Error Warning Interrupt */ #define CAN_ICR_EI ((uint32_t)(1<<2)) /** CAN Data Overrun Interrupt */ #define CAN_ICR_DOI ((uint32_t)(1<<3)) /** CAN Wake-Up Interrupt */ #define CAN_ICR_WUI ((uint32_t)(1<<4)) /** CAN Error Passive Interrupt */ #define CAN_ICR_EPI ((uint32_t)(1<<5)) /** CAN Arbitration Lost Interrupt */ #define CAN_ICR_ALI ((uint32_t)(1<<6)) /** CAN Bus Error Interrupt */ #define CAN_ICR_BEI ((uint32_t)(1<<7)) /** CAN ID Ready Interrupt */ #define CAN_ICR_IDI ((uint32_t)(1<<8)) /** CAN Transmit Interrupt 2 */ #define CAN_ICR_TI2 ((uint32_t)(1<<9)) /** CAN Transmit Interrupt 3 */ #define CAN_ICR_TI3 ((uint32_t)(1<<10)) /** CAN Error Code Capture */ #define CAN_ICR_ERRBIT(n) ((uint32_t)((n&0x1F)<<16)) /** CAN Error Direction */ #define CAN_ICR_ERRDIR ((uint32_t)(1<<21)) /** CAN Error Capture */ #define CAN_ICR_ERRC(n) ((uint32_t)((n&0x3)<<22)) /** CAN Arbitration Lost Capture */ #define CAN_ICR_ALCBIT(n) ((uint32_t)((n&0xFF)<<24)) /*********************************************************************//** * Macro defines for CAN Interrupt Enable Register **********************************************************************/ /** CAN Receive Interrupt Enable */ #define CAN_IER_RIE ((uint32_t)(1)) /** CAN Transmit Interrupt Enable for buffer 1 */ #define CAN_IER_TIE1 ((uint32_t)(1<<1)) /** CAN Error Warning Interrupt Enable */ #define CAN_IER_EIE ((uint32_t)(1<<2)) /** CAN Data Overrun Interrupt Enable */ #define CAN_IER_DOIE ((uint32_t)(1<<3)) /** CAN Wake-Up Interrupt Enable */ #define CAN_IER_WUIE ((uint32_t)(1<<4)) /** CAN Error Passive Interrupt Enable */ #define CAN_IER_EPIE ((uint32_t)(1<<5)) /** CAN Arbitration Lost Interrupt Enable */ #define CAN_IER_ALIE ((uint32_t)(1<<6)) /** CAN Bus Error Interrupt Enable */ #define CAN_IER_BEIE ((uint32_t)(1<<7)) /** CAN ID Ready Interrupt Enable */ #define CAN_IER_IDIE ((uint32_t)(1<<8)) /** CAN Transmit Enable Interrupt for Buffer 2 */ #define CAN_IER_TIE2 ((uint32_t)(1<<9)) /** CAN Transmit Enable Interrupt for Buffer 3 */ #define CAN_IER_TIE3 ((uint32_t)(1<<10)) /*********************************************************************//** * Macro defines for CAN Bus Timing Register **********************************************************************/ /** CAN Baudrate Prescaler */ #define CAN_BTR_BRP(n) ((uint32_t)(n&0x3FF)) /** CAN Synchronization Jump Width */ #define CAN_BTR_SJM(n) ((uint32_t)((n&0x3)<<14)) /** CAN Time Segment 1 */ #define CAN_BTR_TESG1(n) ((uint32_t)(n&0xF)<<16)) /** CAN Time Segment 2 */ #define CAN_BTR_TESG2(n) ((uint32_t)(n&0xF)<<20)) /** CAN Sampling */ #define CAN_BTR_SAM(n) ((uint32_t)(1<<23)) /*********************************************************************//** * Macro defines for CAN Error Warning Limit Register **********************************************************************/ /** CAN Error Warning Limit */ #define CAN_EWL_EWL(n) ((uint32_t)(n&0xFF)) /*********************************************************************//** * Macro defines for CAN Status Register **********************************************************************/ /** CAN Receive Buffer Status */ #define CAN_SR_RBS ((uint32_t)(1)) /** CAN Data Overrun Status */ #define CAN_SR_DOS ((uint32_t)(1<<1)) /** CAN Transmit Buffer Status 1 */ #define CAN_SR_TBS1 ((uint32_t)(1<<2)) /** CAN Transmission Complete Status of Buffer 1 */ #define CAN_SR_TCS1 ((uint32_t)(1<<3)) /** CAN Receive Status */ #define CAN_SR_RS ((uint32_t)(1<<4)) /** CAN Transmit Status 1 */ #define CAN_SR_TS1 ((uint32_t)(1<<5)) /** CAN Error Status */ #define CAN_SR_ES ((uint32_t)(1<<6)) /** CAN Bus Status */ #define CAN_SR_BS ((uint32_t)(1<<7)) /** CAN Transmit Buffer Status 2 */ #define CAN_SR_TBS2 ((uint32_t)(1<<10)) /** CAN Transmission Complete Status of Buffer 2 */ #define CAN_SR_TCS2 ((uint32_t)(1<<11)) /** CAN Transmit Status 2 */ #define CAN_SR_TS2 ((uint32_t)(1<<13)) /** CAN Transmit Buffer Status 2 */ #define CAN_SR_TBS3 ((uint32_t)(1<<18)) /** CAN Transmission Complete Status of Buffer 2 */ #define CAN_SR_TCS3 ((uint32_t)(1<<19)) /** CAN Transmit Status 2 */ #define CAN_SR_TS3 ((uint32_t)(1<<21)) /*********************************************************************//** * Macro defines for CAN Receive Frame Status Register **********************************************************************/ /** CAN ID Index */ #define CAN_RFS_ID_INDEX(n) ((uint32_t)(n&0x3FF)) /** CAN Bypass */ #define CAN_RFS_BP ((uint32_t)(1<<10)) /** CAN Data Length Code */ #define CAN_RFS_DLC(n) ((uint32_t)((n&0xF)<<16) /** CAN Remote Transmission Request */ #define CAN_RFS_RTR ((uint32_t)(1<<30)) /** CAN control 11 bit or 29 bit Identifier */ #define CAN_RFS_FF ((uint32_t)(1<<31)) /*********************************************************************//** * Macro defines for CAN Receive Identifier Register **********************************************************************/ /** CAN 11 bit Identifier */ #define CAN_RID_ID_11(n) ((uint32_t)(n&0x7FF)) /** CAN 29 bit Identifier */ #define CAN_RID_ID_29(n) ((uint32_t)(n&0x1FFFFFFF)) /*********************************************************************//** * Macro defines for CAN Receive Data A Register **********************************************************************/ /** CAN Receive Data 1 */ #define CAN_RDA_DATA1(n) ((uint32_t)(n&0xFF)) /** CAN Receive Data 2 */ #define CAN_RDA_DATA2(n) ((uint32_t)((n&0xFF)<<8)) /** CAN Receive Data 3 */ #define CAN_RDA_DATA3(n) ((uint32_t)((n&0xFF)<<16)) /** CAN Receive Data 4 */ #define CAN_RDA_DATA4(n) ((uint32_t)((n&0xFF)<<24)) /*********************************************************************//** * Macro defines for CAN Receive Data B Register **********************************************************************/ /** CAN Receive Data 5 */ #define CAN_RDB_DATA5(n) ((uint32_t)(n&0xFF)) /** CAN Receive Data 6 */ #define CAN_RDB_DATA6(n) ((uint32_t)((n&0xFF)<<8)) /** CAN Receive Data 7 */ #define CAN_RDB_DATA7(n) ((uint32_t)((n&0xFF)<<16)) /** CAN Receive Data 8 */ #define CAN_RDB_DATA8(n) ((uint32_t)((n&0xFF)<<24)) /*********************************************************************//** * Macro defines for CAN Transmit Frame Information Register **********************************************************************/ /** CAN Priority */ #define CAN_TFI_PRIO(n) ((uint32_t)(n&0xFF)) /** CAN Data Length Code */ #define CAN_TFI_DLC(n) ((uint32_t)((n&0xF)<<16)) /** CAN Remote Frame Transmission */ #define CAN_TFI_RTR ((uint32_t)(1<<30)) /** CAN control 11-bit or 29-bit Identifier */ #define CAN_TFI_FF ((uint32_t)(1<<31)) /*********************************************************************//** * Macro defines for CAN Transmit Identifier Register **********************************************************************/ /** CAN 11-bit Identifier */ #define CAN_TID_ID11(n) ((uint32_t)(n&0x7FF)) /** CAN 11-bit Identifier */ #define CAN_TID_ID29(n) ((uint32_t)(n&0x1FFFFFFF)) /*********************************************************************//** * Macro defines for CAN Transmit Data A Register **********************************************************************/ /** CAN Transmit Data 1 */ #define CAN_TDA_DATA1(n) ((uint32_t)(n&0xFF)) /** CAN Transmit Data 2 */ #define CAN_TDA_DATA2(n) ((uint32_t)((n&0xFF)<<8)) /** CAN Transmit Data 3 */ #define CAN_TDA_DATA3(n) ((uint32_t)((n&0xFF)<<16)) /** CAN Transmit Data 4 */ #define CAN_TDA_DATA4(n) ((uint32_t)((n&0xFF)<<24)) /*********************************************************************//** * Macro defines for CAN Transmit Data B Register **********************************************************************/ /** CAN Transmit Data 5 */ #define CAN_TDA_DATA5(n) ((uint32_t)(n&0xFF)) /** CAN Transmit Data 6 */ #define CAN_TDA_DATA6(n) ((uint32_t)((n&0xFF)<<8)) /** CAN Transmit Data 7 */ #define CAN_TDA_DATA7(n) ((uint32_t)((n&0xFF)<<16)) /** CAN Transmit Data 8 */ #define CAN_TDA_DATA8(n) ((uint32_t)((n&0xFF)<<24)) /*********************************************************************//** * Macro defines for CAN Sleep Clear Register **********************************************************************/ /** CAN1 Sleep mode */ #define CAN1SLEEPCLR ((uint32_t)(1<<1)) /** CAN2 Sleep Mode */ #define CAN2SLEEPCLR ((uint32_t)(1<<2)) /*********************************************************************//** * Macro defines for CAN Wake up Flags Register **********************************************************************/ /** CAN1 Sleep mode */ #define CAN_WAKEFLAGES_CAN1WAKE ((uint32_t)(1<<1)) /** CAN2 Sleep Mode */ #define CAN_WAKEFLAGES_CAN2WAKE ((uint32_t)(1<<2)) /*********************************************************************//** * Macro defines for Central transmit Status Register **********************************************************************/ /** CAN Transmit 1 */ #define CAN_TSR_TS1 ((uint32_t)(1)) /** CAN Transmit 2 */ #define CAN_TSR_TS2 ((uint32_t)(1<<1)) /** CAN Transmit Buffer Status 1 */ #define CAN_TSR_TBS1 ((uint32_t)(1<<8)) /** CAN Transmit Buffer Status 2 */ #define CAN_TSR_TBS2 ((uint32_t)(1<<9)) /** CAN Transmission Complete Status 1 */ #define CAN_TSR_TCS1 ((uint32_t)(1<<16)) /** CAN Transmission Complete Status 2 */ #define CAN_TSR_TCS2 ((uint32_t)(1<<17)) /*********************************************************************//** * Macro defines for Central Receive Status Register **********************************************************************/ /** CAN Receive Status 1 */ #define CAN_RSR_RS1 ((uint32_t)(1)) /** CAN Receive Status 1 */ #define CAN_RSR_RS2 ((uint32_t)(1<<1)) /** CAN Receive Buffer Status 1*/ #define CAN_RSR_RB1 ((uint32_t)(1<<8)) /** CAN Receive Buffer Status 2*/ #define CAN_RSR_RB2 ((uint32_t)(1<<9)) /** CAN Data Overrun Status 1 */ #define CAN_RSR_DOS1 ((uint32_t)(1<<16)) /** CAN Data Overrun Status 1 */ #define CAN_RSR_DOS2 ((uint32_t)(1<<17)) /*********************************************************************//** * Macro defines for Central Miscellaneous Status Register **********************************************************************/ /** Same CAN Error Status in CAN1GSR */ #define CAN_MSR_E1 ((uint32_t)(1)) /** Same CAN Error Status in CAN2GSR */ #define CAN_MSR_E2 ((uint32_t)(1<<1)) /** Same CAN Bus Status in CAN1GSR */ #define CAN_MSR_BS1 ((uint32_t)(1<<8)) /** Same CAN Bus Status in CAN2GSR */ #define CAN_MSR_BS2 ((uint32_t)(1<<9)) /*********************************************************************//** * Macro defines for Acceptance Filter Mode Register **********************************************************************/ /** CAN Acceptance Filter Off mode */ #define CAN_AFMR_AccOff ((uint32_t)(1)) /** CAN Acceptance File Bypass mode */ #define CAN_AFMR_AccBP ((uint32_t)(1<<1)) /** FullCAN Mode Enhancements */ #define CAN_AFMR_eFCAN ((uint32_t)(1<<2)) /*********************************************************************//** * Macro defines for Standard Frame Individual Start Address Register **********************************************************************/ /** The start address of the table of individual Standard Identifier */ #define CAN_STT_sa(n) ((uint32_t)((n&1FF)<<2)) /*********************************************************************//** * Macro defines for Standard Frame Group Start Address Register **********************************************************************/ /** The start address of the table of grouped Standard Identifier */ #define CAN_SFF_GRP_sa(n) ((uint32_t)((n&3FF)<<2)) /*********************************************************************//** * Macro defines for Extended Frame Start Address Register **********************************************************************/ /** The start address of the table of individual Extended Identifier */ #define CAN_EFF_sa(n) ((uint32_t)((n&1FF)<<2)) /*********************************************************************//** * Macro defines for Extended Frame Group Start Address Register **********************************************************************/ /** The start address of the table of grouped Extended Identifier */ #define CAN_Eff_GRP_sa(n) ((uint32_t)((n&3FF)<<2)) /*********************************************************************//** * Macro defines for End Of AF Table Register **********************************************************************/ /** The End of Table of AF LookUp Table */ #define CAN_EndofTable(n) ((uint32_t)((n&3FF)<<2)) /*********************************************************************//** * Macro defines for LUT Error Address Register **********************************************************************/ /** CAN Look-Up Table Error Address */ #define CAN_LUTerrAd(n) ((uint32_t)((n&1FF)<<2)) /*********************************************************************//** * Macro defines for LUT Error Register **********************************************************************/ /** CAN Look-Up Table Error */ #define CAN_LUTerr ((uint32_t)(1)) /*********************************************************************//** * Macro defines for Global FullCANInterrupt Enable Register **********************************************************************/ /** Global FullCANInterrupt Enable */ #define CAN_FCANIE ((uint32_t)(1)) /*********************************************************************//** * Macro defines for FullCAN Interrupt and Capture Register 0 **********************************************************************/ /** FullCAN Interrupt and Capture (0-31)*/ #define CAN_FCANIC0_IntPnd(n) ((uint32_t)(1<=0)&&(data <= 0xFFFFFFFF)) /** Macro to check frequency value */ #define PRAM_I2S_FREQ(freq) ((freq>=16000)&&(freq <= 96000)) /** Macro to check Frame Identifier */ #define PARAM_ID_11(n) ((n>>11)==0) /*-- 11 bit --*/ #define PARAM_ID_29(n) ((n>>29)==0) /*-- 29 bit --*/ /** Macro to check DLC value */ #define PARAM_DLC(n) ((n>>4)==0) /*-- 4 bit --*/ /** Macro to check ID format type */ #define PARAM_ID_FORMAT(n) ((n==STD_ID_FORMAT)||(n==EXT_ID_FORMAT)) /** Macro to check Group identifier */ #define PARAM_GRP_ID(x, y) ((x<=y)) /** Macro to check Frame type */ #define PARAM_FRAME_TYPE(n) ((n==DATA_FRAME)||(n==REMOTE_FRAME)) /** Macro to check Control/Central Status type parameter */ #define PARAM_CTRL_STS_TYPE(n) ((n==CANCTRL_GLOBAL_STS)||(n==CANCTRL_INT_CAP) \ ||(n==CANCTRL_ERR_WRN)||(n==CANCTRL_STS)) /** Macro to check CR status type */ #define PARAM_CR_STS_TYPE(n) ((n==CANCR_TX_STS)||(n==CANCR_RX_STS) \ ||(n==CANCR_MS)) /** Macro to check AF Mode type parameter */ #define PARAM_AFMODE_TYPE(n) ((n==CAN_NORMAL)||(n==CAN_ACC_OFF) \ ||(n==CAN_ACC_BP)||(n==CAN_EFCAN)) /** Macro to check Operation Mode */ #define PARAM_MODE_TYPE(n) ((n==CAN_OPERATING_MODE)||(n==CAN_RESET_MODE) \ ||(n==CAN_LISTENONLY_MODE)||(n==CAN_SELFTEST_MODE) \ ||(n==CAN_TXPRIORITY_MODE)||(n==CAN_SLEEP_MODE) \ ||(n==CAN_RXPOLARITY_MODE)||(n==CAN_TEST_MODE)) /** Macro define for struct AF_Section parameter */ #define PARAM_CTRL(n) ((n==CAN1_CTRL)|(n==CAN2_CTRL)) /** Macro define for struct AF_Section parameter */ #define PARAM_MSG_DISABLE(n) ((n==MSG_ENABLE)|(n==MSG_DISABLE)) /**Macro to check Interrupt Type parameter */ #define PARAM_INT_EN_TYPE(n) ((n==CANINT_RIE)||(n==CANINT_TIE1) \ ||(n==CANINT_EIE)||(n==CANINT_DOIE) \ ||(n==CANINT_WUIE)||(n==CANINT_EPIE) \ ||(n==CANINT_ALIE)||(n==CANINT_BEIE) \ ||(n==CANINT_IDIE)||(n==CANINT_TIE2) \ ||(n==CANINT_TIE3)||(n==CANINT_FCE)) /** Macro to check AFLUT Entry type */ #define PARAM_AFLUT_ENTRY_TYPE(n) ((n==FULLCAN_ENTRY)||(n==EXPLICIT_STANDARD_ENTRY)\ ||(n==GROUP_STANDARD_ENTRY)||(n==EXPLICIT_EXTEND_ENTRY) \ ||(n==GROUP_EXTEND_ENTRY)) /** Macro to check position */ #define PARAM_POSITION(n) ((n>=0)&&(n<512)) /** * @} */ /* Public Types --------------------------------------------------------------- */ /** @defgroup CAN_Public_Types CAN Public Types * @{ */ /*********************************************************************** * CAN device configuration commands (IOCTL commands and arguments) **********************************************************************/ /** CAN peripheral ID 0 */ #define CAN_1 0 /** CAN peripheral ID 1 */ #define CAN_2 1 /** * @brief CAN peripheral ID no */ typedef enum { CAN_ID_1 = CAN_1, CAN_ID_2 = CAN_2 } en_CAN_unitId; /** * @brief CAN ID format definition */ typedef enum { STD_ID_FORMAT = 0, /**< Use standard ID format (11 bit ID) */ EXT_ID_FORMAT = 1 /**< Use extended ID format (29 bit ID) */ } CAN_ID_FORMAT_Type; /** * @brief AFLUT Entry type definition */ typedef enum { FULLCAN_ENTRY = 0, EXPLICIT_STANDARD_ENTRY, GROUP_STANDARD_ENTRY, EXPLICIT_EXTEND_ENTRY, GROUP_EXTEND_ENTRY, } AFLUT_ENTRY_Type; /** * @brief Symbolic names for type of CAN message */ typedef enum { DATA_FRAME = 0, /**< Data frame */ REMOTE_FRAME = 1 /**< Remote frame */ } CAN_FRAME_Type; /** * @brief CAN Control status definition */ typedef enum { CANCTRL_GLOBAL_STS = 0, /**< CAN Global Status */ CANCTRL_INT_CAP, /**< CAN Interrupt and Capture */ CANCTRL_ERR_WRN, /**< CAN Error Warning Limit */ CANCTRL_STS /**< CAN Control Status */ } CAN_CTRL_STS_Type; /** * @brief Central CAN status type definition */ typedef enum { CANCR_TX_STS = 0, /**< Central CAN Tx Status */ CANCR_RX_STS, /**< Central CAN Rx Status */ CANCR_MS /**< Central CAN Miscellaneous Status */ } CAN_CR_STS_Type; /** * @brief FullCAN Interrupt Capture type definition */ typedef enum { FULLCAN_IC0, /**< FullCAN Interrupt and Capture 0 */ FULLCAN_IC1 /**< FullCAN Interrupt and Capture 1 */ }FullCAN_IC_Type; /** * @brief CAN interrupt enable type definition */ typedef enum { CANINT_RIE = 0, /**< CAN Receiver Interrupt Enable */ CANINT_TIE1, /**< CAN Transmit Interrupt Enable */ CANINT_EIE, /**< CAN Error Warning Interrupt Enable */ CANINT_DOIE, /**< CAN Data Overrun Interrupt Enable */ CANINT_WUIE, /**< CAN Wake-Up Interrupt Enable */ CANINT_EPIE, /**< CAN Error Passive Interrupt Enable */ CANINT_ALIE, /**< CAN Arbitration Lost Interrupt Enable */ CANINT_BEIE, /**< CAN Bus Error Inter rupt Enable */ CANINT_IDIE, /**< CAN ID Ready Interrupt Enable */ CANINT_TIE2, /**< CAN Transmit Interrupt Enable for Buffer2 */ CANINT_TIE3, /**< CAN Transmit Interrupt Enable for Buffer3 */ CANINT_FCE /**< FullCAN Interrupt Enable */ } CAN_INT_EN_Type; /** * @brief Acceptance Filter Mode type definition */ typedef enum { CAN_NORMAL = 0, /**< Normal Mode */ CAN_ACC_OFF, /**< Acceptance Filter Off Mode */ CAN_ACC_BP, /**< Acceptance Fileter Bypass Mode */ CAN_EFCAN /**< FullCAN Mode Enhancement */ } CAN_AFMODE_Type; /** * @brief CAN Mode Type definition */ typedef enum { CAN_OPERATING_MODE = 0, /**< Operating Mode */ CAN_RESET_MODE, /**< Reset Mode */ CAN_LISTENONLY_MODE, /**< Listen Only Mode */ CAN_SELFTEST_MODE, /**< Seft Test Mode */ CAN_TXPRIORITY_MODE, /**< Transmit Priority Mode */ CAN_SLEEP_MODE, /**< Sleep Mode */ CAN_RXPOLARITY_MODE, /**< Receive Polarity Mode */ CAN_TEST_MODE /**< Test Mode */ } CAN_MODE_Type; /** * @brief Error values that functions can return */ typedef enum { CAN_OK = 1, /**< No error */ CAN_OBJECTS_FULL_ERROR, /**< No more rx or tx objects available */ CAN_FULL_OBJ_NOT_RCV, /**< Full CAN object not received */ CAN_NO_RECEIVE_DATA, /**< No have receive data available */ CAN_AF_ENTRY_ERROR, /**< Entry load in AFLUT is unvalid */ CAN_CONFLICT_ID_ERROR, /**< Conflict ID occur */ CAN_ENTRY_NOT_EXIT_ERROR /**< Entry remove outo AFLUT is not exit */ } CAN_ERROR; /** * @brief Pin Configuration structure */ typedef struct { uint8_t RD; /**< Serial Inputs, from CAN transceivers, should be: ** For CAN1: - CAN_RD1_P0_0: RD pin is on P0.0 - CAN_RD1_P0_21 : RD pin is on P0.21 ** For CAN2: - CAN_RD2_P0_4: RD pin is on P0.4 - CAN_RD2_P2_7: RD pin is on P2.7 */ uint8_t TD; /**< Serial Outputs, To CAN transceivers, should be: ** For CAN1: - CAN_TD1_P0_1: TD pin is on P0.1 - CAN_TD1_P0_22: TD pin is on P0.22 ** For CAN2: - CAN_TD2_P0_5: TD pin is on P0.5 - CAN_TD2_P2_8: TD pin is on P2.8 */ } CAN_PinCFG_Type; /** * @brief CAN message object structure */ typedef struct { uint32_t id; /**< 29 bit identifier, it depend on "format" value - if format = STD_ID_FORMAT, id should be 11 bit identifier - if format = EXT_ID_FORMAT, id should be 29 bit identifier */ uint8_t dataA[4]; /**< Data field A */ uint8_t dataB[4]; /**< Data field B */ uint8_t len; /**< Length of data field in bytes, should be: - 0000b-0111b: 0-7 bytes - 1xxxb: 8 bytes */ uint8_t format; /**< Identifier Format, should be: - STD_ID_FORMAT: Standard ID - 11 bit format - EXT_ID_FORMAT: Extended ID - 29 bit format */ uint8_t type; /**< Remote Frame transmission, should be: - DATA_FRAME: the number of data bytes called out by the DLC field are send from the CANxTDA and CANxTDB registers - REMOTE_FRAME: Remote Frame is sent */ } CAN_MSG_Type; /** * @brief FullCAN Entry structure */ typedef struct { uint8_t controller; /**< CAN Controller, should be: - CAN1_CTRL: CAN1 Controller - CAN2_CTRL: CAN2 Controller */ uint8_t disable; /**< Disable bit, should be: - MSG_ENABLE: disable bit = 0 - MSG_DISABLE: disable bit = 1 */ uint16_t id_11; /**< Standard ID, should be 11-bit value */ } FullCAN_Entry; /** * @brief Standard ID Frame Format Entry structure */ typedef struct { uint8_t controller; /**< CAN Controller, should be: - CAN1_CTRL: CAN1 Controller - CAN2_CTRL: CAN2 Controller */ uint8_t disable; /**< Disable bit, should be: - MSG_ENABLE: disable bit = 0 - MSG_DISABLE: disable bit = 1 */ uint16_t id_11; /**< Standard ID, should be 11-bit value */ } SFF_Entry; /** * @brief Group of Standard ID Frame Format Entry structure */ typedef struct { uint8_t controller1; /**< First CAN Controller, should be: - CAN1_CTRL: CAN1 Controller - CAN2_CTRL: CAN2 Controller */ uint8_t disable1; /**< First Disable bit, should be: - MSG_ENABLE: disable bit = 0) - MSG_DISABLE: disable bit = 1 */ uint16_t lowerID; /**< ID lower bound, should be 11-bit value */ uint8_t controller2; /**< Second CAN Controller, should be: - CAN1_CTRL: CAN1 Controller - CAN2_CTRL: CAN2 Controller */ uint8_t disable2; /**< Second Disable bit, should be: - MSG_ENABLE: disable bit = 0 - MSG_DISABLE: disable bit = 1 */ uint16_t upperID; /**< ID upper bound, should be 11-bit value and equal or greater than lowerID */ } SFF_GPR_Entry; /** * @brief Extended ID Frame Format Entry structure */ typedef struct { uint8_t controller; /**< CAN Controller, should be: - CAN1_CTRL: CAN1 Controller - CAN2_CTRL: CAN2 Controller */ uint32_t ID_29; /**< Extend ID, shoud be 29-bit value */ } EFF_Entry; /** * @brief Group of Extended ID Frame Format Entry structure */ typedef struct { uint8_t controller1; /**< First CAN Controller, should be: - CAN1_CTRL: CAN1 Controller - CAN2_CTRL: CAN2 Controller */ uint8_t controller2; /**< Second Disable bit, should be: - MSG_ENABLE: disable bit = 0(default) - MSG_DISABLE: disable bit = 1 */ uint32_t lowerEID; /**< Extended ID lower bound, should be 29-bit value */ uint32_t upperEID; /**< Extended ID upper bound, should be 29-bit value */ } EFF_GPR_Entry; /** * @brief Acceptance Filter Section Table structure */ typedef struct { FullCAN_Entry* FullCAN_Sec; /**< The pointer point to FullCAN_Entry */ uint8_t FC_NumEntry; /**< FullCAN Entry Number */ SFF_Entry* SFF_Sec; /**< The pointer point to SFF_Entry */ uint8_t SFF_NumEntry; /**< Standard ID Entry Number */ SFF_GPR_Entry* SFF_GPR_Sec; /**< The pointer point to SFF_GPR_Entry */ uint8_t SFF_GPR_NumEntry; /**< Group Standard ID Entry Number */ EFF_Entry* EFF_Sec; /**< The pointer point to EFF_Entry */ uint8_t EFF_NumEntry; /**< Extended ID Entry Number */ EFF_GPR_Entry* EFF_GPR_Sec; /**< The pointer point to EFF_GPR_Entry */ uint8_t EFF_GPR_NumEntry; /**< Group Extended ID Entry Number */ } AF_SectionDef; /** * @} */ /* Public Functions ----------------------------------------------------------- */ /** @defgroup CAN_Public_Functions CAN Public Functions * @{ */ /* Init/DeInit CAN peripheral -----------*/ void CAN_Init(uint8_t canId, uint32_t baudrate); void CAN_DeInit(uint8_t canId); /* CAN messages functions ---------------*/ Status CAN_SendMsg(uint8_t canId, CAN_MSG_Type *CAN_Msg); Status CAN_ReceiveMsg(uint8_t canId, CAN_MSG_Type *CAN_Msg); CAN_ERROR FCAN_ReadObj(CAN_MSG_Type *CAN_Msg); /* CAN configure functions ---------------*/ void CAN_ModeConfig(uint8_t canId, CAN_MODE_Type mode, FunctionalState NewState); void CAN_SetAFMode(CAN_AFMODE_Type AFmode); void CAN_SetCommand(uint8_t canId, uint32_t CMRType); /* AFLUT functions ---------------------- */ CAN_ERROR CAN_SetupAFLUT(AF_SectionDef* AFSection); CAN_ERROR CAN_LoadFullCANEntry(uint8_t canId, uint16_t ID); CAN_ERROR CAN_LoadExplicitEntry(uint8_t canId, uint32_t ID, CAN_ID_FORMAT_Type format); CAN_ERROR CAN_LoadGroupEntry(uint8_t canId, uint32_t lowerID, uint32_t upperID, CAN_ID_FORMAT_Type format); CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position); /* CAN interrupt functions -----------------*/ void CAN_IRQCmd(uint8_t canId, CAN_INT_EN_Type arg, FunctionalState NewState); uint32_t CAN_IntGetStatus(uint8_t canId); /* CAN get status functions ----------------*/ IntStatus CAN_FullCANIntGetStatus (void); uint32_t CAN_FullCANPendGetStatus (FullCAN_IC_Type type); uint32_t CAN_GetCTRLStatus(uint8_t canId, CAN_CTRL_STS_Type arg); uint32_t CAN_GetCRStatus(CAN_CR_STS_Type arg); /** * @} */ #ifdef __cplusplus } #endif #endif /* LPC_CAN_H_ */ /** * @} */ /* --------------------------------- End Of File ------------------------------ */