1 /*! 2 * @file apm32f4xx_can.h 3 * 4 * @brief This file contains all the functions prototypes for the CAN firmware library 5 * 6 * @version V1.0.2 7 * 8 * @date 2022-06-23 9 * 10 * @attention 11 * 12 * Copyright (C) 2021-2022 Geehy Semiconductor 13 * 14 * You may not use this file except in compliance with the 15 * GEEHY COPYRIGHT NOTICE (GEEHY SOFTWARE PACKAGE LICENSE). 16 * 17 * The program is only for reference, which is distributed in the hope 18 * that it will be usefull and instructional for customers to develop 19 * their software. Unless required by applicable law or agreed to in 20 * writing, the program is distributed on an "AS IS" BASIS, WITHOUT 21 * ANY WARRANTY OR CONDITIONS OF ANY KIND, either express or implied. 22 * See the GEEHY SOFTWARE PACKAGE LICENSE for the governing permissions 23 * and limitations under the License. 24 */ 25 26 /* Define to prevent recursive inclusion */ 27 #ifndef __APM32F4XX_CAN_H 28 #define __APM32F4XX_CAN_H 29 30 #ifdef __cplusplus 31 extern "C" { 32 #endif 33 34 /* Includes */ 35 #include "apm32f4xx.h" 36 37 /** @addtogroup APM32F4xx_StdPeriphDriver 38 @{ 39 */ 40 41 /** @addtogroup CAN_Driver 42 @{ 43 */ 44 45 /** @defgroup CAN_Enumerations 46 @{ 47 */ 48 49 /** 50 * @brief CAN mode 51 */ 52 typedef enum 53 { 54 CAN_MODE_NORMAL = ((uint8_t)0x00), /*!< normal mode */ 55 CAN_MODE_LOOPBACK = ((uint8_t)0x01), /*!< loopback mode */ 56 CAN_MODE_SILENT = ((uint8_t)0x02), /*!< silent mode */ 57 CAN_MODE_SILENT_LOOPBACK = ((uint8_t)0x03) /*!< loopback combined with silent mode */ 58 } CAN_MODE_T; 59 60 /** 61 * @brief CAN Operating Mode 62 */ 63 typedef enum 64 { 65 CAN_OPERATING_MODE_INIT = ((uint8_t)0x00), /*!< Initialization mode */ 66 CAN_OPERATING_MODE_NORMAL = ((uint8_t)0x01), /*!< Normal mode */ 67 CAN_OPERATING_MODE_SLEEP = ((uint8_t)0x02) /*!< sleep mode */ 68 } CAN_OPERATING_MODE_T; 69 70 /** 71 * @brief CAN synchronisation jump width 72 */ 73 typedef enum 74 { 75 CAN_SJW_1 = ((uint8_t)0x00), /*!< 1 time quantum */ 76 CAN_SJW_2 = ((uint8_t)0x01), /*!< 2 time quantum */ 77 CAN_SJW_3 = ((uint8_t)0x02), /*!< 3 time quantum */ 78 CAN_SJW_4 = ((uint8_t)0x03) /*!< 4 time quantum */ 79 } CAN_SJW_T; 80 81 /** 82 * @brief CAN time quantum in bit segment 1 83 */ 84 typedef enum 85 { 86 CAN_TIME_SEGMENT1_1 = ((uint8_t)0x00), /*!< 1 time quanta */ 87 CAN_TIME_SEGMENT1_2 = ((uint8_t)0x01), /*!< 2 time quanta */ 88 CAN_TIME_SEGMENT1_3 = ((uint8_t)0x02), /*!< 3 time quanta */ 89 CAN_TIME_SEGMENT1_4 = ((uint8_t)0x03), /*!< 4 time quanta */ 90 CAN_TIME_SEGMENT1_5 = ((uint8_t)0x04), /*!< 5 time quanta */ 91 CAN_TIME_SEGMENT1_6 = ((uint8_t)0x05), /*!< 6 time quanta */ 92 CAN_TIME_SEGMENT1_7 = ((uint8_t)0x06), /*!< 7 time quanta */ 93 CAN_TIME_SEGMENT1_8 = ((uint8_t)0x07), /*!< 8 time quanta */ 94 CAN_TIME_SEGMENT1_9 = ((uint8_t)0x08), /*!< 9 time quanta */ 95 CAN_TIME_SEGMENT1_10 = ((uint8_t)0x09), /*!< 10 time quanta */ 96 CAN_TIME_SEGMENT1_11 = ((uint8_t)0x0A), /*!< 11 time quanta */ 97 CAN_TIME_SEGMENT1_12 = ((uint8_t)0x0B), /*!< 12 time quanta */ 98 CAN_TIME_SEGMENT1_13 = ((uint8_t)0x0C), /*!< 13 time quanta */ 99 CAN_TIME_SEGMENT1_14 = ((uint8_t)0x0D), /*!< 14 time quanta */ 100 CAN_TIME_SEGMENT1_15 = ((uint8_t)0x0E), /*!< 15 time quanta */ 101 CAN_TIME_SEGMENT1_16 = ((uint8_t)0x0F) /*!< 16 time quanta */ 102 } CAN_TIME_SEGMENT1_T; 103 104 /** 105 * @brief CAN time quantum in bit segment 2 106 */ 107 typedef enum 108 { 109 CAN_TIME_SEGMENT2_1 = (uint8_t)0x00, /*!< 1 time quanta */ 110 CAN_TIME_SEGMENT2_2 = (uint8_t)0x01, /*!< 2 time quanta */ 111 CAN_TIME_SEGMENT2_3 = (uint8_t)0x02, /*!< 3 time quanta */ 112 CAN_TIME_SEGMENT2_4 = (uint8_t)0x03, /*!< 4 time quanta */ 113 CAN_TIME_SEGMENT2_5 = (uint8_t)0x04, /*!< 5 time quanta */ 114 CAN_TIME_SEGMENT2_6 = (uint8_t)0x05, /*!< 6 time quanta */ 115 CAN_TIME_SEGMENT2_7 = (uint8_t)0x06, /*!< 7 time quanta */ 116 CAN_TIME_SEGMENT2_8 = (uint8_t)0x07 /*!< 8 time quanta */ 117 } CAN_TIME_SEGMENT2_T; 118 119 /** 120 * @brief CAN filter mode 121 */ 122 typedef enum 123 { 124 CAN_FILTER_MODE_IDMASK = ((uint8_t)0x00), /*!< identifier/mask mode */ 125 CAN_FILTER_MODE_IDLIST = ((uint8_t)0x01) /*!< identifier list mode */ 126 } CAN_FILTER_MODE_T; 127 128 /** 129 * @brief CAN filter scale 130 */ 131 typedef enum 132 { 133 CAN_FILTER_SCALE_16BIT = ((uint8_t)0x00), /*!< Two 16-bit filters */ 134 CAN_FILTER_SCALE_32BIT = ((uint8_t)0x01) /*!< One 32-bit filter */ 135 } CAN_FILTER_SCALE_T; 136 137 /** 138 * @brief CAN filter FIFO 139 */ 140 typedef enum 141 { 142 CAN_FILTER_FIFO_0 = ((uint8_t)0x00), /*!< filter FIFO 0 */ 143 CAN_FILTER_FIFO_1 = ((uint8_t)0x01) /*!< filter FIFO 1 */ 144 } CAN_FILTER_FIFO_T; 145 146 /** 147 * @brief CAN identifier type 148 */ 149 typedef enum 150 { 151 CAN_TYPEID_STD = ((uint32_t)0x00000000), /*!< Standard Id */ 152 CAN_TYPEID_EXT = ((uint32_t)0x00000004) /*!< Extended Id */ 153 } CAN_TYPEID_T; 154 155 /** 156 * @brief CAN_remote_transmission_request 157 */ 158 typedef enum 159 { 160 CAN_RTXR_DATA = ((uint32_t)0x00000000), /*!< Data frame */ 161 CAN_RTXR_REMOTE = ((uint32_t)0x00000002) /*!< Remote frame */ 162 } CAN_RTXR_T; 163 164 /** 165 * @brief Mailboxes definition 166 */ 167 typedef enum 168 { 169 CAN_TX_MAILBIX_0 = ((uint8_t)0x00), /*!< Tx mailbox0 */ 170 CAN_TX_MAILBIX_1 = ((uint8_t)0x01), /*!< Tx mailbox1 */ 171 CAN_TX_MAILBIX_2 = ((uint8_t)0x02) /*!< Tx mailbox2 */ 172 } CAN_TX_MAILBIX_T; 173 174 /** 175 * @brief CAN receive FIFO number constants 176 */ 177 typedef enum 178 { 179 CAN_RX_FIFO_0 = ((uint8_t)0x00), /*!< receive FIFO 0 */ 180 CAN_RX_FIFO_1 = ((uint8_t)0x01) /*!< receive FIFO 1 */ 181 } CAN_RX_FIFO_T; 182 183 /** 184 * @brief CAN Flags 185 */ 186 typedef enum 187 { 188 /* Error flag*/ 189 CAN_FLAG_ERRW = ((uint32_t)0x10F00001), /*!< Error Warning Flag */ 190 CAN_FLAG_ERRP = ((uint32_t)0x10F00002), /*!< Error Passive Flag */ 191 CAN_FLAG_BOF = ((uint32_t)0x10F00004), /*!< Bus-Off Flag */ 192 CAN_FLAG_LERRC = ((uint32_t)0x30F00070), /*!< Last error record code Flag */ 193 /* Operating Mode Flags */ 194 CAN_FLAG_WUPI = ((uint32_t)0x31000008), /*!< Wake up Flag */ 195 CAN_FLAG_SLEEP = ((uint32_t)0x31000012), /*!< Sleep acknowledge Flag */ 196 /* Receive Flags */ 197 CAN_FLAG_F0MP = ((uint32_t)0x12000003), /*!< FIFO 0 Message Pending Flag */ 198 CAN_FLAG_F0FULL = ((uint32_t)0x32000008), /*!< FIFO 0 Full Flag */ 199 CAN_FLAG_F0OVR = ((uint32_t)0x32000010), /*!< FIFO 0 Overrun Flag */ 200 CAN_FLAG_F1MP = ((uint32_t)0x14000003), /*!< FIFO 1 Message Pending Flag */ 201 CAN_FLAG_F1FULL = ((uint32_t)0x34000008), /*!< FIFO 1 Full Flag */ 202 CAN_FLAG_F1OVR = ((uint32_t)0x34000010), /*!< FIFO 1 Overrun Flag */ 203 /* Transmit Flags */ 204 CAN_FLAG_REQC0 = ((uint32_t)0x38000001), /*!< Request MailBox0 Flag */ 205 CAN_FLAG_REQC1 = ((uint32_t)0x38000100), /*!< Request MailBox1 Flag */ 206 CAN_FLAG_REQC2 = ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */ 207 } CAN_FLAG_T; 208 209 /** 210 * @brief CAN Interrupts 211 */ 212 typedef enum 213 { 214 CAN_INT_TXME = ((uint32_t)0x00000001), /*!< Transmit mailbox empty Interrupt */ 215 CAN_INT_F0MP = ((uint32_t)0x00000002), /*!< FIFO 0 message pending Interrupt */ 216 CAN_INT_F0FULL = ((uint32_t)0x00000004), /*!< FIFO 0 full Interrupt */ 217 CAN_INT_F0OVR = ((uint32_t)0x00000008), /*!< FIFO 0 overrun Interrupt */ 218 CAN_INT_F1MP = ((uint32_t)0x00000010), /*!< FIFO 1 message pending Interrupt */ 219 CAN_INT_F1FULL = ((uint32_t)0x00000020), /*!< FIFO 1 full Interrupt */ 220 CAN_INT_F1OVR = ((uint32_t)0x00000040), /*!< FIFO 1 overrun Interrupt */ 221 CAN_INT_ERRW = ((uint32_t)0x00000100), /*!< Error warning Interrupt */ 222 CAN_INT_ERRP = ((uint32_t)0x00000200), /*!< Error passive Interrupt */ 223 CAN_INT_BOF = ((uint32_t)0x00000400), /*!< Bus-off Interrupt */ 224 CAN_INT_LEC = ((uint32_t)0x00000800), /*!< Last error record code Interrupt */ 225 CAN_INT_ERR = ((uint32_t)0x00008000), /*!< Error Interrupt */ 226 CAN_INT_WUP = ((uint32_t)0x00010000), /*!< Wake-up Interrupt */ 227 CAN_INT_SLEEP = ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt */ 228 } CAN_INT_T; 229 230 /**@} end of group CAN_Enumerations*/ 231 232 /** @defgroup CAN_Structure 233 @{ 234 */ 235 236 /** 237 * @brief CAN config structure definition 238 */ 239 typedef struct 240 { 241 uint8_t autoBusOffManage; /*!< Enable or disable the automatic bus-off management. */ 242 uint8_t autoWakeUpMode; /*!< Enable or disable the automatic wake-up mode. */ 243 uint8_t nonAutoRetran; /*!< Enable or disable the non-automatic retransmission mode. */ 244 uint8_t rxFIFOLockMode; /*!< Enable or disable the Receive FIFO Locked mode. */ 245 uint8_t txFIFOPriority; /*!< Enable or disable the transmit FIFO priority. */ 246 CAN_MODE_T mode; /*!< Specifies the CAN operating mode. */ 247 CAN_SJW_T syncJumpWidth; /*!< Specifies the maximum number of time quanta the CAN hardware 248 is allowed to lengthen or shorten a bit to perform resynchronization. 249 */ 250 CAN_TIME_SEGMENT1_T timeSegment1; /*!< Specifies the number of time quanta in Bit Segment 1. */ 251 CAN_TIME_SEGMENT2_T timeSegment2; /*!< Specifies the number of time quanta in Bit Segment 2. */ 252 uint16_t prescaler; /*!< Specifies the length of a time quantum. It can be 1 to 1024. */ 253 } CAN_Config_T; 254 255 /** 256 * @brief CAN filter config structure definition 257 */ 258 typedef struct 259 { 260 uint8_t filterNumber; /*!< It ranges from 0 to 27. */ 261 uint16_t filterIdHigh; /*!< This parameter can be a value between 0x0000 and 0xFFFF */ 262 uint16_t filterIdLow; /*!< This parameter can be a value between 0x0000 and 0xFFFF */ 263 uint16_t filterMaskIdHigh; /*!< This parameter can be a value between 0x0000 and 0xFFFF */ 264 uint16_t filterMaskIdLow; /*!< This parameter can be a value between 0x0000 and 0xFFFF */ 265 uint16_t filterActivation; /*!< This parameter can be set either to ENABLE or DISABLE. */ 266 CAN_FILTER_FIFO_T filterFIFO; 267 CAN_FILTER_MODE_T filterMode; 268 CAN_FILTER_SCALE_T filterScale; 269 } CAN_FilterConfig_T; 270 271 /** 272 * @brief CAN Tx message structure definition 273 */ 274 typedef struct 275 { 276 uint32_t stdID; /*!< Standard Identifier */ 277 uint32_t extID; /*!< Extended Identifier */ 278 CAN_TYPEID_T typeID; /*!< Identifier Type Select */ 279 CAN_RTXR_T remoteTxReq; /*!< Transmit Remote Frame Request */ 280 uint8_t dataLengthCode; /*!< Transmit Data Length Code Setup */ 281 uint8_t data[8]; /*!< Data of the Message */ 282 } CAN_TxMessage_T; 283 284 /** 285 * @brief CAN Rx message structure definition 286 */ 287 typedef struct 288 { 289 uint32_t stdID; /*!< Standard Identifier */ 290 uint32_t extID; /*!< Extended Identifier */ 291 uint32_t typeID; /*!< Identifier Type Select */ 292 uint32_t remoteTxReq; /*!< Remote Frame Transmission Request */ 293 uint8_t dataLengthCode; /*!< Transmit Data Length Code Setup */ 294 uint8_t data[8]; /*!< Data of the Message */ 295 uint8_t filterMatchIndex; /*!< Filter Match Index Setup */ 296 } CAN_RxMessage_T; 297 298 /**@} end of group CAN_Structure*/ 299 300 /** @defgroup CAN_Functions 301 @{ 302 */ 303 304 /* CAN reset and configuration */ 305 void CAN_Reset(CAN_T* can); 306 uint8_t CAN_Config(CAN_T* can, CAN_Config_T* canConfig); 307 void CAN_ConfigFilter(CAN_FilterConfig_T* filterConfig); 308 void CAN_ConfigStructInit(CAN_Config_T* canConfig); 309 void CAN_SlaveStartBank(CAN_T* can, uint8_t bankNum); 310 void CAN_EnableDBGFreeze(CAN_T* can); 311 void CAN_DisableDBGFreeze(CAN_T* can); 312 313 /* CAN frames transmit */ 314 uint8_t CAN_TxMessage(CAN_T* can, CAN_TxMessage_T* TxMessage); 315 uint8_t CAN_TxMessageStatus(CAN_T* can, CAN_TX_MAILBIX_T TxMailbox); 316 void CAN_CancelTxMailbox(CAN_T* can, CAN_TX_MAILBIX_T TxMailbox); 317 318 /* CAN frames receive */ 319 void CAN_RxMessage(CAN_T* can, CAN_RX_FIFO_T FIFONumber, CAN_RxMessage_T* RxMessage); 320 void CAN_ReleaseFIFO(CAN_T* can, CAN_RX_FIFO_T FIFONumber); 321 uint8_t CAN_PendingMessage(CAN_T* can, CAN_RX_FIFO_T FIFONumber); 322 323 /* CAN operation modes */ 324 uint8_t CAN_OperatingMode(CAN_T* can, CAN_OPERATING_MODE_T operatingMode); 325 uint8_t CAN_SleepMode(CAN_T* can); 326 uint8_t CAN_WakeUpMode(CAN_T* can); 327 328 /* CAN bus error management */ 329 uint8_t CAN_ReadLastErrorCode(CAN_T* can); 330 uint8_t CAN_ReadRxErrorCounter(CAN_T* can); 331 uint8_t CAN_ReadLSBTxErrorCounter(CAN_T* can); 332 333 /* CAN interrupt and flag */ 334 void CAN_EnableInterrupt(CAN_T* can, uint32_t interrupt); 335 void CAN_DisableInterrupt(CAN_T* can, uint32_t interrupt); 336 uint8_t CAN_ReadStatusFlag(CAN_T* can, CAN_FLAG_T flag); 337 void CAN_ClearStatusFlag(CAN_T* can, CAN_FLAG_T flag); 338 uint8_t CAN_ReadIntFlag(CAN_T* can, CAN_INT_T flag); 339 void CAN_ClearIntFlag(CAN_T* can, CAN_INT_T flag); 340 341 #ifdef __cplusplus 342 } 343 #endif 344 345 #endif /* __APM32F4XX_CAN_H */ 346 347 /**@} end of group CAN_Enumerations */ 348 /**@} end of group CAN_Driver */ 349 /**@} end of group APM32F4xx_StdPeriphDriver */ 350