1 /********************************** (C) COPYRIGHT ******************************* 2 * File Name : ch32f20x_can.h 3 * Author : WCH 4 * Version : V1.0.0 5 * Date : 2021/08/08 6 * Description : This file contains all the functions prototypes for the 7 * CAN firmware library. 8 *******************************************************************************/ 9 #ifndef __CH32F20x_CAN_H 10 #define __CH32F20x_CAN_H 11 12 #ifdef __cplusplus 13 extern "C" { 14 #endif 15 16 #include "ch32f20x.h" 17 18 /* CAN init structure definition */ 19 typedef struct 20 { 21 uint16_t CAN_Prescaler; /* Specifies the length of a time quantum. 22 It ranges from 1 to 1024. */ 23 24 uint8_t CAN_Mode; /* Specifies the CAN operating mode. 25 This parameter can be a value of 26 @ref CAN_operating_mode */ 27 28 uint8_t CAN_SJW; /* Specifies the maximum number of time quanta 29 the CAN hardware is allowed to lengthen or 30 shorten a bit to perform resynchronization. 31 This parameter can be a value of 32 @ref CAN_synchronisation_jump_width */ 33 34 uint8_t CAN_BS1; /* Specifies the number of time quanta in Bit 35 Segment 1. This parameter can be a value of 36 @ref CAN_time_quantum_in_bit_segment_1 */ 37 38 uint8_t CAN_BS2; /* Specifies the number of time quanta in Bit 39 Segment 2. 40 This parameter can be a value of 41 @ref CAN_time_quantum_in_bit_segment_2 */ 42 43 FunctionalState CAN_TTCM; /* Enable or disable the time triggered 44 communication mode. This parameter can be set 45 either to ENABLE or DISABLE. */ 46 47 FunctionalState CAN_ABOM; /* Enable or disable the automatic bus-off 48 management. This parameter can be set either 49 to ENABLE or DISABLE. */ 50 51 FunctionalState CAN_AWUM; /* Enable or disable the automatic wake-up mode. 52 This parameter can be set either to ENABLE or 53 DISABLE. */ 54 55 FunctionalState CAN_NART; /* Enable or disable the no-automatic 56 retransmission mode. This parameter can be 57 set either to ENABLE or DISABLE. */ 58 59 FunctionalState CAN_RFLM; /* Enable or disable the Receive FIFO Locked mode. 60 This parameter can be set either to ENABLE 61 or DISABLE. */ 62 63 FunctionalState CAN_TXFP; /* Enable or disable the transmit FIFO priority. 64 This parameter can be set either to ENABLE 65 or DISABLE. */ 66 } CAN_InitTypeDef; 67 68 /* CAN filter init structure definition */ 69 typedef struct 70 { 71 uint16_t CAN_FilterIdHigh; /* Specifies the filter identification number (MSBs for a 32-bit 72 configuration, first one for a 16-bit configuration). 73 This parameter can be a value between 0x0000 and 0xFFFF */ 74 75 uint16_t CAN_FilterIdLow; /* Specifies the filter identification number (LSBs for a 32-bit 76 configuration, second one for a 16-bit configuration). 77 This parameter can be a value between 0x0000 and 0xFFFF */ 78 79 uint16_t CAN_FilterMaskIdHigh; /* Specifies the filter mask number or identification number, 80 according to the mode (MSBs for a 32-bit configuration, 81 first one for a 16-bit configuration). 82 This parameter can be a value between 0x0000 and 0xFFFF */ 83 84 uint16_t CAN_FilterMaskIdLow; /* Specifies the filter mask number or identification number, 85 according to the mode (LSBs for a 32-bit configuration, 86 second one for a 16-bit configuration). 87 This parameter can be a value between 0x0000 and 0xFFFF */ 88 89 uint16_t CAN_FilterFIFOAssignment; /* Specifies the FIFO (0 or 1) which will be assigned to the filter. 90 This parameter can be a value of @ref CAN_filter_FIFO */ 91 92 uint8_t CAN_FilterNumber; /* Specifies the filter which will be initialized. It ranges from 0 to 13. */ 93 94 uint8_t CAN_FilterMode; /* Specifies the filter mode to be initialized. 95 This parameter can be a value of @ref CAN_filter_mode */ 96 97 uint8_t CAN_FilterScale; /* Specifies the filter scale. 98 This parameter can be a value of @ref CAN_filter_scale */ 99 100 FunctionalState CAN_FilterActivation; /* Enable or disable the filter. 101 This parameter can be set either to ENABLE or DISABLE. */ 102 } CAN_FilterInitTypeDef; 103 104 /* CAN Tx message structure definition */ 105 typedef struct 106 { 107 uint32_t StdId; /* Specifies the standard identifier. 108 This parameter can be a value between 0 to 0x7FF. */ 109 110 uint32_t ExtId; /* Specifies the extended identifier. 111 This parameter can be a value between 0 to 0x1FFFFFFF. */ 112 113 uint8_t IDE; /* Specifies the type of identifier for the message that 114 will be transmitted. This parameter can be a value 115 of @ref CAN_identifier_type */ 116 117 uint8_t RTR; /* Specifies the type of frame for the message that will 118 be transmitted. This parameter can be a value of 119 @ref CAN_remote_transmission_request */ 120 121 uint8_t DLC; /* Specifies the length of the frame that will be 122 transmitted. This parameter can be a value between 123 0 to 8 */ 124 125 uint8_t Data[8]; /* Contains the data to be transmitted. It ranges from 0 126 to 0xFF. */ 127 } CanTxMsg; 128 129 /* CAN Rx message structure definition */ 130 typedef struct 131 { 132 uint32_t StdId; /* Specifies the standard identifier. 133 This parameter can be a value between 0 to 0x7FF. */ 134 135 uint32_t ExtId; /* Specifies the extended identifier. 136 This parameter can be a value between 0 to 0x1FFFFFFF. */ 137 138 uint8_t IDE; /* Specifies the type of identifier for the message that 139 will be received. This parameter can be a value of 140 @ref CAN_identifier_type */ 141 142 uint8_t RTR; /* Specifies the type of frame for the received message. 143 This parameter can be a value of 144 @ref CAN_remote_transmission_request */ 145 146 uint8_t DLC; /* Specifies the length of the frame that will be received. 147 This parameter can be a value between 0 to 8 */ 148 149 uint8_t Data[8]; /* Contains the data to be received. It ranges from 0 to 150 0xFF. */ 151 152 uint8_t FMI; /* Specifies the index of the filter the message stored in 153 the mailbox passes through. This parameter can be a 154 value between 0 to 0xFF */ 155 } CanRxMsg; 156 157 /* CAN_sleep_constants */ 158 #define CAN_InitStatus_Failed ((uint8_t)0x00) /* CAN initialization failed */ 159 #define CAN_InitStatus_Success ((uint8_t)0x01) /* CAN initialization OK */ 160 161 /* CAN_Mode */ 162 #define CAN_Mode_Normal ((uint8_t)0x00) /* normal mode */ 163 #define CAN_Mode_LoopBack ((uint8_t)0x01) /* loopback mode */ 164 #define CAN_Mode_Silent ((uint8_t)0x02) /* silent mode */ 165 #define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /* loopback combined with silent mode */ 166 167 /* CAN_Operating_Mode */ 168 #define CAN_OperatingMode_Initialization ((uint8_t)0x00) /* Initialization mode */ 169 #define CAN_OperatingMode_Normal ((uint8_t)0x01) /* Normal mode */ 170 #define CAN_OperatingMode_Sleep ((uint8_t)0x02) /* sleep mode */ 171 172 /* CAN_Mode_Status */ 173 #define CAN_ModeStatus_Failed ((uint8_t)0x00) /* CAN entering the specific mode failed */ 174 #define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed) /* CAN entering the specific mode Succeed */ 175 176 /* CAN_synchronisation_jump_width */ 177 #define CAN_SJW_1tq ((uint8_t)0x00) /* 1 time quantum */ 178 #define CAN_SJW_2tq ((uint8_t)0x01) /* 2 time quantum */ 179 #define CAN_SJW_3tq ((uint8_t)0x02) /* 3 time quantum */ 180 #define CAN_SJW_4tq ((uint8_t)0x03) /* 4 time quantum */ 181 182 /* CAN_time_quantum_in_bit_segment_1 */ 183 #define CAN_BS1_1tq ((uint8_t)0x00) /* 1 time quantum */ 184 #define CAN_BS1_2tq ((uint8_t)0x01) /* 2 time quantum */ 185 #define CAN_BS1_3tq ((uint8_t)0x02) /* 3 time quantum */ 186 #define CAN_BS1_4tq ((uint8_t)0x03) /* 4 time quantum */ 187 #define CAN_BS1_5tq ((uint8_t)0x04) /* 5 time quantum */ 188 #define CAN_BS1_6tq ((uint8_t)0x05) /* 6 time quantum */ 189 #define CAN_BS1_7tq ((uint8_t)0x06) /* 7 time quantum */ 190 #define CAN_BS1_8tq ((uint8_t)0x07) /* 8 time quantum */ 191 #define CAN_BS1_9tq ((uint8_t)0x08) /* 9 time quantum */ 192 #define CAN_BS1_10tq ((uint8_t)0x09) /* 10 time quantum */ 193 #define CAN_BS1_11tq ((uint8_t)0x0A) /* 11 time quantum */ 194 #define CAN_BS1_12tq ((uint8_t)0x0B) /* 12 time quantum */ 195 #define CAN_BS1_13tq ((uint8_t)0x0C) /* 13 time quantum */ 196 #define CAN_BS1_14tq ((uint8_t)0x0D) /* 14 time quantum */ 197 #define CAN_BS1_15tq ((uint8_t)0x0E) /* 15 time quantum */ 198 #define CAN_BS1_16tq ((uint8_t)0x0F) /* 16 time quantum */ 199 200 /* CAN_time_quantum_in_bit_segment_2 */ 201 #define CAN_BS2_1tq ((uint8_t)0x00) /* 1 time quantum */ 202 #define CAN_BS2_2tq ((uint8_t)0x01) /* 2 time quantum */ 203 #define CAN_BS2_3tq ((uint8_t)0x02) /* 3 time quantum */ 204 #define CAN_BS2_4tq ((uint8_t)0x03) /* 4 time quantum */ 205 #define CAN_BS2_5tq ((uint8_t)0x04) /* 5 time quantum */ 206 #define CAN_BS2_6tq ((uint8_t)0x05) /* 6 time quantum */ 207 #define CAN_BS2_7tq ((uint8_t)0x06) /* 7 time quantum */ 208 #define CAN_BS2_8tq ((uint8_t)0x07) /* 8 time quantum */ 209 210 /* CAN_filter_mode */ 211 #define CAN_FilterMode_IdMask ((uint8_t)0x00) /* identifier/mask mode */ 212 #define CAN_FilterMode_IdList ((uint8_t)0x01) /* identifier list mode */ 213 214 /* CAN_filter_scale */ 215 #define CAN_FilterScale_16bit ((uint8_t)0x00) /* Two 16-bit filters */ 216 #define CAN_FilterScale_32bit ((uint8_t)0x01) /* One 32-bit filter */ 217 218 /* CAN_filter_FIFO */ 219 #define CAN_Filter_FIFO0 ((uint8_t)0x00) /* Filter FIFO 0 assignment for filter x */ 220 #define CAN_Filter_FIFO1 ((uint8_t)0x01) /* Filter FIFO 1 assignment for filter x */ 221 222 /* CAN_identifier_type */ 223 #define CAN_Id_Standard ((uint32_t)0x00000000) /* Standard Id */ 224 #define CAN_Id_Extended ((uint32_t)0x00000004) /* Extended Id */ 225 226 /* CAN_remote_transmission_request */ 227 #define CAN_RTR_Data ((uint32_t)0x00000000) /* Data frame */ 228 #define CAN_RTR_Remote ((uint32_t)0x00000002) /* Remote frame */ 229 230 /* CAN_transmit_constants */ 231 #define CAN_TxStatus_Failed ((uint8_t)0x00)/* CAN transmission failed */ 232 #define CAN_TxStatus_Ok ((uint8_t)0x01) /* CAN transmission succeeded */ 233 #define CAN_TxStatus_Pending ((uint8_t)0x02) /* CAN transmission pending */ 234 #define CAN_TxStatus_NoMailBox ((uint8_t)0x04) /* CAN cell did not provide an empty mailbox */ 235 236 /* CAN_receive_FIFO_number_constants */ 237 #define CAN_FIFO0 ((uint8_t)0x00) /* CAN FIFO 0 used to receive */ 238 #define CAN_FIFO1 ((uint8_t)0x01) /* CAN FIFO 1 used to receive */ 239 240 /* CAN_sleep_constants */ 241 #define CAN_Sleep_Failed ((uint8_t)0x00) /* CAN did not enter the sleep mode */ 242 #define CAN_Sleep_Ok ((uint8_t)0x01) /* CAN entered the sleep mode */ 243 244 /* CAN_wake_up_constants */ 245 #define CAN_WakeUp_Failed ((uint8_t)0x00) /* CAN did not leave the sleep mode */ 246 #define CAN_WakeUp_Ok ((uint8_t)0x01) /* CAN leaved the sleep mode */ 247 248 /* CAN_Error_Code_constants */ 249 #define CAN_ErrorCode_NoErr ((uint8_t)0x00) /* No Error */ 250 #define CAN_ErrorCode_StuffErr ((uint8_t)0x10) /* Stuff Error */ 251 #define CAN_ErrorCode_FormErr ((uint8_t)0x20) /* Form Error */ 252 #define CAN_ErrorCode_ACKErr ((uint8_t)0x30) /* Acknowledgment Error */ 253 #define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /* Bit Recessive Error */ 254 #define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50) /* Bit Dominant Error */ 255 #define CAN_ErrorCode_CRCErr ((uint8_t)0x60) /* CRC Error */ 256 #define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70) /* Software Set Error */ 257 258 259 /* CAN_flags */ 260 /* Transmit Flags */ 261 #define CAN_FLAG_RQCP0 ((uint32_t)0x38000001) /* Request MailBox0 Flag */ 262 #define CAN_FLAG_RQCP1 ((uint32_t)0x38000100) /* Request MailBox1 Flag */ 263 #define CAN_FLAG_RQCP2 ((uint32_t)0x38010000) /* Request MailBox2 Flag */ 264 265 /* Receive Flags */ 266 #define CAN_FLAG_FMP0 ((uint32_t)0x12000003) /* FIFO 0 Message Pending Flag */ 267 #define CAN_FLAG_FF0 ((uint32_t)0x32000008) /* FIFO 0 Full Flag */ 268 #define CAN_FLAG_FOV0 ((uint32_t)0x32000010) /* FIFO 0 Overrun Flag */ 269 #define CAN_FLAG_FMP1 ((uint32_t)0x14000003) /* FIFO 1 Message Pending Flag */ 270 #define CAN_FLAG_FF1 ((uint32_t)0x34000008) /* FIFO 1 Full Flag */ 271 #define CAN_FLAG_FOV1 ((uint32_t)0x34000010) /* FIFO 1 Overrun Flag */ 272 273 /* Operating Mode Flags */ 274 #define CAN_FLAG_WKU ((uint32_t)0x31000008) /* Wake up Flag */ 275 #define CAN_FLAG_SLAK ((uint32_t)0x31000012) /* Sleep acknowledge Flag */ 276 277 /* Error Flags */ 278 #define CAN_FLAG_EWG ((uint32_t)0x10F00001) /* Error Warning Flag */ 279 #define CAN_FLAG_EPV ((uint32_t)0x10F00002) /* Error Passive Flag */ 280 #define CAN_FLAG_BOF ((uint32_t)0x10F00004) /* Bus-Off Flag */ 281 #define CAN_FLAG_LEC ((uint32_t)0x30F00070) /* Last error code Flag */ 282 283 284 /* CAN_interrupts */ 285 #define CAN_IT_TME ((uint32_t)0x00000001) /* Transmit mailbox empty Interrupt*/ 286 287 /* Receive Interrupts */ 288 #define CAN_IT_FMP0 ((uint32_t)0x00000002) /* FIFO 0 message pending Interrupt*/ 289 #define CAN_IT_FF0 ((uint32_t)0x00000004) /* FIFO 0 full Interrupt*/ 290 #define CAN_IT_FOV0 ((uint32_t)0x00000008) /* FIFO 0 overrun Interrupt*/ 291 #define CAN_IT_FMP1 ((uint32_t)0x00000010) /* FIFO 1 message pending Interrupt*/ 292 #define CAN_IT_FF1 ((uint32_t)0x00000020) /* FIFO 1 full Interrupt*/ 293 #define CAN_IT_FOV1 ((uint32_t)0x00000040) /* FIFO 1 overrun Interrupt*/ 294 295 /* Operating Mode Interrupts */ 296 #define CAN_IT_WKU ((uint32_t)0x00010000) /* Wake-up Interrupt*/ 297 #define CAN_IT_SLK ((uint32_t)0x00020000) /* Sleep acknowledge Interrupt*/ 298 299 /* Error Interrupts */ 300 #define CAN_IT_EWG ((uint32_t)0x00000100) /* Error warning Interrupt*/ 301 #define CAN_IT_EPV ((uint32_t)0x00000200) /* Error passive Interrupt*/ 302 #define CAN_IT_BOF ((uint32_t)0x00000400) /* Bus-off Interrupt*/ 303 #define CAN_IT_LEC ((uint32_t)0x00000800) /* Last error code Interrupt*/ 304 #define CAN_IT_ERR ((uint32_t)0x00008000) /* Error Interrupt*/ 305 306 /* Flags named as Interrupts : kept only for FW compatibility */ 307 #define CAN_IT_RQCP0 CAN_IT_TME 308 #define CAN_IT_RQCP1 CAN_IT_TME 309 #define CAN_IT_RQCP2 CAN_IT_TME 310 311 /* CAN_Legacy */ 312 #define CANINITFAILED CAN_InitStatus_Failed 313 #define CANINITOK CAN_InitStatus_Success 314 #define CAN_FilterFIFO0 CAN_Filter_FIFO0 315 #define CAN_FilterFIFO1 CAN_Filter_FIFO1 316 #define CAN_ID_STD CAN_Id_Standard 317 #define CAN_ID_EXT CAN_Id_Extended 318 #define CAN_RTR_DATA CAN_RTR_Data 319 #define CAN_RTR_REMOTE CAN_RTR_Remote 320 #define CANTXFAILE CAN_TxStatus_Failed 321 #define CANTXOK CAN_TxStatus_Ok 322 #define CANTXPENDING CAN_TxStatus_Pending 323 #define CAN_NO_MB CAN_TxStatus_NoMailBox 324 #define CANSLEEPFAILED CAN_Sleep_Failed 325 #define CANSLEEPOK CAN_Sleep_Ok 326 #define CANWAKEUPFAILED CAN_WakeUp_Failed 327 #define CANWAKEUPOK CAN_WakeUp_Ok 328 329 330 void CAN_DeInit(CAN_TypeDef* CANx); 331 uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct); 332 void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct); 333 void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct); 334 void CAN_SlaveStartBank(uint8_t CAN_BankNumber); 335 void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState); 336 void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState); 337 uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage); 338 uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox); 339 void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox); 340 void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage); 341 void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber); 342 uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber); 343 uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode); 344 uint8_t CAN_Sleep(CAN_TypeDef* CANx); 345 uint8_t CAN_WakeUp(CAN_TypeDef* CANx); 346 uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx); 347 uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx); 348 uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx); 349 void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState); 350 FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG); 351 void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG); 352 ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT); 353 void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT); 354 355 #ifdef __cplusplus 356 } 357 #endif 358 359 #endif 360 361 362 363 364 365