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/*
******************************************************************************
* @file HAL_Can.h
* @version V1.0.0
* @date 2020
* @brief Header file of CAN HAL module.
******************************************************************************
*/
#ifndef __HAL_CAN_H__
#define __HAL_CAN_H__
#include "ACM32Fxx_HAL.h"
/**
* @}
*/
/******************************************************************************/
/* Peripheral Registers Bits Definition */
/******************************************************************************/
/******************************************************************************/
/* (CAN) */
/******************************************************************************/
/**************** Bit definition for CAN MOD register ***********************/
#define CAN_MOD_RM BIT0
#define CAN_MOD_LOM BIT1
#define CAN_MOD_STM BIT2
#define CAN_MOD_AFM BIT3
#define CAN_MOD_SM BIT4
/**************** Bit definition for CAN CMR register ***********************/
#define CAN_CMR_TR BIT0
#define CAN_CMR_AT BIT1
#define CAN_CMR_RRB BIT2
#define CAN_CMR_CDO BIT3
#define CAN_CMR_SRR BIT4
/**************** Bit definition for CAN SR register ***********************/
#define CAN_SR_RBS BIT0
#define CAN_SR_DOS BIT1
#define CAN_SR_TBS BIT2
#define CAN_SR_TCS BIT3
#define CAN_SR_RS BIT4
#define CAN_SR_TS BIT5
#define CAN_SR_ES BIT6
#define CAN_SR_BS BIT7
/**************** Bit definition for CAN IR register ***********************/
#define CAN_IR_RI BIT0
#define CAN_IR_TI BIT1
#define CAN_IR_EI BIT2
#define CAN_IR_DOI BIT3
#define CAN_IR_WUI BIT4
#define CAN_IR_EPI BIT5
#define CAN_IR_ALI BIT6
#define CAN_IR_BEI BIT7
/**************** Bit definition for CAN IER register ***********************/
#define CAN_IER_RIE BIT0
#define CAN_IER_TIE BIT1
#define CAN_IER_EIE BIT2
#define CAN_IER_DOIE BIT3
#define CAN_IER_WUIE BIT4
#define CAN_IER_EPIE BIT5
#define CAN_IER_ALIE BIT6
#define CAN_IER_BEIE BIT7
/**
* @brief CAN init structure definition
*/
typedef struct
{
uint32_t CAN_Mode; /*!< Specifies the CAN operating mode.
This parameter can be a value of
@ref CAN_mode e.g:CAN_Mode_Normal CAN_Mode_Normal*/
uint32_t CAN_SJW; /*!< Specifies the maximum number of time quanta
the CAN hardware is allowed to lengthen or
shorten a bit to perform resynchronization.
This parameter can be a value of
@ref CAN_SJW e.g:CAN_SJW_1tq--CAN_SJW_4tq*/
uint32_t CAN_BRP ; /*!< Specifies the number of time quanta in Bit
Segment 1. This parameter can be a value between 0 and 63 */
uint32_t CAN_TSEG1; /*!< Specifies the number of time quanta in Bit
Segment 1. This parameter can be a value of
@ref CAN_TSEG1 e.g: CAN_TSEG1_1tq-CAN_TSEG1_16tq*/
uint32_t CAN_TSEG2; /*!< Specifies the number of time quanta in Bit
Segment 2.This parameter can be a value of
@ref CAN_TSEG2 e.g:CAN_TSEG1_1tq-CAN_TSEG16_tq*/
uint32_t CAN_SAM ; /*!< Specifies the CAN operating mode.
This parameter can be a value of
@ref CAN_SAM e.g:CAN_SAM_1time CAN_SAM_3time*/
} CAN_InitTypeDef;
/**
* @brief CAN filter init structure definition
*/
typedef struct
{
uint32_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized.
This parameter can be a value of
@ref CAN_filter_mode e.g:CAN_FilterMode_Dual CAN_FilterMode_Single*/
uint32_t CAN_FilterId1; /*!< Specifies the filter identification number
This parameter can be a value between 0x0000 and 0x1FFFFFFF */
uint32_t CAN_FilterId2; /*!< Specifies the filter identification number
only CAN_FilterMode=CAN_FilterMode_Dual Enable
This parameter can be a value between 0x0000 and 0x1FFFFFFF */
uint32_t CAN_FilterMaskId1; /*!< Specifies the filter identification mask number
This parameter can be a value between 0x0000 and 0x1FFFFFFF */
uint32_t CAN_FilterMaskId2; /*!< Specifies the filter identification mask number
only CAN_FilterMode=CAN_FilterMode_Dual Enable
This parameter can be a value between 0x0000 and 0x1FFFFFFF */
} CAN_FilterInitTypeDef;
/**
* @brief CAN RxTxMessege structure definition
*/
typedef struct
{
uint32_t StdId; /*!< Specifies the standard identifier.
This parameter can be a value between 0 to 0x7FF. */
uint32_t ExtId; /*!< Specifies the extended identifier.
This parameter can be a value between 0 to 0x1FFFFFFF. */
uint32_t IDE; /*!< Specifies the type of identifier for the message that
will be transmitted. This parameter can be a value
of @ref CAN_identifier_type e.g: CAN_Id_Standard CAN_Id_Extended*/
uint32_t RTR; /*!< Specifies the type of frame for the message that will
be transmitted. This parameter can be a value of
@ref CAN_remote_transmission e.g: CAN_RTR_Data CAN_RTR_Remote */
uint32_t DLC; /*!< Specifies the length of the frame that will be
transmitted. This parameter can be a value between 0 to 8 */
uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
} CanTxRxMsg;
/**
* @brief CAN handle Structure definition
*/
typedef struct __CAN_HandleTypeDef
{
CAN_TypeDef *Instance; /*!< Register base address */
CAN_InitTypeDef Init; /*!< CAN required parameters */
CanTxRxMsg *RxMessage; /*!< CAN RxMessage */
void (*CAN_ReceiveIT_Callback)(struct __CAN_HandleTypeDef *hcan); /* CAN ReceiveIT complete callback */
void (*CAN_TransmitIT_Callback)(struct __CAN_HandleTypeDef *hcan); /* CAN TransmitIT complete callback */
} CAN_HandleTypeDef;
typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1))
/** @defgroup CAN_identifier_type
* @{
*/
#define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */
#define CAN_Id_Extended ((uint32_t)0x00000001) /*!< Extended Id */
#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \
((IDTYPE) == CAN_Id_Extended))
/**
* @}
*/
/** @defgroup CAN_remote_transmission
* @{
*/
#define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */
#define CAN_RTR_Remote ((uint32_t)0x00000001) /*!< Remote frame */
#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote))
/**
* @}
*/
/** @defgroup CAN_TxRxMessege
* @{
*/
#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
#define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
#define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_SR_RBS) || ((FLAG) == CAN_SR_DOS) || \
((FLAG) == CAN_SR_TBS) || ((FLAG) == CAN_SR_TCS) || \
((FLAG) == CAN_SR_RS) || ((FLAG) == CAN_SR_TS) || \
((FLAG) == CAN_SR_ES) || ((FLAG) == CAN_SR_BS))
#define IS_CAN_BRP(BRP) (((BRP) <= 63))
/**
* @defgroup CAN_Mode
* @{
*/
#define CAN_Mode_Normal ((uint8_t)0x00) /*!< Normal mode */
#define CAN_Mode_SlefTest ((uint8_t)0x01) /*!< SlefTest mode */
#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) ||\
((MODE) == CAN_Mode_SlefTest))
/**
* @}
*/
/**
* @defgroup CAN_Operating_Mode
* @{
*/
#define CAN_OperatingMode_Normal ((uint8_t)0x00) /*!< Initialization mode */
#define CAN_OperatingMode_Initialization ((uint8_t)0x01) /*!< Normal mode */
#define CAN_OperatingMode_Listen ((uint8_t)0x02) /*!< Listen mode */
#define CAN_OperatingMode_SelfTest ((uint8_t)0x04) /*!< Listen mode */
#define CAN_OperatingMode_Sleep ((uint8_t)0x10) /*!< sleep mode */
#define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\
((MODE) == CAN_OperatingMode_Normal)|| \
((MODE) == CAN_OperatingMode_Sleep)|| \
((MODE) == CAN_OperatingMode_SelfTest)|| \
((MODE) == CAN_OperatingMode_Listen))
/**
* @}
*/
/** @defgroup CAN_SAM
* @{
*/
#define CAN_SAM_1time ((uint8_t)0x00) /*!< 1 time quantum */
#define CAN_SAM_3time ((uint8_t)0x01) /*!< 2 time quantum */
#define IS_CAN_SAM(SAM) (((SAM) == CAN_SAM_1time) || ((SAM) == CAN_SAM_3time))
/**
* @}
*/
/** @defgroup CAN_synchronisation_jump_width
* @{
*/
#define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */
#define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */
#define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */
#define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */
#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
/**
* @}
*/
/** @defgroup CAN_time_quantum_in_bit_segment_1
* @{
*/
#define CAN_TSEG1_1tq ((uint8_t)0x00) /*!< 1 time quantum */
#define CAN_TSEG1_2tq ((uint8_t)0x01) /*!< 2 time quantum */
#define CAN_TSEG1_3tq ((uint8_t)0x02) /*!< 3 time quantum */
#define CAN_TSEG1_4tq ((uint8_t)0x03) /*!< 4 time quantum */
#define CAN_TSEG1_5tq ((uint8_t)0x04) /*!< 5 time quantum */
#define CAN_TSEG1_6tq ((uint8_t)0x05) /*!< 6 time quantum */
#define CAN_TSEG1_7tq ((uint8_t)0x06) /*!< 7 time quantum */
#define CAN_TSEG1_8tq ((uint8_t)0x07) /*!< 8 time quantum */
#define CAN_TSEG1_9tq ((uint8_t)0x08) /*!< 9 time quantum */
#define CAN_TSEG1_10tq ((uint8_t)0x09) /*!< 10 time quantum */
#define CAN_TSEG1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */
#define CAN_TSEG1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */
#define CAN_TSEG1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */
#define CAN_TSEG1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */
#define CAN_TSEG1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */
#define CAN_TSEG1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */
#define IS_CAN_TSEG1(TSEG1) ((TSEG1) <= CAN_TSEG1_16tq)
/**
* @}
*/
/** @defgroup CAN_time_quantum_in_bit_segment_2
* @{
*/
#define CAN_TSEG2_1tq ((uint8_t)0x00) /*!< 1 time quantum */
#define CAN_TSEG2_2tq ((uint8_t)0x01) /*!< 2 time quantum */
#define CAN_TSEG2_3tq ((uint8_t)0x02) /*!< 3 time quantum */
#define CAN_TSEG2_4tq ((uint8_t)0x03) /*!< 4 time quantum */
#define CAN_TSEG2_5tq ((uint8_t)0x04) /*!< 5 time quantum */
#define CAN_TSEG2_6tq ((uint8_t)0x05) /*!< 6 time quantum */
#define CAN_TSEG2_7tq ((uint8_t)0x06) /*!< 7 time quantum */
#define CAN_TSEG2_8tq ((uint8_t)0x07) /*!< 8 time quantum */
#define IS_CAN_TSEG2(TSEG) ((TSEG) <= CAN_TSEG2_8tq)
/**
* @}
*/
/** @defgroup CAN_filter_mode
* @{
*/
#define CAN_FilterMode_Dual ((uint8_t)0x00) /*!< identifier list mode */
#define CAN_FilterMode_Single ((uint8_t)0x01) /*!< identifier/mask mode */
#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_Dual) || \
((MODE) == CAN_FilterMode_Single))
/**
* @}
*/
/** @defgroup CAN_ErrorCode
* @{
*/
#define CAN_ErrorType_ErrCode ((uint8_t)0xC0) /*!< identifier list mode */
#define CAN_ErrorType_Direction ((uint8_t)0x20) /*!< identifier/mask mode */
#define CAN_ErrorType_SegCode ((uint8_t)0x1F) /*!< identifier/mask mode */
#define IS_CAN_ErrorType(ErrorType) (((ErrorType) == CAN_ErrorType_ErrCode) || \
((ErrorType) == CAN_ErrorType_Direction)|| \
((ErrorType) == CAN_ErrorType_SegCode))
/**
* @}
*/
/* Initialization and Configuration functions *********************************/
void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan);
void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan);
void HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan,CAN_FilterInitTypeDef* CAN_FilterInitStruct);
/* Transmit functions *********************************************************/
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, CanTxRxMsg* TxMessage);
void HAL_CAN_CancelTransmit(CAN_HandleTypeDef *hcan);
/* Receive functions **********************************************************/
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, CanTxRxMsg* RxMessage);
HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, CanTxRxMsg* RxMessage);
int8_t HAL_CAN_GetReceiveFiFoCounter(CAN_HandleTypeDef *hcan);
int8_t HAL_CAN_GetReceiveFiFoAddr(CAN_HandleTypeDef *hcan);
void HAL_CAN_ReleaseReceiveFIFO(CAN_HandleTypeDef *hcan);
void HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, CanTxRxMsg* RxMessage);
/* Operation modes functions **************************************************/
HAL_StatusTypeDef HAL_CAN_OperatingModeRequest(CAN_HandleTypeDef *hcan, uint8_t CAN_OperatingMode);
void HAL_CAN_ClearOverload(CAN_HandleTypeDef *hcan);
void HAL_CAN_SelfReceive(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
/* Error Code management functions **********************************/
int8_t HAL_CAN_GetErrorCode(CAN_HandleTypeDef *hcan,uint32_t Error_Type);
int8_t HAL_CAN_GetErrorAlarmCounter(CAN_HandleTypeDef *hcan);
int8_t HAL_CAN_GetArbitrationErrorPosition(CAN_HandleTypeDef *hcan);
int8_t HAL_CAN_GetReceiveErrorCounter(CAN_HandleTypeDef *hcan);
int8_t HAL_CAN_GetTransmitErrorCounter(CAN_HandleTypeDef *hcan);
void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan);
#endif
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