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/**************************************************************************//**
* @file nu_can.h
* @version V2.00
* @brief M480 Series CAN Driver Header File
*
* SPDX-License-Identifier: Apache-2.0
* @copyright (C) 2016-2020 Nuvoton Technology Corp. All rights reserved.
******************************************************************************/
#ifndef __NU_CAN_H__
#define __NU_CAN_H__
#ifdef __cplusplus
extern "C"
{
#endif
/** @addtogroup Standard_Driver Standard Driver
@{
*/
/** @addtogroup CAN_Driver CAN Driver
@{
*/
/** @addtogroup CAN_EXPORTED_CONSTANTS CAN Exported Constants
@{
*/
/*---------------------------------------------------------------------------------------------------------*/
/* CAN Test Mode Constant Definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define CAN_NORMAL_MODE 0ul /*!< CAN select normal mode \hideinitializer */
#define CAN_BASIC_MODE 1ul /*!< CAN select basic mode \hideinitializer */
/*---------------------------------------------------------------------------------------------------------*/
/* Message ID Type Constant Definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define CAN_STD_ID 0ul /*!< CAN select standard ID \hideinitializer */
#define CAN_EXT_ID 1ul /*!< CAN select extended ID \hideinitializer */
/*---------------------------------------------------------------------------------------------------------*/
/* Message Frame Type Constant Definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define CAN_REMOTE_FRAME 0ul /*!< CAN frame select remote frame \hideinitializer */
#define CAN_DATA_FRAME 1ul /*!< CAN frame select data frame \hideinitializer */
/*@}*/ /* end of group CAN_EXPORTED_CONSTANTS */
/** @addtogroup CAN_EXPORTED_STRUCTS CAN Exported Structs
@{
*/
/**
* @details CAN message structure
*/
typedef struct
{
uint32_t IdType; /*!< ID type */
uint32_t FrameType; /*!< Frame type */
uint32_t Id; /*!< Message ID */
uint8_t DLC; /*!< Data length */
uint8_t Data[8]; /*!< Data */
} STR_CANMSG_T;
/**
* @details CAN mask message structure
*/
typedef struct
{
uint8_t u8Xtd; /*!< Extended ID */
uint8_t u8Dir; /*!< Direction */
uint32_t u32Id; /*!< Message ID */
uint8_t u8IdType; /*!< ID type*/
} STR_CANMASK_T;
/*@}*/ /* end of group CAN_EXPORTED_STRUCTS */
/** @cond HIDDEN_SYMBOLS */
#define MSG(id) (id)
/** @endcond HIDDEN_SYMBOLS */
/** @addtogroup CAN_EXPORTED_FUNCTIONS CAN Exported Functions
@{
*/
/**
* @brief Get interrupt status.
*
* @param[in] can The base address of can module.
*
* @return CAN module status register value.
*
* @details Status Interrupt is generated by bits BOff (CAN_STATUS[7]), EWarn (CAN_STATUS[6]),
* EPass (CAN_STATUS[5]), RxOk (CAN_STATUS[4]), TxOk (CAN_STATUS[3]), and LEC (CAN_STATUS[2:0]).
* \hideinitializer
*/
#define CAN_GET_INT_STATUS(can) ((can)->STATUS)
/**
* @brief Get specified interrupt pending status.
*
* @param[in] can The base address of can module.
*
* @return The source of the interrupt.
*
* @details If several interrupts are pending, the CAN Interrupt Register will point to the pending interrupt
* with the highest priority, disregarding their chronological order.
* \hideinitializer
*/
#define CAN_GET_INT_PENDING_STATUS(can) ((can)->IIDR)
/**
* @brief Disable wake-up function.
*
* @param[in] can The base address of can module.
*
* @return None
*
* @details The macro is used to disable wake-up function.
* \hideinitializer
*/
#define CAN_DISABLE_WAKEUP(can) ((can)->WU_EN = 0ul)
/**
* @brief Enable wake-up function.
*
* @param[in] can The base address of can module.
*
* @return None
*
* @details User can wake-up system when there is a falling edge in the CAN_Rx pin.
* \hideinitializer
*/
#define CAN_ENABLE_WAKEUP(can) ((can)->WU_EN = CAN_WU_EN_WAKUP_EN_Msk)
/**
* @brief Get specified Message Object new data into bit value.
*
* @param[in] can The base address of can module.
* @param[in] u32MsgNum Specified Message Object number, valid value are from 0 to 31.
*
* @return Specified Message Object new data into bit value.
*
* @details The NewDat bit (CAN_IFn_MCON[15]) of a specific Message Object can be set/reset by the software through the IFn Message Interface Registers
* or by the Message Handler after reception of a Data Frame or after a successful transmission.
* \hideinitializer
*/
#define CAN_GET_NEW_DATA_IN_BIT(can, u32MsgNum) ((u32MsgNum) < 16 ? (can)->NDAT1 & (1 << (u32MsgNum)) : (can)->NDAT2 & (1 << ((u32MsgNum)-16)))
/*---------------------------------------------------------------------------------------------------------*/
/* Define CAN functions prototype */
/*---------------------------------------------------------------------------------------------------------*/
uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate);
uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode);
void CAN_Close(CAN_T *tCAN);
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum);
void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask);
void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask);
int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID);
int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID);
int32_t CAN_SetRxMsgAndMsk(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID, uint32_t u32IDMask);
int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum);
int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg);
int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg);
void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask);
void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask);
void CAN_LeaveTestMode(CAN_T *tCAN);
uint32_t CAN_GetCANBitRate(CAN_T *tCAN);
uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj);
void CAN_LeaveInitMode(CAN_T *tCAN);
int32_t CAN_SetRxMsgObjAndMsk(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint32_t u32idmask, uint8_t u8singleOrFifoLast);
int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast);
void CAN_WaitMsg(CAN_T *tCAN);
int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg);
/*@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */
/*@}*/ /* end of group CAN_Driver */
/*@}*/ /* end of group Standard_Driver */
#ifdef __cplusplus
}
#endif
#endif /*__NU_CAN_H__ */
/*** (C) COPYRIGHT 2016 Nuvoton Technology Corp. ***/
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