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#ifndef __SWM320_CAN_H__
#define __SWM320_CAN_H__
#define CAN_FRAME_STD 0
#define CAN_FRAME_EXT 1
typedef struct {
uint8_t Mode; //CAN_MODE_NORMAL、CAN_MODE_LISTEN、CAN_MODE_SELFTEST
uint8_t CAN_BS1; //CAN_BS1_1tq、CAN_BS1_2tq、... ... 、CAN_BS1_16tq
uint8_t CAN_BS2; //CAN_BS2_1tq、CAN_BS2_2tq、... ... 、CAN_BS2_8tq
uint8_t CAN_SJW; //CAN_SJW_1tq、CAN_SJW_2tq、CAN_SJW_3tq、CAN_SJW_4tq
uint32_t Baudrate; //波特率，即位传输速率，取值1--1000000
uint8_t FilterMode; //CAN_FILTER_16b、CAN_FILTER_32b
union {
uint32_t FilterMask32b; //FilterCheck & (~FilterMask) == ID & (~FilterMask)的Message通过过滤
struct { // 0 must match 1 don't care
uint16_t FilterMask16b1;
uint16_t FilterMask16b2;
};
};
union {
uint32_t FilterCheck32b;
struct {
uint16_t FilterCheck16b1;
uint16_t FilterCheck16b2;
};
};
uint8_t RXNotEmptyIEn; //接收FIFO非空，有数据可读
uint8_t RXOverflowIEn; //接收FIFO溢出，有数据丢失
uint8_t ArbitrLostIEn; //控制器丢失仲裁变成接收方
uint8_t ErrPassiveIEn; //接收/发送错误计数值达到127
} CAN_InitStructure;
#define CAN_MODE_NORMAL 0 //常规模式
#define CAN_MODE_LISTEN 1 //监听模式
#define CAN_MODE_SELFTEST 2 //自测模式
#define CAN_BS1_1tq 0
#define CAN_BS1_2tq 1
#define CAN_BS1_3tq 2
#define CAN_BS1_4tq 3
#define CAN_BS1_5tq 4
#define CAN_BS1_6tq 5
#define CAN_BS1_7tq 6
#define CAN_BS1_8tq 7
#define CAN_BS1_9tq 8
#define CAN_BS1_10tq 9
#define CAN_BS1_11tq 10
#define CAN_BS1_12tq 11
#define CAN_BS1_13tq 12
#define CAN_BS1_14tq 13
#define CAN_BS1_15tq 14
#define CAN_BS1_16tq 15
#define CAN_BS2_1tq 0
#define CAN_BS2_2tq 1
#define CAN_BS2_3tq 2
#define CAN_BS2_4tq 3
#define CAN_BS2_5tq 4
#define CAN_BS2_6tq 5
#define CAN_BS2_7tq 6
#define CAN_BS2_8tq 7
#define CAN_SJW_1tq 0
#define CAN_SJW_2tq 1
#define CAN_SJW_3tq 2
#define CAN_SJW_4tq 3
#define CAN_FILTER_16b 0 //两个16位过滤器
#define CAN_FILTER_32b 1 //一个32位过滤器
typedef struct {
uint32_t id; //消息ID
uint8_t format; //帧格式：CAN_FRAME_STD、CAN_FRAME_EXT
uint8_t remote; //消息是否为远程帧
uint8_t size; //接收到的数据个数
uint8_t data[8]; //接收到的数据
} CAN_RXMessage;
/* Interrupt Type */
#define CAN_IT_RX_NOTEMPTY (0x01 << 0) //RX Buffer Not Empty
#define CAN_IT_RX_OVERFLOW (0x01 << 3) //RX Buffer Overflow
#define CAN_IT_TX_EMPTY (0x01 << 1) //TX Buffer Empty
#define CAN_IT_ARBLOST (0x01 << 6) //Arbitration lost
#define CAN_IT_ERR (0x01 << 7)
#define CAN_IT_ERR_WARN (0x01 << 2) //TXERR/RXERR计数值达到Error Warning Limit
#define CAN_IT_ERR_PASS (0x01 << 5) //TXERR/RXERR计数值达到127
#define CAN_IT_WAKEUP (0x01 << 4)
void CAN_Init(CAN_TypeDef * CANx, CAN_InitStructure * initStruct);
void CAN_Open(CAN_TypeDef * CANx);
void CAN_Close(CAN_TypeDef * CANx);
void CAN_Transmit(CAN_TypeDef * CANx, uint32_t format, uint32_t id, uint8_t data[], uint32_t size, uint32_t once);
void CAN_TransmitRequest(CAN_TypeDef * CANx, uint32_t format, uint32_t id, uint32_t once);
void CAN_Receive(CAN_TypeDef * CANx, CAN_RXMessage *msg);
uint32_t CAN_TXComplete(CAN_TypeDef * CANx);
uint32_t CAN_TXSuccess(CAN_TypeDef * CANx);
void CAN_AbortTransmit(CAN_TypeDef * CANx);
uint32_t CAN_TXBufferReady(CAN_TypeDef * CANx);
uint32_t CAN_RXDataAvailable(CAN_TypeDef * CANx);
void CAN_SetBaudrate(CAN_TypeDef * CANx, uint32_t baudrate, uint32_t CAN_BS1, uint32_t CAN_BS2, uint32_t CAN_SJW);
void CAN_SetFilter32b(CAN_TypeDef * CANx, uint32_t check, uint32_t mask);
void CAN_SetFilter16b(CAN_TypeDef * CANx, uint16_t check1, uint16_t mask1, uint16_t check2, uint16_t mask2);
void CAN_INTEn(CAN_TypeDef * CANx, uint32_t it);
void CAN_INTDis(CAN_TypeDef * CANx, uint32_t it);
void CAN_INTClr(CAN_TypeDef * CANx, uint32_t it);
uint32_t CAN_INTStat(CAN_TypeDef * CANx);
#endif //__SWM320_CAN_H__
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