670 lines
36 KiB
C
670 lines
36 KiB
C
/**
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*******************************************************************************
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* @file hc32_ll_can.h
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* @brief This file contains all the functions prototypes of the CAN driver
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* library.
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@verbatim
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Change Logs:
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Date Author Notes
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2022-03-31 CDT First version
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2022-10-31 CDT Deleted redundant comments
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Remove CAN_FLAG_RX_BUF_OVF from CAN_FLAG_CLR_ALL
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2023-06-30 CDT Added 3 APIs for local-reset
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Modify typo
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@endverbatim
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*******************************************************************************
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* Copyright (C) 2022-2023, Xiaohua Semiconductor Co., Ltd. All rights reserved.
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*
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* This software component is licensed by XHSC under BSD 3-Clause license
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* (the "License"); You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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*******************************************************************************
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*/
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#ifndef __HC32_LL_CAN_H__
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#define __HC32_LL_CAN_H__
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/* C binding of definitions if building with C++ compiler */
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/*******************************************************************************
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* Include files
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******************************************************************************/
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#include "hc32_ll_def.h"
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#include "hc32f4xx.h"
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#include "hc32f4xx_conf.h"
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/**
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* @addtogroup LL_Driver
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* @{
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*/
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/**
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* @addtogroup LL_CAN
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* @{
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*/
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#if (LL_CAN_ENABLE == DDL_ON)
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/*******************************************************************************
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* Global type definitions ('typedef')
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******************************************************************************/
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/**
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* @defgroup CAN_Global_Types CAN Global Types
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* @{
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*/
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/**
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* @brief CAN bit time configuration structure.
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* @note 1. TQ = u32Prescaler / CANClock.
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* @note 2. Bit time = (u32TimeSeg2 + u32TimeSeg2) x TQ.
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* @note 3. Baudrate = CANClock/(u32Prescaler*(u32TimeSeg1 + u32TimeSeg2))
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* @note 4. See user manual of the target MCU and ISO11898-1 for more details.
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*/
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typedef struct {
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uint32_t u32Prescaler; /*!< Specifies the prescaler of CAN clock, [1, 256]. */
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uint32_t u32TimeSeg1; /*!< Specifies the number of time quanta in Bit Segment 1.
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u32TimeSeg1 Contains synchronization segment,
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propagation time segment and phase buffer segment 1. */
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uint32_t u32TimeSeg2; /*!< Specifies the number of time quanta in Bit Segment 2.
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Phase buffer segment 2. */
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uint32_t u32SJW; /*!< Synchronization Jump Width.
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Specifies the maximum number of time quanta the CAN hardware
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is allowed to lengthen or shorten a bit to perform resynchronization. */
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} stc_can_bit_time_config_t;
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/**
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* @brief CAN acceptance filter configuration structure.
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*/
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typedef struct {
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uint32_t u32ID; /*!< Specifies the identifier(ID). 11 bits standard ID or 29 bits extended ID, depending on IDE. */
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uint32_t u32IDMask; /*!< Specifies the identifier(ID) mask. The mask bits of ID will be ignored by the acceptance filter. */
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uint32_t u32IDType; /*!< Specifies the identifier(ID) type. This parameter can be a value of @ref CAN_ID_Type */
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} stc_can_filter_config_t;
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/**
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* @brief TTCAN configuration structure.
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*/
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typedef struct {
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uint32_t u32RefMsgID; /*!< Reference message identifier. */
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uint32_t u32RefMsgIDE; /*!< Reference message identifier extension bit.
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'1' to set the ID which is specified by parameter 'u32RefMsgID' as an extended ID while
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'0' to set it as a standard ID. */
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uint8_t u8NTUPrescaler; /*!< Prescaler of NTU(network time unit). The source is the bit time which is defined by SBT.
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This parameter can be a value of @ref TTCAN_NTU_Prescaler */
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uint8_t u8TxBufMode; /*!< TTCAN Transmit Buffer Mode.
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This parameter can be a value of @ref TTCAN_Tx_Buf_Mode */
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uint16_t u16TriggerType; /*!< Trigger type of TTCAN.
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This parameter can be a value of @ref TTCAN_Trigger_Type */
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uint16_t u16TxEnableWindow; /*!< Tx_Enable window. Time period within which the transmission of a message may be started. Range is [1, 16] */
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uint16_t u16TxTriggerTime; /*!< Specifies for the referred message the time window of the matrix cycle at which it is to be transmitted. Range is [0, 65535] */
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uint16_t u16WatchTriggerTime; /*!< Time mark used to check whether the time since the last valid reference message has been too long. Range is [0, 65535] */
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} stc_can_ttc_config_t;
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/**
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* @brief CAN initialization structure.
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*/
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typedef struct {
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stc_can_bit_time_config_t stcBitCfg; /*!< Bit time configuration of classical CAN bit. @ref stc_can_bit_time_config_t */
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stc_can_filter_config_t *pstcFilter; /*!< Pointer to a @ref stc_can_filter_config_t structure that
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contains the configuration informations for the acceptance filters. */
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uint16_t u16FilterSelect; /*!< Selects acceptance filters.
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This parameter can be values of @ref CAN_Acceptance_Filter */
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uint8_t u8WorkMode; /*!< Specifies the work mode of CAN.
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This parameter can be a value of @ref CAN_Work_Mode */
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uint8_t u8PTBSingleShotTx; /*!< Enable or disable single shot transmission of PTB.
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This parameter can be a value of @ref PTB_SingleShot_Tx_En */
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uint8_t u8STBSingleShotTx; /*!< Enable or disable single shot transmission of STB.
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This parameter can be a value of @ref STB_SingleShot_Tx_En */
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uint8_t u8STBPrioMode; /*!< Enable or disable the priority decision mode of STB.
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This parameter can be a value of @ref CAN_STB_Prio_Mode_En
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NOTE: A frame in the PTB has always the highest priority regardless of the ID. */
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uint8_t u8RxWarnLimit; /*!< Specifies receive buffer almost full warning limit. Rang is [1, 8].
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Each CAN unit has 8 receive buffers. When the number of received frames reaches
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the value specified by u8RxWarnLimit, register bit RTIF.RAFIF is set and the interrupt occurred
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if it was enabled. */
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uint8_t u8ErrorWarnLimit; /*!< Specifies programmable error warning limit. Range is [0, 15].
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Error warning limit = (u8ErrorWarnLimit + 1) * 8. */
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uint8_t u8RxAllFrame; /*!< Enable or disable receive all frames(includes frames with error).
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This parameter can be a value of @ref CAN_Rx_All_En */
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uint8_t u8RxOvfMode; /*!< Receive buffer overflow mode. In case of a full receive buffer when a new frame is received.
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This parameter can be a value of @ref CAN_Rx_Ovf_Mode */
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uint8_t u8SelfAck; /*!< Enable or disable self-acknowledge.
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This parameter can be a value of @ref CAN_Self_ACK_En */
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stc_can_ttc_config_t *pstcCanTtc; /*!< Pointer to a TTCAN configuration structure. @ref stc_can_ttc_config_t
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Set it to NULL if not needed TTCAN. */
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} stc_can_init_t;
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/**
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* @brief CAN error information structure.
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*/
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typedef struct {
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uint8_t u8ArbitrLostPos; /*!< Bit position in the frame where the arbitration has been lost. */
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uint8_t u8ErrorType; /*!< CAN error type. This parameter can be a value of @ref CAN_Err_Type */
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uint8_t u8RxErrorCount; /*!< Receive error count. */
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uint8_t u8TxErrorCount; /*!< Transmit error count. */
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} stc_can_error_info_t;
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/**
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* @brief CAN TX frame data structure.
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*/
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typedef struct {
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uint32_t u32ID; /*!< 11 bits standard ID or 29 bits extended ID, depending on IDE. */
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union {
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uint32_t u32Ctrl;
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struct {
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uint32_t DLC: 4; /*!< Data length code. Length of the data segment of data frame.
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It should be zero while the frame is remote frame.
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This parameter can be a value of @ref CAN_Data_Length_Code */
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uint32_t BRS: 1; /*!< Bit rate switch. */
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uint32_t FDF: 1; /*!< CAN FD frame. */
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uint32_t RTR: 1; /*!< Remote transmission request bit.
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It is used to distinguish between data frames and remote frames. */
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uint32_t IDE: 1; /*!< Identifier extension flag.
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It is used to distinguish between standard format and extended format.
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This parameter can be a 1 or 0. */
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uint32_t RSVD: 24; /*!< Reserved bits. */
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};
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};
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uint8_t au8Data[8U]; /*!< TX data payload. */
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} stc_can_tx_frame_t;
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/**
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* @brief CAN RX frame data structure.
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*/
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typedef struct {
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uint32_t u32ID; /*!< 11 bits standard ID or 29 bits extended ID, depending on IDE. */
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union {
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uint32_t u32Ctrl;
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struct {
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uint32_t DLC: 4; /*!< Data length code. Length of the data segment of data frame.
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It should be zero while the frame is remote frame.
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This parameter can be a value of @ref CAN_Data_Length_Code */
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uint32_t BRS: 1; /*!< Bit rate switch. */
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uint32_t FDF: 1; /*!< CAN FD frame. */
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uint32_t RTR: 1; /*!< Remote transmission request bit.
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It is used to distinguish between data frames and remote frames. */
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uint32_t IDE: 1; /*!< Identifier extension flag.
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It is used to distinguish between standard format and extended format.
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This parameter can be 1 or 0. */
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uint32_t RSVD: 4; /*!< Reserved bits. */
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uint32_t TX: 1; /*!< This bit is set to 1 when receiving self-transmitted data in loopback mode. */
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uint32_t ERRT: 3; /*!< Error type. */
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uint32_t CYCLE_TIME: 16; /*!< Cycle time of time-triggered communication(TTC). */
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};
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};
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uint8_t au8Data[8U]; /*!< RX data payload. */
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} stc_can_rx_frame_t;
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/**
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* @}
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*/
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/*******************************************************************************
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* Global pre-processor symbols/macros ('#define')
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******************************************************************************/
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/**
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* @defgroup CAN_Global_Macros CAN Global Macros
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* @{
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*/
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/**
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* @defgroup CAN_Work_Mode CAN Work Mode
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* @{
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*/
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#define CAN_WORK_MD_NORMAL (0U) /*!< Normal work mode. */
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#define CAN_WORK_MD_SILENT (1U) /*!< Silent work mode. Prohibit data transmission. */
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#define CAN_WORK_MD_ILB (2U) /*!< Internal loop back mode, just for self-test while developing. */
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#define CAN_WORK_MD_ELB (3U) /*!< External loop back mode, just for self-test while developing. */
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#define CAN_WORK_MD_ELB_SILENT (4U) /*!< External loop back silent mode, just for self-test while developing.
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It is forbidden to respond to received frames and error frames,
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but data can be transmitted. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Tx_Buf_Type CAN Transmit Buffer Type
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* @{
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*/
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#define CAN_TX_BUF_PTB (0U) /*!< Primary transmit buffer. */
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#define CAN_TX_BUF_STB (1U) /*!< Secondary transmit buffer. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Data_Length_Code CAN Data Length Code
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* @{
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*/
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#define CAN_DLC0 (0x0U) /*!< CAN2.0 and CAN FD: the size of data field is 0 bytes. */
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#define CAN_DLC1 (0x1U) /*!< CAN2.0 and CAN FD: the size of data field is 1 bytes. */
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#define CAN_DLC2 (0x2U) /*!< CAN2.0 and CAN FD: the size of data field is 2 bytes. */
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#define CAN_DLC3 (0x3U) /*!< CAN2.0 and CAN FD: the size of data field is 3 bytes. */
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#define CAN_DLC4 (0x4U) /*!< CAN2.0 and CAN FD: the size of data field is 4 bytes. */
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#define CAN_DLC5 (0x5U) /*!< CAN2.0 and CAN FD: the size of data field is 5 bytes. */
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#define CAN_DLC6 (0x6U) /*!< CAN2.0 and CAN FD: the size of data field is 6 bytes. */
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#define CAN_DLC7 (0x7U) /*!< CAN2.0 and CAN FD: the size of data field is 7 bytes. */
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#define CAN_DLC8 (0x8U) /*!< CAN2.0 and CAN FD: the size of data field is 8 bytes. */
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/**
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* @}
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*/
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/**
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* @defgroup PTB_SingleShot_Tx_En PTB Single Shot Transmission Function Control
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* @{
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*/
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#define CAN_PTB_SINGLESHOT_TX_DISABLE (0x0U) /*!< Primary transmit buffer auto retransmit. */
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#define CAN_PTB_SINGLESHOT_TX_ENABLE (CAN_CFG_STAT_TPSS) /*!< Primary transmit buffer single short transmit. */
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/**
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* @}
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*/
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/**
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* @defgroup STB_SingleShot_Tx_En STB Single Shot Transmission Function Control
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* @{
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*/
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#define CAN_STB_SINGLESHOT_TX_DISABLE (0x0U) /*!< Secondary transmit buffer auto retransmit. */
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#define CAN_STB_SINGLESHOT_TX_ENABLE (CAN_CFG_STAT_TSSS) /*!< Secondary transmit buffer single short transmit. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Tx_Request CAN Transmission Request
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* @{
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*/
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#define CAN_TX_REQ_STB_ONE (CAN_TCMD_TSONE) /*!< Transmit one STB frame. */
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#define CAN_TX_REQ_STB_ALL (CAN_TCMD_TSALL) /*!< Transmit all STB frames. */
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#define CAN_TX_REQ_PTB (CAN_TCMD_TPE) /*!< Transmit PTB frame. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_STB_Prio_Mode_En CAN STB Priority Mode Function Control
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* @note A frame in the PTB has always the highest priority regardless of the ID.
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* @{
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*/
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#define CAN_STB_PRIO_MD_DISABLE (0x0U) /*!< The frame first in will first be transmitted. */
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#define CAN_STB_PRIO_MD_ENABLE (CAN_TCTRL_TSMODE) /*!< The frame with lower ID will first be transmitted. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Tx_Buf_Status CAN Transmit Buffer Status
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* @{
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*/
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#define CAN_TX_BUF_EMPTY (0x0U) /*!< TTCAN is disabled(TTEN == 0): STB is empty.
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TTCAN is disabled(TTEN == 1) and transmit buffer is specified by TBPTR and TTPTR(TTTBM == 1):
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PTB and STB are both empty. */
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#define CAN_TX_BUF_NOT_MORE_THAN_HALF (0x1U) /*!< TTEN == 0: STB is less than or equal to half full;
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TTEN == 1 && TTTBM == 1: PTB and STB are neither empty. */
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#define CAN_TX_BUF_MORE_THAN_HALF (0x2U) /*!< TTEN == 0: STB is more than half full;
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TTEN == 1 && TTTBM == 1: reserved value. */
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#define CAN_TX_BUF_FULL (0x3U) /*!< TTEN == 0: STB is full;
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TTEN == 1 && TTTBM == 1: PTB and STB are both full. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Rx_Buf_Status CAN Receive Buffer Status
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* @{
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*/
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#define CAN_RX_BUF_EMPTY (0x0U) /*!< Receive buffer is empty. */
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#define CAN_RX_BUF_NOT_WARN (0x1U) /*!< Receive buffer is not empty, but is less than almost full warning limit. */
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#define CAN_RX_BUF_WARN (0x2U) /*!< Receive buffer is not full and not overflow, but is more than or equal to almost full warning limit. */
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#define CAN_RX_BUF_FULL (0x3U) /*!< Receive buffer is full. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Rx_All_En CAN Receive All Frames
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* @{
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*/
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#define CAN_RX_ALL_FRAME_DISABLE (0x0U) /*!< Only receives correct frames. */
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#define CAN_RX_ALL_FRAME_ENABLE (CAN_RCTRL_RBALL) /*!< Receives all frames, including frames with error. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Rx_Ovf_Mode CAN Receive Buffer Overflow Mode
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* @{
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*/
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#define CAN_RX_OVF_SAVE_NEW (0x0U) /*!< Saves the newly received data and the oldest frame will be overwritten. */
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#define CAN_RX_OVF_DISCARD_NEW (CAN_RCTRL_ROM) /*!< Discard the newly received data. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Self_ACK_En CAN Self-ACK Function Control
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* @{
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*/
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#define CAN_SELF_ACK_DISABLE (0x0U) /*!< Disable self-acknowledge. */
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#define CAN_SELF_ACK_ENABLE (CAN_RCTRL_SACK) /*!< Enable self-acknowledge. */
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Interrupt_Type CAN Interrupt Type
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* @{
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*/
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#define CAN_INT_ERR_INT (1UL << 1U) /*!< Register bit RTIE.EIE. The interrupt RTIF.EIF will be set if enabled by RTIE.EIE under the following conditions:
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The border of the error warning limit has been crossed in either direction by RECNT or TECNT or
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the BUSOFF bit has been changed in either direction. */
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#define CAN_INT_STB_TX (1UL << 2U) /*!< Register bit RTIE.TSIE. STB was transmitted. */
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#define CAN_INT_PTB_TX (1UL << 3U) /*!< Register bit RTIE.TPIE. PTB was transmitted. */
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#define CAN_INT_RX_BUF_WARN (1UL << 4U) /*!< Register bit RTIE.RAFIE. The number of filled RB slot is greater than or equal to the LIMIT.AFWL setting value. */
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#define CAN_INT_RX_BUF_FULL (1UL << 5U) /*!< Register bit RTIE.RFIE. The FIFO of receive buffer is full. */
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#define CAN_INT_RX_OVERRUN (1UL << 6U) /*!< Register bit RTIE.ROIE. Receive buffers are full and there is a further message to be stored. */
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#define CAN_INT_RX (1UL << 7U) /*!< Register bit RTIE.RIE. Received a valid data frame or remote frame. */
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#define CAN_INT_BUS_ERR (1UL << 9U) /*!< Register bit ERRINT.BEIE. Each of the error defined by EALCAP.KOER can cause bus-error interrupt. */
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#define CAN_INT_ARBITR_LOST (1UL << 11U) /*!< Register bit ERRINT.ALIE. Arbitration lost. */
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#define CAN_INT_ERR_PASSIVE (1UL << 13U) /*!< Register bit ERRINT.EPIE. A change from error-passive to error-active or error-active to error-passive has occurred. */
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#define CAN_INT_ALL (CAN_INT_ERR_INT | \
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CAN_INT_STB_TX | \
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CAN_INT_PTB_TX | \
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CAN_INT_RX_BUF_WARN | \
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CAN_INT_RX_BUF_FULL | \
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CAN_INT_RX_OVERRUN | \
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CAN_INT_RX | \
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CAN_INT_BUS_ERR | \
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CAN_INT_ARBITR_LOST | \
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CAN_INT_ERR_PASSIVE)
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/**
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* @}
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*/
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/**
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* @defgroup CAN_Status_Flag CAN Status Flag
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* @{
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*/
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#define CAN_FLAG_BUS_OFF (1UL << 0U) /*!< Register bit CFG_STAT.BUSOFF. CAN bus off. */
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#define CAN_FLAG_TX_GOING (1UL << 1U) /*!< Register bit CFG_STAT.TACTIVE. CAN bus is transmitting. */
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#define CAN_FLAG_RX_GOING (1UL << 2U) /*!< Register bit CFG_STAT.RACTIVE. CAN bus is receiving. */
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#define CAN_FLAG_RX_BUF_OVF (1UL << 5U) /*!< Register bit RCTRL.ROV. Receive buffer is full and there is a further bit to be stored. At least one frame will be lost. */
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#define CAN_FLAG_TX_BUF_FULL (1UL << 8U) /*!< Register bit RTIE.TSFF. Transmit buffers are all full.
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TTCFG.TTEN == 0 or TCTRL.TTTEM == 0: ALL STB slots are filled.
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TTCFG.TTEN == 1 and TCTRL.TTTEM == 1: Transmit buffer that pointed by TBSLOT.TBPTR is filled.*/
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#define CAN_FLAG_TX_ABORTED (1UL << 16U) /*!< Register bit RTIF.AIF. Transmit messages requested via TCMD.TPA and TCMD.TSA were successfully canceled. */
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#define CAN_FLAG_ERR_INT (1UL << 17U) /*!< Register bit RTIF.EIF. The interrupt RTIF.EIF will be set if enabled by RTIE.EIE under the following conditions:
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The border of the error warning limit has been crossed in either direction by RECNT or TECNT or
|
|
the BUSOFF bit has been changed in either direction. */
|
|
#define CAN_FLAG_STB_TX (1UL << 18U) /*!< Register bit RTIF.TSIF. STB was transmitted. */
|
|
#define CAN_FLAG_PTB_TX (1UL << 19U) /*!< Register bit RTIF.TPIF. PTB was transmitted. */
|
|
#define CAN_FLAG_RX_BUF_WARN (1UL << 20U) /*!< Register bit RTIF.RAFIF. The number of filled RB slot is greater than or equal to the LIMIT.AFWL setting value. */
|
|
#define CAN_FLAG_RX_BUF_FULL (1UL << 21U) /*!< Register bit RTIF.RFIF. The FIFO of receive buffer is full. */
|
|
#define CAN_FLAG_RX_OVERRUN (1UL << 22U) /*!< Register bit RTIF.ROIF. Receive buffers are all full and there is a further message to be stored. */
|
|
#define CAN_FLAG_RX (1UL << 23U) /*!< Register bit RTIF.RIF. Received a valid data frame or remote frame. */
|
|
#define CAN_FLAG_BUS_ERR (1UL << 24U) /*!< Register bit ERRINT.BEIF. Each of the error defined by EALCAP.KOER can make this flag set. */
|
|
#define CAN_FLAG_ARBITR_LOST (1UL << 26U) /*!< Register bit ERRINT.ALIF. Arbitration lost. */
|
|
#define CAN_FLAG_ERR_PASSIVE (1UL << 28U) /*!< Register bit ERRINT.EPIF. A change from error-passive to error-active or error-active to error-passive has occurred. */
|
|
#define CAN_FLAG_ERR_PASSIVE_NODE (1UL << 30U) /*!< Register bit ERRINT.EPASS. The node is an error-passive node. */
|
|
#define CAN_FLAG_TEC_REC_WARN (1UL << 31U) /*!< Register bit ERRINT.EWARN. REC or TEC is greater than or equal to the LIMIT.EWL setting value. */
|
|
|
|
#define CAN_FLAG_ALL (CAN_FLAG_BUS_OFF | \
|
|
CAN_FLAG_TX_GOING | \
|
|
CAN_FLAG_RX_GOING | \
|
|
CAN_FLAG_RX_BUF_OVF | \
|
|
CAN_FLAG_TX_BUF_FULL | \
|
|
CAN_FLAG_TX_ABORTED | \
|
|
CAN_FLAG_ERR_INT | \
|
|
CAN_FLAG_STB_TX | \
|
|
CAN_FLAG_PTB_TX | \
|
|
CAN_FLAG_RX_BUF_WARN | \
|
|
CAN_FLAG_RX_BUF_FULL | \
|
|
CAN_FLAG_RX_OVERRUN | \
|
|
CAN_FLAG_RX | \
|
|
CAN_FLAG_BUS_ERR | \
|
|
CAN_FLAG_ARBITR_LOST | \
|
|
CAN_FLAG_ERR_PASSIVE | \
|
|
CAN_FLAG_ERR_PASSIVE_NODE | \
|
|
CAN_FLAG_TEC_REC_WARN)
|
|
|
|
#define CAN_FLAG_CLR_ALL (CAN_FLAG_TX_ABORTED | \
|
|
CAN_FLAG_ERR_INT | \
|
|
CAN_FLAG_STB_TX | \
|
|
CAN_FLAG_PTB_TX | \
|
|
CAN_FLAG_RX_BUF_WARN | \
|
|
CAN_FLAG_RX_BUF_FULL | \
|
|
CAN_FLAG_RX_OVERRUN | \
|
|
CAN_FLAG_RX | \
|
|
CAN_FLAG_BUS_ERR | \
|
|
CAN_FLAG_ARBITR_LOST | \
|
|
CAN_FLAG_ERR_PASSIVE)
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup CAN_ID_Type CAN Identifier Type
|
|
* @{
|
|
*/
|
|
#define CAN_ID_STD_EXT (0x0U) /*!< Acceptance filter accept frames with both standard ID and extended ID. */
|
|
#define CAN_ID_STD (CAN_ACF_AIDEE) /*!< Acceptance filter accept frames with only standard ID. */
|
|
#define CAN_ID_EXT (CAN_ACF_AIDEE | \
|
|
CAN_ACF_AIDE) /*!< Acceptance filter accept frames with only extended ID. */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup CAN_Err_Type CAN Error Type
|
|
* @{
|
|
*/
|
|
#define CAN_ERR_NONE (0U) /*!< No error. */
|
|
#define CAN_ERR_BIT (0x1U) /*!< Error is bit error. */
|
|
#define CAN_ERR_FORM (0x2U) /*!< Error is form error. */
|
|
#define CAN_ERR_STUFF (0x3U) /*!< Error is stuff error. */
|
|
#define CAN_ERR_ACK (0x4U) /*!< Error is ACK error. */
|
|
#define CAN_ERR_CRC (0x5U) /*!< Error is CRC error. */
|
|
#define CAN_ERR_OTHER (0x6U) /*!< Error is other error.
|
|
Dominant bits after own error flag, received active Error Flag too long,
|
|
dominant bit during Passive-Error-Flag after ACK error. */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup CAN_Acceptance_Filter CAN Acceptance Filter
|
|
* @{
|
|
*/
|
|
#define CAN_FILTER1 (CAN_ACFEN_AE_1) /*!< Acceptance filter 1 select bit. */
|
|
#define CAN_FILTER2 (CAN_ACFEN_AE_2) /*!< Acceptance filter 2 select bit. */
|
|
#define CAN_FILTER3 (CAN_ACFEN_AE_3) /*!< Acceptance filter 3 select bit. */
|
|
#define CAN_FILTER4 (CAN_ACFEN_AE_4) /*!< Acceptance filter 4 select bit. */
|
|
#define CAN_FILTER5 (CAN_ACFEN_AE_5) /*!< Acceptance filter 5 select bit. */
|
|
#define CAN_FILTER6 (CAN_ACFEN_AE_6) /*!< Acceptance filter 6 select bit. */
|
|
#define CAN_FILTER7 (CAN_ACFEN_AE_7) /*!< Acceptance filter 7 select bit. */
|
|
#define CAN_FILTER8 (CAN_ACFEN_AE_8) /*!< Acceptance filter 8 select bit. */
|
|
#define CAN_FILTER_ALL (0xFFU)
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_Tx_Buf_Mode TTCAN Transmit Buffer Mode
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_TX_BUF_MD_CAN (0x0U) /*!< Normal CAN mode. TTCAN transmit buffer depends on the priority mode of STB which is defined by @ref CAN_STB_Prio_Mode_En */
|
|
#define CAN_TTC_TX_BUF_MD_TTCAN (CAN_TCTRL_TTTBM) /*!< Full TTCAN mode. TTCAN transmit buffer is pointed by TBSLOT.TBPTR(for data filling) and
|
|
TRG_CFG.TTPTR(for data transmission). */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_Tx_Buf_Sel TTCAN Transmit Buffer Selection
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_TX_BUF_PTB (0x0U) /*!< Point to PTB. */
|
|
#define CAN_TTC_TX_BUF_STB1 (0x1U) /*!< Point to STB slot 1. */
|
|
#define CAN_TTC_TX_BUF_STB2 (0x2U) /*!< Point to STB slot 2. */
|
|
#define CAN_TTC_TX_BUF_STB3 (0x3U) /*!< Point to STB slot 3. */
|
|
#define CAN_TTC_TX_BUF_STB4 (0x4U) /*!< Point to STB slot 4. */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_Tx_Buf_Mark_State TTCAN Transmit Buffer Mark State
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_TX_BUF_MARK_EMPTY (CAN_TBSLOT_TBE) /*!< Marks the transmit buffer selected by TBSLOT.TBPTR as "empty".
|
|
TBE is automatically reset to 0 as soon as the slot is marked as empty and TSFF=0.
|
|
If a transmission from this slot is active, then TBE stays set as long as either the
|
|
transmission completes or after a transmission error or arbitration loss the transmission
|
|
is not active any more. If both TBF and TBE are set, then TBE wins. */
|
|
#define CAN_TTC_TX_BUF_MARK_FILLED (CAN_TBSLOT_TBF) /*!< Marks the transmit buffer selected by TBSLOT.TBPTR as "filled".
|
|
TBF is automatically reset to 0 as soon as the slot is marked as filled and RTIE.TSFF=1.
|
|
If both TBF and TBE are set, then TBE wins. */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_Interrupt_Type TTCAN Interrupt Type
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_INT_TIME_TRIG (CAN_TTCFG_TTIE) /*!< Time trigger interrupt. */
|
|
#define CAN_TTC_INT_WATCH_TRIG (CAN_TTCFG_WTIE) /*!< Watch trigger interrupt. */
|
|
#define CAN_TTC_INT_ALL (CAN_TTC_INT_TIME_TRIG | \
|
|
CAN_TTC_INT_WATCH_TRIG)
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_Status_Flag TTCAN Status Flag
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_FLAG_TIME_TRIG (CAN_TTCFG_TTIF) /*!< Time trigger interrupt flag. */
|
|
#define CAN_TTC_FLAG_TRIG_ERR (CAN_TTCFG_TEIF) /*!< Trigger error interrupt flag. */
|
|
#define CAN_TTC_FLAG_WATCH_TRIG (CAN_TTCFG_WTIF) /*!< Watch trigger interrupt flag. */
|
|
|
|
#define CAN_TTC_FLAG_ALL (CAN_TTC_FLAG_TIME_TRIG | \
|
|
CAN_TTC_FLAG_TRIG_ERR | \
|
|
CAN_TTC_FLAG_WATCH_TRIG)
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_NTU_Prescaler TTCAN Network Time Unit Prescaler
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_NTU_PRESCALER1 (0x0U) /*!< NTU is SBT bit time * 1. */
|
|
#define CAN_TTC_NTU_PRESCALER2 (CAN_TTCFG_T_PRESC_0) /*!< NTU is SBT bit time * 2. */
|
|
#define CAN_TTC_NTU_PRESCALER4 (CAN_TTCFG_T_PRESC_1) /*!< NTU is SBT bit time * 4. */
|
|
#define CAN_TTC_NTU_PRESCALER8 (CAN_TTCFG_T_PRESC) /*!< NTU is SBT bit time * 8. */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @defgroup TTCAN_Trigger_Type TTCAN Trigger Type
|
|
* @note Except for the immediate trigger, all triggers set TTIF if TTIE is enabled.
|
|
* @{
|
|
*/
|
|
#define CAN_TTC_TRIG_IMMED_TRIG (0x0U) /*!< Immediate trigger for immediate transmission. */
|
|
#define CAN_TTC_TRIG_TIME_TRIG (CAN_TRG_CFG_TTYPE_0) /*!< Time trigger for receive triggers. */
|
|
#define CAN_TTC_TRIG_SINGLESHOT_TX_TRIG (CAN_TRG_CFG_TTYPE_1) /*!< Single shot transmit trigger for exclusive time windows. */
|
|
#define CAN_TTC_TRIG_TX_START_TRIG (CAN_TRG_CFG_TTYPE_1 | \
|
|
CAN_TRG_CFG_TTYPE_0) /*!< Transmit start trigger for merged arbitrating time windows. */
|
|
#define CAN_TTC_TRIG_TX_STOP_TRIG (CAN_TRG_CFG_TTYPE_2) /*!< Transmit stop trigger for merged arbitrating time windows. */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/*******************************************************************************
|
|
* Global variable definitions ('extern')
|
|
******************************************************************************/
|
|
|
|
/*******************************************************************************
|
|
Global function prototypes (definition in C source)
|
|
******************************************************************************/
|
|
/**
|
|
* @addtogroup CAN_Global_Functions
|
|
* @{
|
|
*/
|
|
/* Classical CAN */
|
|
int32_t CAN_Init(CM_CAN_TypeDef *CANx, const stc_can_init_t *pstcCanInit);
|
|
int32_t CAN_StructInit(stc_can_init_t *pstcCanInit);
|
|
void CAN_DeInit(CM_CAN_TypeDef *CANx);
|
|
void CAN_IntCmd(CM_CAN_TypeDef *CANx, uint32_t u32IntType, en_functional_state_t enNewState);
|
|
int32_t CAN_FillTxFrame(CM_CAN_TypeDef *CANx, uint8_t u8TxBufType, const stc_can_tx_frame_t *pstcTx);
|
|
void CAN_StartTx(CM_CAN_TypeDef *CANx, uint8_t u8TxRequest);
|
|
void CAN_AbortTx(CM_CAN_TypeDef *CANx, uint8_t u8TxBufType);
|
|
int32_t CAN_GetRxFrame(CM_CAN_TypeDef *CANx, stc_can_rx_frame_t *pstcRx);
|
|
|
|
void CAN_EnterLocalReset(CM_CAN_TypeDef *CANx);
|
|
void CAN_ExitLocalReset(CM_CAN_TypeDef *CANx);
|
|
en_flag_status_t CAN_GetLocalResetStatus(CM_CAN_TypeDef *CANx);
|
|
|
|
en_flag_status_t CAN_GetStatus(const CM_CAN_TypeDef *CANx, uint32_t u32Flag);
|
|
void CAN_ClearStatus(CM_CAN_TypeDef *CANx, uint32_t u32Flag);
|
|
uint32_t CAN_GetStatusValue(const CM_CAN_TypeDef *CANx);
|
|
int32_t CAN_GetErrorInfo(const CM_CAN_TypeDef *CANx, stc_can_error_info_t *pstcErr);
|
|
uint8_t CAN_GetTxBufStatus(const CM_CAN_TypeDef *CANx);
|
|
uint8_t CAN_GetRxBufStatus(const CM_CAN_TypeDef *CANx);
|
|
void CAN_FilterCmd(CM_CAN_TypeDef *CANx, uint16_t u16FilterSelect, en_functional_state_t enNewState);
|
|
void CAN_SetRxWarnLimit(CM_CAN_TypeDef *CANx, uint8_t u8RxWarnLimit);
|
|
void CAN_SetErrorWarnLimit(CM_CAN_TypeDef *CANx, uint8_t u8ErrorWarnLimit);
|
|
|
|
/* TTCAN */
|
|
int32_t CAN_TTC_StructInit(stc_can_ttc_config_t *pstcCanTtc);
|
|
int32_t CAN_TTC_Config(CM_CAN_TypeDef *CANx, const stc_can_ttc_config_t *pstcCanTtc);
|
|
void CAN_TTC_IntCmd(CM_CAN_TypeDef *CANx, uint8_t u8IntType, en_functional_state_t enNewState);
|
|
void CAN_TTC_Cmd(CM_CAN_TypeDef *CANx, en_functional_state_t enNewState);
|
|
|
|
en_flag_status_t CAN_TTC_GetStatus(const CM_CAN_TypeDef *CANx, uint8_t u8Flag);
|
|
void CAN_TTC_ClearStatus(CM_CAN_TypeDef *CANx, uint8_t u8Flag);
|
|
uint8_t CAN_TTC_GetStatusValue(const CM_CAN_TypeDef *CANx);
|
|
|
|
void CAN_TTC_SetTriggerType(CM_CAN_TypeDef *CANx, uint16_t u16TriggerType);
|
|
void CAN_TTC_SetTxEnableWindow(CM_CAN_TypeDef *CANx, uint16_t u16TxEnableWindow);
|
|
void CAN_TTC_SetTxTriggerTime(CM_CAN_TypeDef *CANx, uint16_t u16TxTriggerTime);
|
|
void CAN_TTC_SetWatchTriggerTime(CM_CAN_TypeDef *CANx, uint16_t u16WatchTriggerTime);
|
|
|
|
int32_t CAN_TTC_FillTxFrame(CM_CAN_TypeDef *CANx, uint8_t u8CANTTCTxBuf, const stc_can_tx_frame_t *pstcTx);
|
|
|
|
int32_t CAN_TTC_GetConfig(const CM_CAN_TypeDef *CANx, stc_can_ttc_config_t *pstcCanTtc);
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
#endif /* LL_CAN_ENABLE */
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* __HC32_LL_CAN_H__ */
|
|
|
|
/*******************************************************************************
|
|
* EOF (not truncated)
|
|
******************************************************************************/
|