/**************************************************************************//** * @file can.h * @version V1.00 * @brief M261 Series CAN Driver Header File * * @copyright (C) 2019 Nuvoton Technology Corp. All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of Nuvoton Technology Corp. nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ******************************************************************************/ #ifndef __CAN_H__ #define __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 0U /*!< CAN select normal mode */ #define CAN_BASIC_MODE 1U /*!< CAN select basic mode */ /*---------------------------------------------------------------------------------------------------------*/ /* Message ID Type Constant Definitions */ /*---------------------------------------------------------------------------------------------------------*/ #define CAN_STD_ID 0UL /*!< CAN select standard ID */ #define CAN_EXT_ID 1UL /*!< CAN select extended ID */ /*---------------------------------------------------------------------------------------------------------*/ /* Message Frame Type Constant Definitions */ /*---------------------------------------------------------------------------------------------------------*/ #define CAN_REMOTE_FRAME 0 /*!< CAN frame select remote frame */ #define CAN_DATA_FRAME 1 /*!< CAN frame select data frame */ /*@}*/ /* 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]). */ #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. */ #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. */ #define CAN_DISABLE_WAKEUP(can) ((can)->WU_EN = 0) /** * @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. */ #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. */ #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); void CAN_Close(CAN_T *tCAN); uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode); 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); void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask); void CAN_LeaveInitMode(CAN_T *tCAN); void CAN_WaitMsg(CAN_T *tCAN); uint32_t CAN_GetCANBitRate(CAN_T *tCAN); void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask); void CAN_LeaveTestMode(CAN_T *tCAN); uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj); int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg); int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg); 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); 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 /* __CAN_H__ */ /*** (C) COPYRIGHT 2019 Nuvoton Technology Corp. ***/