645 lines
26 KiB
C
645 lines
26 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
* @file stm32f4xx_can.h
|
||
|
|
* @author MCD Application Team
|
||
|
|
* @version V1.4.0
|
||
|
|
* @date 04-August-2014
|
||
|
|
* @brief This file contains all the functions prototypes for the CAN firmware
|
||
|
|
* library.
|
||
|
|
******************************************************************************
|
||
|
|
* @attention
|
||
|
|
*
|
||
|
|
* <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2>
|
||
|
|
*
|
||
|
|
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
|
||
|
|
* You may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at:
|
||
|
|
*
|
||
|
|
* http://www.st.com/software_license_agreement_liberty_v2
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
******************************************************************************
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
||
|
|
#ifndef __STM32F4xx_CAN_H
|
||
|
|
#define __STM32F4xx_CAN_H
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Includes ------------------------------------------------------------------*/
|
||
|
|
#include "stm32f4xx.h"
|
||
|
|
|
||
|
|
/** @addtogroup STM32F4xx_StdPeriph_Driver
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @addtogroup CAN
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* Exported types ------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
|
||
|
|
((PERIPH) == CAN2))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN init structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum.
|
||
|
|
It ranges from 1 to 1024. */
|
||
|
|
|
||
|
|
uint8_t CAN_Mode; /*!< Specifies the CAN operating mode.
|
||
|
|
This parameter can be a value of @ref CAN_operating_mode */
|
||
|
|
|
||
|
|
uint8_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_synchronisation_jump_width */
|
||
|
|
|
||
|
|
uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit
|
||
|
|
Segment 1. This parameter can be a value of
|
||
|
|
@ref CAN_time_quantum_in_bit_segment_1 */
|
||
|
|
|
||
|
|
uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
|
||
|
|
This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
|
||
|
|
|
||
|
|
FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
|
||
|
|
FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off management.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
|
||
|
|
FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
|
||
|
|
FunctionalState CAN_NART; /*!< Enable or disable the non-automatic retransmission mode.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
|
||
|
|
FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
|
||
|
|
FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
} CAN_InitTypeDef;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN filter init structure definition
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit
|
||
|
|
configuration, first one for a 16-bit configuration).
|
||
|
|
This parameter can be a value between 0x0000 and 0xFFFF */
|
||
|
|
|
||
|
|
uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit
|
||
|
|
configuration, second one for a 16-bit configuration).
|
||
|
|
This parameter can be a value between 0x0000 and 0xFFFF */
|
||
|
|
|
||
|
|
uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number,
|
||
|
|
according to the mode (MSBs for a 32-bit configuration,
|
||
|
|
first one for a 16-bit configuration).
|
||
|
|
This parameter can be a value between 0x0000 and 0xFFFF */
|
||
|
|
|
||
|
|
uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number,
|
||
|
|
according to the mode (LSBs for a 32-bit configuration,
|
||
|
|
second one for a 16-bit configuration).
|
||
|
|
This parameter can be a value between 0x0000 and 0xFFFF */
|
||
|
|
|
||
|
|
uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
|
||
|
|
This parameter can be a value of @ref CAN_filter_FIFO */
|
||
|
|
|
||
|
|
uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */
|
||
|
|
|
||
|
|
uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized.
|
||
|
|
This parameter can be a value of @ref CAN_filter_mode */
|
||
|
|
|
||
|
|
uint8_t CAN_FilterScale; /*!< Specifies the filter scale.
|
||
|
|
This parameter can be a value of @ref CAN_filter_scale */
|
||
|
|
|
||
|
|
FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter.
|
||
|
|
This parameter can be set either to ENABLE or DISABLE. */
|
||
|
|
} CAN_FilterInitTypeDef;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN Tx message 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. */
|
||
|
|
|
||
|
|
uint8_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 */
|
||
|
|
|
||
|
|
uint8_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_request */
|
||
|
|
|
||
|
|
uint8_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. */
|
||
|
|
} CanTxMsg;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN Rx message 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. */
|
||
|
|
|
||
|
|
uint8_t IDE; /*!< Specifies the type of identifier for the message that
|
||
|
|
will be received. This parameter can be a value of
|
||
|
|
@ref CAN_identifier_type */
|
||
|
|
|
||
|
|
uint8_t RTR; /*!< Specifies the type of frame for the received message.
|
||
|
|
This parameter can be a value of
|
||
|
|
@ref CAN_remote_transmission_request */
|
||
|
|
|
||
|
|
uint8_t DLC; /*!< Specifies the length of the frame that will be received.
|
||
|
|
This parameter can be a value between 0 to 8 */
|
||
|
|
|
||
|
|
uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to
|
||
|
|
0xFF. */
|
||
|
|
|
||
|
|
uint8_t FMI; /*!< Specifies the index of the filter the message stored in
|
||
|
|
the mailbox passes through. This parameter can be a
|
||
|
|
value between 0 to 0xFF */
|
||
|
|
} CanRxMsg;
|
||
|
|
|
||
|
|
/* Exported constants --------------------------------------------------------*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_Exported_Constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_InitStatus
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CAN_InitStatus_Failed ((uint8_t)0x00) /*!< CAN initialization failed */
|
||
|
|
#define CAN_InitStatus_Success ((uint8_t)0x01) /*!< CAN initialization OK */
|
||
|
|
|
||
|
|
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CANINITFAILED CAN_InitStatus_Failed
|
||
|
|
#define CANINITOK CAN_InitStatus_Success
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_operating_mode
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */
|
||
|
|
#define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */
|
||
|
|
#define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */
|
||
|
|
#define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */
|
||
|
|
|
||
|
|
#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \
|
||
|
|
((MODE) == CAN_Mode_LoopBack)|| \
|
||
|
|
((MODE) == CAN_Mode_Silent) || \
|
||
|
|
((MODE) == CAN_Mode_Silent_LoopBack))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CAN_operating_mode
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_OperatingMode_Initialization ((uint8_t)0x00) /*!< Initialization mode */
|
||
|
|
#define CAN_OperatingMode_Normal ((uint8_t)0x01) /*!< Normal mode */
|
||
|
|
#define CAN_OperatingMode_Sleep ((uint8_t)0x02) /*!< sleep mode */
|
||
|
|
|
||
|
|
|
||
|
|
#define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\
|
||
|
|
((MODE) == CAN_OperatingMode_Normal)|| \
|
||
|
|
((MODE) == CAN_OperatingMode_Sleep))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CAN_operating_mode_status
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CAN_ModeStatus_Failed ((uint8_t)0x00) /*!< CAN entering the specific mode failed */
|
||
|
|
#define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed) /*!< CAN entering the specific mode Succeed */
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @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_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */
|
||
|
|
#define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */
|
||
|
|
#define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */
|
||
|
|
#define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */
|
||
|
|
#define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */
|
||
|
|
#define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */
|
||
|
|
#define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */
|
||
|
|
#define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */
|
||
|
|
#define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */
|
||
|
|
#define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */
|
||
|
|
#define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */
|
||
|
|
#define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */
|
||
|
|
#define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */
|
||
|
|
#define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */
|
||
|
|
#define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */
|
||
|
|
#define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */
|
||
|
|
|
||
|
|
#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_time_quantum_in_bit_segment_2
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */
|
||
|
|
#define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */
|
||
|
|
#define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */
|
||
|
|
#define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */
|
||
|
|
#define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */
|
||
|
|
#define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */
|
||
|
|
#define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */
|
||
|
|
#define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */
|
||
|
|
|
||
|
|
#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_clock_prescaler
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_filter_number
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_filter_mode
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< identifier/mask mode */
|
||
|
|
#define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */
|
||
|
|
|
||
|
|
#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
|
||
|
|
((MODE) == CAN_FilterMode_IdList))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_filter_scale
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */
|
||
|
|
#define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */
|
||
|
|
|
||
|
|
#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
|
||
|
|
((SCALE) == CAN_FilterScale_32bit))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_filter_FIFO
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_Filter_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
|
||
|
|
#define CAN_Filter_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
|
||
|
|
#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
|
||
|
|
((FIFO) == CAN_FilterFIFO1))
|
||
|
|
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CAN_FilterFIFO0 CAN_Filter_FIFO0
|
||
|
|
#define CAN_FilterFIFO1 CAN_Filter_FIFO1
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_Start_bank_filter_for_slave_CAN
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_Tx
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
|
||
|
|
#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))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_identifier_type
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */
|
||
|
|
#define CAN_Id_Extended ((uint32_t)0x00000004) /*!< Extended Id */
|
||
|
|
#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \
|
||
|
|
((IDTYPE) == CAN_Id_Extended))
|
||
|
|
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CAN_ID_STD CAN_Id_Standard
|
||
|
|
#define CAN_ID_EXT CAN_Id_Extended
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_remote_transmission_request
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */
|
||
|
|
#define CAN_RTR_Remote ((uint32_t)0x00000002) /*!< Remote frame */
|
||
|
|
#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote))
|
||
|
|
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CAN_RTR_DATA CAN_RTR_Data
|
||
|
|
#define CAN_RTR_REMOTE CAN_RTR_Remote
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_transmit_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_TxStatus_Failed ((uint8_t)0x00)/*!< CAN transmission failed */
|
||
|
|
#define CAN_TxStatus_Ok ((uint8_t)0x01) /*!< CAN transmission succeeded */
|
||
|
|
#define CAN_TxStatus_Pending ((uint8_t)0x02) /*!< CAN transmission pending */
|
||
|
|
#define CAN_TxStatus_NoMailBox ((uint8_t)0x04) /*!< CAN cell did not provide
|
||
|
|
an empty mailbox */
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CANTXFAILED CAN_TxStatus_Failed
|
||
|
|
#define CANTXOK CAN_TxStatus_Ok
|
||
|
|
#define CANTXPENDING CAN_TxStatus_Pending
|
||
|
|
#define CAN_NO_MB CAN_TxStatus_NoMailBox
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_receive_FIFO_number_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */
|
||
|
|
#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */
|
||
|
|
|
||
|
|
#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_sleep_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_Sleep_Failed ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */
|
||
|
|
#define CAN_Sleep_Ok ((uint8_t)0x01) /*!< CAN entered the sleep mode */
|
||
|
|
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CANSLEEPFAILED CAN_Sleep_Failed
|
||
|
|
#define CANSLEEPOK CAN_Sleep_Ok
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_wake_up_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_WakeUp_Failed ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */
|
||
|
|
#define CAN_WakeUp_Ok ((uint8_t)0x01) /*!< CAN leaved the sleep mode */
|
||
|
|
|
||
|
|
/* Legacy defines */
|
||
|
|
#define CANWAKEUPFAILED CAN_WakeUp_Failed
|
||
|
|
#define CANWAKEUPOK CAN_WakeUp_Ok
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CAN_Error_Code_constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_ErrorCode_NoErr ((uint8_t)0x00) /*!< No Error */
|
||
|
|
#define CAN_ErrorCode_StuffErr ((uint8_t)0x10) /*!< Stuff Error */
|
||
|
|
#define CAN_ErrorCode_FormErr ((uint8_t)0x20) /*!< Form Error */
|
||
|
|
#define CAN_ErrorCode_ACKErr ((uint8_t)0x30) /*!< Acknowledgment Error */
|
||
|
|
#define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /*!< Bit Recessive Error */
|
||
|
|
#define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50) /*!< Bit Dominant Error */
|
||
|
|
#define CAN_ErrorCode_CRCErr ((uint8_t)0x60) /*!< CRC Error */
|
||
|
|
#define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70) /*!< Software Set Error */
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup CAN_flags
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
|
||
|
|
and CAN_ClearFlag() functions. */
|
||
|
|
/* If the flag is 0x1XXXXXXX, it means that it can only be used with
|
||
|
|
CAN_GetFlagStatus() function. */
|
||
|
|
|
||
|
|
/* Transmit Flags */
|
||
|
|
#define CAN_FLAG_RQCP0 ((uint32_t)0x38000001) /*!< Request MailBox0 Flag */
|
||
|
|
#define CAN_FLAG_RQCP1 ((uint32_t)0x38000100) /*!< Request MailBox1 Flag */
|
||
|
|
#define CAN_FLAG_RQCP2 ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */
|
||
|
|
|
||
|
|
/* Receive Flags */
|
||
|
|
#define CAN_FLAG_FMP0 ((uint32_t)0x12000003) /*!< FIFO 0 Message Pending Flag */
|
||
|
|
#define CAN_FLAG_FF0 ((uint32_t)0x32000008) /*!< FIFO 0 Full Flag */
|
||
|
|
#define CAN_FLAG_FOV0 ((uint32_t)0x32000010) /*!< FIFO 0 Overrun Flag */
|
||
|
|
#define CAN_FLAG_FMP1 ((uint32_t)0x14000003) /*!< FIFO 1 Message Pending Flag */
|
||
|
|
#define CAN_FLAG_FF1 ((uint32_t)0x34000008) /*!< FIFO 1 Full Flag */
|
||
|
|
#define CAN_FLAG_FOV1 ((uint32_t)0x34000010) /*!< FIFO 1 Overrun Flag */
|
||
|
|
|
||
|
|
/* Operating Mode Flags */
|
||
|
|
#define CAN_FLAG_WKU ((uint32_t)0x31000008) /*!< Wake up Flag */
|
||
|
|
#define CAN_FLAG_SLAK ((uint32_t)0x31000012) /*!< Sleep acknowledge Flag */
|
||
|
|
/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
|
||
|
|
In this case the SLAK bit can be polled.*/
|
||
|
|
|
||
|
|
/* Error Flags */
|
||
|
|
#define CAN_FLAG_EWG ((uint32_t)0x10F00001) /*!< Error Warning Flag */
|
||
|
|
#define CAN_FLAG_EPV ((uint32_t)0x10F00002) /*!< Error Passive Flag */
|
||
|
|
#define CAN_FLAG_BOF ((uint32_t)0x10F00004) /*!< Bus-Off Flag */
|
||
|
|
#define CAN_FLAG_LEC ((uint32_t)0x30F00070) /*!< Last error code Flag */
|
||
|
|
|
||
|
|
#define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_BOF) || \
|
||
|
|
((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \
|
||
|
|
((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \
|
||
|
|
((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FMP0) || \
|
||
|
|
((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \
|
||
|
|
((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \
|
||
|
|
((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \
|
||
|
|
((FLAG) == CAN_FLAG_SLAK ))
|
||
|
|
|
||
|
|
#define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \
|
||
|
|
((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \
|
||
|
|
((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) ||\
|
||
|
|
((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \
|
||
|
|
((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
/** @defgroup CAN_interrupts
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty Interrupt*/
|
||
|
|
|
||
|
|
/* Receive Interrupts */
|
||
|
|
#define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending Interrupt*/
|
||
|
|
#define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full Interrupt*/
|
||
|
|
#define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun Interrupt*/
|
||
|
|
#define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending Interrupt*/
|
||
|
|
#define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full Interrupt*/
|
||
|
|
#define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun Interrupt*/
|
||
|
|
|
||
|
|
/* Operating Mode Interrupts */
|
||
|
|
#define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up Interrupt*/
|
||
|
|
#define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt*/
|
||
|
|
|
||
|
|
/* Error Interrupts */
|
||
|
|
#define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning Interrupt*/
|
||
|
|
#define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive Interrupt*/
|
||
|
|
#define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off Interrupt*/
|
||
|
|
#define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code Interrupt*/
|
||
|
|
#define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error Interrupt*/
|
||
|
|
|
||
|
|
/* Flags named as Interrupts : kept only for FW compatibility */
|
||
|
|
#define CAN_IT_RQCP0 CAN_IT_TME
|
||
|
|
#define CAN_IT_RQCP1 CAN_IT_TME
|
||
|
|
#define CAN_IT_RQCP2 CAN_IT_TME
|
||
|
|
|
||
|
|
|
||
|
|
#define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\
|
||
|
|
((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\
|
||
|
|
((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\
|
||
|
|
((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
|
||
|
|
((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
|
||
|
|
((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
|
||
|
|
((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
|
||
|
|
|
||
|
|
#define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\
|
||
|
|
((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\
|
||
|
|
((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\
|
||
|
|
((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
|
||
|
|
((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
|
||
|
|
((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* Exported macro ------------------------------------------------------------*/
|
||
|
|
/* Exported functions --------------------------------------------------------*/
|
||
|
|
|
||
|
|
/* Function used to set the CAN configuration to the default reset state *****/
|
||
|
|
void CAN_DeInit(CAN_TypeDef* CANx);
|
||
|
|
|
||
|
|
/* Initialization and Configuration functions *********************************/
|
||
|
|
uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
|
||
|
|
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
|
||
|
|
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
|
||
|
|
void CAN_SlaveStartBank(uint8_t CAN_BankNumber);
|
||
|
|
void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
|
||
|
|
void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState);
|
||
|
|
|
||
|
|
/* CAN Frames Transmission functions ******************************************/
|
||
|
|
uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
|
||
|
|
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
|
||
|
|
void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
|
||
|
|
|
||
|
|
/* CAN Frames Reception functions *********************************************/
|
||
|
|
void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
|
||
|
|
void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
|
||
|
|
uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
|
||
|
|
|
||
|
|
/* Operation modes functions **************************************************/
|
||
|
|
uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode);
|
||
|
|
uint8_t CAN_Sleep(CAN_TypeDef* CANx);
|
||
|
|
uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
|
||
|
|
|
||
|
|
/* CAN Bus Error management functions *****************************************/
|
||
|
|
uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx);
|
||
|
|
uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx);
|
||
|
|
uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx);
|
||
|
|
|
||
|
|
/* Interrupts and flags management functions **********************************/
|
||
|
|
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
|
||
|
|
FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
|
||
|
|
void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
|
||
|
|
ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
|
||
|
|
void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /* __STM32F4xx_CAN_H */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
|
||
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|