1 /**************************************************************************//** 2 * @file can.h 3 * @version V2.00 4 * @brief M480 Series CAN Driver Header File 5 * 6 * SPDX-License-Identifier: Apache-2.0 7 * @copyright (C) 2016-2020 Nuvoton Technology Corp. All rights reserved. 8 ******************************************************************************/ 9 #ifndef __CAN_H__ 10 #define __CAN_H__ 11 12 #ifdef __cplusplus 13 extern "C" 14 { 15 #endif 16 17 18 /** @addtogroup Standard_Driver Standard Driver 19 @{ 20 */ 21 22 /** @addtogroup CAN_Driver CAN Driver 23 @{ 24 */ 25 26 /** @addtogroup CAN_EXPORTED_CONSTANTS CAN Exported Constants 27 @{ 28 */ 29 /*---------------------------------------------------------------------------------------------------------*/ 30 /* CAN Test Mode Constant Definitions */ 31 /*---------------------------------------------------------------------------------------------------------*/ 32 #define CAN_NORMAL_MODE 0ul /*!< CAN select normal mode \hideinitializer */ 33 #define CAN_BASIC_MODE 1ul /*!< CAN select basic mode \hideinitializer */ 34 35 /*---------------------------------------------------------------------------------------------------------*/ 36 /* Message ID Type Constant Definitions */ 37 /*---------------------------------------------------------------------------------------------------------*/ 38 #define CAN_STD_ID 0ul /*!< CAN select standard ID \hideinitializer */ 39 #define CAN_EXT_ID 1ul /*!< CAN select extended ID \hideinitializer */ 40 41 /*---------------------------------------------------------------------------------------------------------*/ 42 /* Message Frame Type Constant Definitions */ 43 /*---------------------------------------------------------------------------------------------------------*/ 44 #define CAN_REMOTE_FRAME 0ul /*!< CAN frame select remote frame \hideinitializer */ 45 #define CAN_DATA_FRAME 1ul /*!< CAN frame select data frame \hideinitializer */ 46 47 /*@}*/ /* end of group CAN_EXPORTED_CONSTANTS */ 48 49 50 /** @addtogroup CAN_EXPORTED_STRUCTS CAN Exported Structs 51 @{ 52 */ 53 /** 54 * @details CAN message structure 55 */ 56 typedef struct 57 { 58 uint32_t IdType; /*!< ID type */ 59 uint32_t FrameType; /*!< Frame type */ 60 uint32_t Id; /*!< Message ID */ 61 uint8_t DLC; /*!< Data length */ 62 uint8_t Data[8]; /*!< Data */ 63 } STR_CANMSG_T; 64 65 /** 66 * @details CAN mask message structure 67 */ 68 typedef struct 69 { 70 uint8_t u8Xtd; /*!< Extended ID */ 71 uint8_t u8Dir; /*!< Direction */ 72 uint32_t u32Id; /*!< Message ID */ 73 uint8_t u8IdType; /*!< ID type*/ 74 } STR_CANMASK_T; 75 76 /*@}*/ /* end of group CAN_EXPORTED_STRUCTS */ 77 78 /** @cond HIDDEN_SYMBOLS */ 79 #define MSG(id) (id) 80 /** @endcond HIDDEN_SYMBOLS */ 81 82 /** @addtogroup CAN_EXPORTED_FUNCTIONS CAN Exported Functions 83 @{ 84 */ 85 86 /** 87 * @brief Get interrupt status. 88 * 89 * @param[in] can The base address of can module. 90 * 91 * @return CAN module status register value. 92 * 93 * @details Status Interrupt is generated by bits BOff (CAN_STATUS[7]), EWarn (CAN_STATUS[6]), 94 * EPass (CAN_STATUS[5]), RxOk (CAN_STATUS[4]), TxOk (CAN_STATUS[3]), and LEC (CAN_STATUS[2:0]). 95 * \hideinitializer 96 */ 97 #define CAN_GET_INT_STATUS(can) ((can)->STATUS) 98 99 /** 100 * @brief Get specified interrupt pending status. 101 * 102 * @param[in] can The base address of can module. 103 * 104 * @return The source of the interrupt. 105 * 106 * @details If several interrupts are pending, the CAN Interrupt Register will point to the pending interrupt 107 * with the highest priority, disregarding their chronological order. 108 * \hideinitializer 109 */ 110 #define CAN_GET_INT_PENDING_STATUS(can) ((can)->IIDR) 111 112 /** 113 * @brief Disable wake-up function. 114 * 115 * @param[in] can The base address of can module. 116 * 117 * @return None 118 * 119 * @details The macro is used to disable wake-up function. 120 * \hideinitializer 121 */ 122 #define CAN_DISABLE_WAKEUP(can) ((can)->WU_EN = 0ul) 123 124 /** 125 * @brief Enable wake-up function. 126 * 127 * @param[in] can The base address of can module. 128 * 129 * @return None 130 * 131 * @details User can wake-up system when there is a falling edge in the CAN_Rx pin. 132 * \hideinitializer 133 */ 134 #define CAN_ENABLE_WAKEUP(can) ((can)->WU_EN = CAN_WU_EN_WAKUP_EN_Msk) 135 136 /** 137 * @brief Get specified Message Object new data into bit value. 138 * 139 * @param[in] can The base address of can module. 140 * @param[in] u32MsgNum Specified Message Object number, valid value are from 0 to 31. 141 * 142 * @return Specified Message Object new data into bit value. 143 * 144 * @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 145 * or by the Message Handler after reception of a Data Frame or after a successful transmission. 146 * \hideinitializer 147 */ 148 #define CAN_GET_NEW_DATA_IN_BIT(can, u32MsgNum) ((u32MsgNum) < 16 ? (can)->NDAT1 & (1 << (u32MsgNum)) : (can)->NDAT2 & (1 << ((u32MsgNum)-16))) 149 150 151 /*---------------------------------------------------------------------------------------------------------*/ 152 /* Define CAN functions prototype */ 153 /*---------------------------------------------------------------------------------------------------------*/ 154 uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate); 155 uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode); 156 void CAN_Close(CAN_T *tCAN); 157 void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum); 158 void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask); 159 void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask); 160 int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg); 161 int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg); 162 int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID); 163 int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID); 164 int32_t CAN_SetRxMsgAndMsk(CAN_T *tCAN, uint32_t u32MsgNum, uint32_t u32IDType, uint32_t u32ID, uint32_t u32IDMask); 165 int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg); 166 int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum); 167 int32_t CAN_BasicSendMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg); 168 int32_t CAN_BasicReceiveMsg(CAN_T *tCAN, STR_CANMSG_T* pCanMsg); 169 void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask); 170 void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask); 171 void CAN_LeaveTestMode(CAN_T *tCAN); 172 uint32_t CAN_GetCANBitRate(CAN_T *tCAN); 173 uint32_t CAN_IsNewDataReceived(CAN_T *tCAN, uint8_t u8MsgObj); 174 void CAN_LeaveInitMode(CAN_T *tCAN); 175 int32_t CAN_SetRxMsgObjAndMsk(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint32_t u32idmask, uint8_t u8singleOrFifoLast); 176 int32_t CAN_SetRxMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8idType, uint32_t u32id, uint8_t u8singleOrFifoLast); 177 void CAN_WaitMsg(CAN_T *tCAN); 178 int32_t CAN_ReadMsgObj(CAN_T *tCAN, uint8_t u8MsgObj, uint8_t u8Release, STR_CANMSG_T* pCanMsg); 179 180 /*@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */ 181 182 /*@}*/ /* end of group CAN_Driver */ 183 184 /*@}*/ /* end of group Standard_Driver */ 185 186 #ifdef __cplusplus 187 } 188 #endif 189 190 #endif /*__CAN_H__ */ 191 192 /*** (C) COPYRIGHT 2016 Nuvoton Technology Corp. ***/ 193
