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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@91 ebee16cc-31ac-478f-84a7-5cbb03baadba
536 lines
20 KiB
C
536 lines
20 KiB
C
/**
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******************************************************************************
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* @file stm32f10x_can.h
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* @author MCD Application Team
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* @version V3.1.2
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* @date 09/28/2009
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* @brief This file contains all the functions prototypes for the CAN firmware
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* library.
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******************************************************************************
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* @copy
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*
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* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
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* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
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* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
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* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
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* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
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* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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*
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* <h2><center>© COPYRIGHT 2009 STMicroelectronics</center></h2>
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __STM32F10x_CAN_H
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#define __STM32F10x_CAN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f10x.h"
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/** @addtogroup STM32F10x_StdPeriph_Driver
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* @{
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*/
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/** @addtogroup CAN
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* @{
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*/
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/** @defgroup CAN_Exported_Types
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* @{
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*/
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#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
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((PERIPH) == CAN2))
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/**
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* @brief CAN init structure definition
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*/
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typedef struct
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{
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uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum. It ranges from 1 to 1024. */
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uint8_t CAN_Mode; /*!< Specifies the CAN operating mode.
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This parameter can be a value of @ref CAN_operating_mode */
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uint8_t CAN_SJW; /*!< 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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This parameter can be a value of @ref CAN_synchronisation_jump_width */
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uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit Segment 1.
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This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
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uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
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This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
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FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode.
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This parameter can be set either to ENABLE or DISABLE. */
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FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off management.
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This parameter can be set either to ENABLE or DISABLE. */
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FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode.
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This parameter can be set either to ENABLE or DISABLE. */
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FunctionalState CAN_NART; /*!< Enable or disable the no-automatic retransmission mode.
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This parameter can be set either to ENABLE or DISABLE. */
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FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode.
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This parameter can be set either to ENABLE or DISABLE. */
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FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority.
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This parameter can be set either to ENABLE or DISABLE. */
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} CAN_InitTypeDef;
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/**
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* @brief CAN filter init structure definition
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*/
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typedef struct
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{
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uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit
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configuration, first one for a 16-bit configuration).
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This parameter can be a value between 0x0000 and 0xFFFF */
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uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit
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configuration, second one for a 16-bit configuration).
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This parameter can be a value between 0x0000 and 0xFFFF */
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uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number,
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according to the mode (MSBs for a 32-bit configuration,
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first one for a 16-bit configuration).
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This parameter can be a value between 0x0000 and 0xFFFF */
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uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number,
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according to the mode (LSBs for a 32-bit configuration,
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second one for a 16-bit configuration).
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This parameter can be a value between 0x0000 and 0xFFFF */
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uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
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This parameter can be a value of @ref CAN_filter_FIFO */
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uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */
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uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized.
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This parameter can be a value of @ref CAN_filter_mode */
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uint8_t CAN_FilterScale; /*!< Specifies the filter scale.
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This parameter can be a value of @ref CAN_filter_scale */
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FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter.
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This parameter can be set either to ENABLE or DISABLE. */
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} CAN_FilterInitTypeDef;
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/**
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* @brief CAN Tx message structure definition
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*/
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typedef struct
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{
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uint32_t StdId; /*!< Specifies the standard identifier.
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This parameter can be a value between 0 to 0x7FF. */
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uint32_t ExtId; /*!< Specifies the extended identifier.
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This parameter can be a value between 0 to 0x1FFFFFFF. */
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uint8_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted.
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This parameter can be a value of @ref CAN_identifier_type */
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uint8_t RTR; /*!< Specifies the type of frame for the message that will be transmitted.
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This parameter can be a value of @ref CAN_remote_transmission_request */
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uint8_t DLC; /*!< Specifies the length of the frame that will be transmitted.
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This parameter can be a value between 0 to 8 */
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uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
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} CanTxMsg;
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/**
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* @brief CAN Rx message structure definition
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*/
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typedef struct
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{
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uint32_t StdId; /*!< Specifies the standard identifier.
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This parameter can be a value between 0 to 0x7FF. */
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uint32_t ExtId; /*!< Specifies the extended identifier.
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This parameter can be a value between 0 to 0x1FFFFFFF. */
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uint8_t IDE; /*!< Specifies the type of identifier for the message that will be received.
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This parameter can be a value of @ref CAN_identifier_type */
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uint8_t RTR; /*!< Specifies the type of frame for the received message.
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This parameter can be a value of @ref CAN_remote_transmission_request */
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uint8_t DLC; /*!< Specifies the length of the frame that will be received.
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This parameter can be a value between 0 to 8 */
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uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 0xFF. */
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uint8_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through.
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This parameter can be a value between 0 to 0xFF */
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} CanRxMsg;
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/**
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* @}
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*/
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/** @defgroup CAN_Exported_Constants
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* @{
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*/
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/** @defgroup CAN_sleep_constants
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* @{
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*/
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#define CANINITFAILED ((uint8_t)0x00) /*!< CAN initialization failed */
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#define CANINITOK ((uint8_t)0x01) /*!< CAN initialization failed */
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/**
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* @}
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*/
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/** @defgroup CAN_operating_mode
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* @{
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*/
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#define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */
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#define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */
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#define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */
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#define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */
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#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || ((MODE) == CAN_Mode_LoopBack)|| \
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((MODE) == CAN_Mode_Silent) || ((MODE) == CAN_Mode_Silent_LoopBack))
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/**
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* @}
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*/
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/** @defgroup CAN_synchronisation_jump_width
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* @{
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*/
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#define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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#define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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#define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
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((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
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/**
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* @}
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*/
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/** @defgroup CAN_time_quantum_in_bit_segment_1
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* @{
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*/
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#define CAN_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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#define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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#define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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#define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */
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#define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */
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#define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */
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#define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */
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#define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */
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#define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */
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#define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */
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#define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */
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#define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */
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#define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */
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#define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */
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#define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */
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#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
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/**
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* @}
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*/
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/** @defgroup CAN_time_quantum_in_bit_segment_2
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* @{
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*/
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#define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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#define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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#define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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#define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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#define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */
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#define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */
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#define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */
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#define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */
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#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)
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/**
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* @}
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*/
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/** @defgroup CAN_clock_prescaler
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* @{
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*/
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#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
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/**
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* @}
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*/
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/** @defgroup CAN_filter_number
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* @{
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*/
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#ifndef STM32F10X_CL
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#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 13)
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#else
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#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
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#endif /* STM32F10X_CL */
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/**
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* @}
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*/
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/** @defgroup CAN_filter_mode
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* @{
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*/
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#define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< id/mask mode */
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#define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */
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#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
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((MODE) == CAN_FilterMode_IdList))
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/**
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* @}
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*/
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/** @defgroup CAN_filter_scale
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* @{
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*/
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#define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */
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#define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */
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#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
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((SCALE) == CAN_FilterScale_32bit))
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/**
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* @}
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*/
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/** @defgroup CAN_filter_FIFO
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* @{
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*/
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#define CAN_FilterFIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
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#define CAN_FilterFIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
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#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
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((FIFO) == CAN_FilterFIFO1))
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/**
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* @}
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*/
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/** @defgroup Start_bank_filter_for_slave_CAN
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* @{
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*/
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#define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
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/**
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* @}
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*/
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/** @defgroup CAN_Tx
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* @{
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*/
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#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
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#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
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#define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
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#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
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/**
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* @}
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*/
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/** @defgroup CAN_identifier_type
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* @{
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*/
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#define CAN_ID_STD ((uint32_t)0x00000000) /*!< Standard Id */
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#define CAN_ID_EXT ((uint32_t)0x00000004) /*!< Extended Id */
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#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || ((IDTYPE) == CAN_ID_EXT))
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/**
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* @}
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*/
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/** @defgroup CAN_remote_transmission_request
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* @{
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*/
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#define CAN_RTR_DATA ((uint32_t)0x00000000) /*!< Data frame */
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#define CAN_RTR_REMOTE ((uint32_t)0x00000002) /*!< Remote frame */
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#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
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/**
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* @}
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*/
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/** @defgroup CAN_transmit_constants
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* @{
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*/
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#define CANTXFAILED ((uint8_t)0x00) /*!< CAN transmission failed */
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#define CANTXOK ((uint8_t)0x01) /*!< CAN transmission succeeded */
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#define CANTXPENDING ((uint8_t)0x02) /*!< CAN transmission pending */
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#define CAN_NO_MB ((uint8_t)0x04) /*!< CAN cell did not provide an empty mailbox */
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/**
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* @}
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*/
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/** @defgroup CAN_receive_FIFO_number_constants
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* @{
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*/
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#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO0 used to receive */
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#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO1 used to receive */
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#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
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/**
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* @}
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*/
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/** @defgroup CAN_sleep_constants
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* @{
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*/
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#define CANSLEEPFAILED ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */
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#define CANSLEEPOK ((uint8_t)0x01) /*!< CAN entered the sleep mode */
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/**
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* @}
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*/
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/** @defgroup CAN_wake_up_constants
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* @{
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*/
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#define CANWAKEUPFAILED ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */
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#define CANWAKEUPOK ((uint8_t)0x01) /*!< CAN leaved the sleep mode */
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/**
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* @}
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*/
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/** @defgroup CAN_flags
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* @{
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*/
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#define CAN_FLAG_EWG ((uint32_t)0x00000001) /*!< Error Warning Flag */
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#define CAN_FLAG_EPV ((uint32_t)0x00000002) /*!< Error Passive Flag */
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#define CAN_FLAG_BOF ((uint32_t)0x00000004) /*!< Bus-Off Flag */
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#define IS_CAN_FLAG(FLAG) (((FLAG) == CAN_FLAG_EWG) || ((FLAG) == CAN_FLAG_EPV) ||\
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((FLAG) == CAN_FLAG_BOF))
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/**
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* @}
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*/
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/** @defgroup CAN_interrupts
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* @{
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*/
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#define CAN_IT_RQCP0 ((uint32_t)0x00000005) /*!< Request completed mailbox 0 */
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#define CAN_IT_RQCP1 ((uint32_t)0x00000006) /*!< Request completed mailbox 1 */
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#define CAN_IT_RQCP2 ((uint32_t)0x00000007) /*!< Request completed mailbox 2 */
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#define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty */
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#define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending */
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#define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full */
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#define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun */
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#define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending */
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#define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full */
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#define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun */
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#define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning */
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#define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive */
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#define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off */
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#define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code */
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#define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error */
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#define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up */
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#define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep */
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#define IS_CAN_ITConfig(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\
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((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\
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((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\
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((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
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((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
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((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
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((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
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#define IS_CAN_ITStatus(IT) (((IT) == CAN_IT_RQCP0) || ((IT) == CAN_IT_RQCP1) ||\
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((IT) == CAN_IT_RQCP2) || ((IT) == CAN_IT_FF0) ||\
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((IT) == CAN_IT_FOV0) || ((IT) == CAN_IT_FF1) ||\
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((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
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((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
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((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
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/**
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* @}
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*/
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/**
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* @}
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*/
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/** @defgroup CAN_Exported_Macros
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup CAN_Exported_Functions
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* @{
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*/
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void CAN_DeInit(CAN_TypeDef* CANx);
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uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
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void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
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void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
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void CAN_SlaveStartBank(uint8_t CAN_BankNumber);
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void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
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uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
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uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
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void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
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void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
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uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
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void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
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void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
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uint8_t CAN_Sleep(CAN_TypeDef* CANx);
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uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
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FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
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void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
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ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
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void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __STM32F10x_CAN_H */
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/**
|
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* @}
|
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*/
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|
|
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/**
|
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* @}
|
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*/
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|
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/**
|
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* @}
|
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*/
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/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/
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