/****************************************************************************** * Shanghai ChipON Micro-Electronic Co.,Ltd * ****************************************************************************** * $File Name$ : KF32A156_can.h * * $Author$ : ChipON AE/FAE Group * * $Data$ : 2021-07-08 * * $AutoSAR Version : V2.0 * * $Description$ : This file contains the headers of the CAN * peripherals. * ****************************************************************************** * Copyright (C) by Shanghai ChipON Micro-Electronic Co.,Ltd * * All rights reserved. * * * * This software is copyright protected and proprietary to * * Shanghai ChipON Micro-Electronic Co.,Ltd. * ****************************************************************************** * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * * REVISON HISTORY * * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * * Data Version Author Description * * ~~~~~~~~~~ ~~~~~~~~ ~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * * * * * * * *****************************************************************************/ #ifndef KF32A156_CAN_H_ #define KF32A156_CAN_H_ #include "KF32A156.h" /* CAN接收地址 */ #define CAN4_RECEIVE_ADDR ((uint32_t)0x1FFEF800) typedef enum { Standard_Frame, Extended_Frame }Frame_Typedef; typedef struct { uint32_t Acceptance_Code; uint32_t Mask_Code; Frame_Typedef Frame_Type; }Filter_Group_Typedef; /** * 描述 控制器局域网总线(CAN)配置信息结构体 */ typedef struct { FunctionalState m_Enable; /* CAN使能选择， 取值为TRUE或FALSE。*/ uint32_t m_Mode; /* CAN工作模式， 取值宏“CAN工作模式”中的一个。 */ uint32_t m_WorkSource; /* CAN工作时钟， 取值宏“CAN工作时钟”中的一个。 */ uint8_t m_BaudRate; /* CAN波特率预设值， 取值为0~0x3F。 */ uint8_t m_SyncJumpWidth; /* CAN同步跳转宽度， 取值为0~0x3。 */ uint8_t m_TimeSeg1; /* CAN时间段1， 取值为0~0xF。 */ uint8_t m_TimeSeg2; /* CAN时间段2， 取值为0~0x7。 */ uint32_t m_BusSample; /* CAN总线采样次数， 取值宏“CAN总线采样次数”中的一个。 */ Filter_Group_Typedef *Filter_Group_Ptr; }CAN_InitTypeDef; /** * 描述 CAN总线错误信息结构体 */ typedef struct { uint8_t m_ErrorCode; /* 错误代码， 取值宏“CAN错误代码”中的一个。 */ uint8_t m_ErrorDirection; /* 传输方向， 取值宏“CAN错误传输方向”中的一个。 */ uint8_t m_ErrorSegment; /* 错误发生的段， 取值宏“CAN错误发生的段”中的一个。 */ uint8_t m_ArbitrationLost; /* 仲裁丢失位置， 取值为宏“CAN仲裁丢失位置”中的一个 */ }CAN_ErrorTypeDef; /** * 描述 CAN报文信息结构体 */ typedef struct { uint32_t m_FrameFormat; /* 帧格式选择， 取值宏“CAN帧格式”中的一个。 */ uint32_t m_RemoteTransmit; /* 远程发送请求， 取值宏“CAN远程发送请求”中的一个。 */ uint32_t m_DataLength; /* 数据长度， 取值为4位数据。 */ uint32_t m_Can_ID; /* ID， 取值为0~0x7FF。 */ uint8_t m_Data[8]; /* 数据区， 取值为8字节数据。 */ }CAN_MessageTypeDef; typedef union { struct { struct { volatile uint32_t DLC :4; volatile uint32_t RESERVED0:2; volatile uint32_t RTR :1; volatile uint32_t IDE :1; volatile uint32_t RESERVED1:24; }RXDATA0; struct { volatile uint32_t DATA1:8; volatile uint32_t DATA0:8; volatile uint32_t RESERVED0:4; volatile uint32_t RTR:1; volatile uint32_t ID:11; }RXDATA1; struct { volatile uint32_t DATA5:8; volatile uint32_t DATA4:8; volatile uint32_t DATA3:8; volatile uint32_t DATA2:8; }RXDATA2; struct { volatile uint32_t RESERVED0:8; volatile uint32_t RESERVED1:8; volatile uint32_t DATA7:8; volatile uint32_t DATA6:8; }RXDATA3; }SFF; struct { struct { volatile uint32_t DLC:4; volatile uint32_t RESERVED0:2; volatile uint32_t RTR:1; volatile uint32_t IDE:1; volatile uint32_t RESERVED1:24; }RXDATA0; struct { volatile uint32_t RESERVED:2; volatile uint32_t RTR:1; volatile uint32_t ID:29; }RXDATA1; struct { volatile uint32_t DATA3:8; volatile uint32_t DATA2:8; volatile uint32_t DATA1:8; volatile uint32_t DATA0:8; }RXDATA2; struct { volatile uint32_t DATA7:8; volatile uint32_t DATA6:8; volatile uint32_t DATA5:8; volatile uint32_t DATA4:8; }RXDATA3; }EFF; }CanRxBufferTypeDef; /** * CAN内存指针 */ #define CHECK_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN4_SFR)) #define CAN_CTLR_INIT_MASK (CAN_CTLR_CANEN \ | CAN_CTLR_CANCKS \ | CAN_CTLR_LBACK \ | CAN_CTLR_SILENT \ | CAN_CTLR_RSMOD) /* CANx_BRGR寄存器初始化掩码 */ #define CAN_BRGR_INIT_MASK (CAN_BRGR_CANBRP \ | CAN_BRGR_SJW \ | CAN_BRGR_TSEG1 \ | CAN_BRGR_TSEG2 \ | CAN_BRGR_SAM) /* CANx_INFR寄存器初始化掩码 */ #define CAN_INFR_INIT_MASK (CAN_INFR_IDE \ | CAN_INFR_RTR \ | CAN_INFR_DLC) /* CANx_TX0R寄存器SFF格式初始化掩码 */ #define CAN_TX0R_SFF_MASK (CAN_TX0R_SFF_ID \ | 0xFFFF) /* CANx_TX0R寄存器EFF格式初始化掩码 */ #define CAN_TX0R_EFF_MASK (CAN_TX0R_EFF_ID) /* CANx_TX2R寄存器SFF格式初始化掩码 */ #define CAN_TX2R_SFF_MASK (0xFFFF0000) /** * CAN传输事件状态类型 */ #define CAN_BUS_OFF_STATUS ((uint32_t)CAN_CTLR_BOFF) #define CAN_ERROR_STATUS ((uint32_t)CAN_CTLR_CERROR) #define CAN_TX_STATUS ((uint32_t)CAN_CTLR_TXSTA) #define CAN_RX_STATUS ((uint32_t)CAN_CTLR_RXSTA) #define CAN_TX_COMPLETE_OFF_STATUS ((uint32_t)CAN_CTLR_TCSTA) #define CAN_TX_BUFFER_STATUS ((uint32_t)CAN_CTLR_TXBSTA) #define CAN_DATA_OVERFLOW_STATUS ((uint32_t)CAN_CTLR_DOSTA) #define CAN_RX_BLANK_STATUS ((uint32_t)CAN_CTLR_RXBSTA) #define CHECK_CAN_STATUS(TYPE) (((TYPE) == CAN_BUS_OFF_STATUS) \ || ((TYPE) == CAN_ERROR_STATUS) \ || ((TYPE) == CAN_TX_STATUS) \ || ((TYPE) == CAN_RX_STATUS) \ || ((TYPE) == CAN_TX_COMPLETE_OFF_STATUS) \ || ((TYPE) == CAN_TX_BUFFER_STATUS) \ || ((TYPE) == CAN_DATA_OVERFLOW_STATUS) \ || ((TYPE) == CAN_RX_BLANK_STATUS)) /** * CAN工作时钟 */ #define CAN_SOURCE_SCLK_DIV_2 ((uint32_t)0<>4) == 0) #define CHECK_CAN_TIME_SEGMENT2(DATA) (((uint32_t)(DATA)>>3) == 0) /** * CAN同步跳转 */ #define CHECK_CAN_SYNC_JMP_WIDTH(DATA) (((uint32_t)(DATA)>>2) == 0) /** * CAN波特率预设值 */ #define CHECK_CAN_BAUDRATE_PRESET(DATA) (((uint32_t)(DATA)>>6) == 0) /** * CAN错误代码 */ #define CAN_BIT_ERROR ((uint32_t)0) #define CAN_FORMAT_ERROR ((uint32_t)1) #define CAN_PADDING_ERROR ((uint32_t)2) #define CAN_OTHER_ERROR ((uint32_t)3) /** * CAN错误传输方向 */ #define CAN_ERROR_AT_TX ((uint32_t)0) #define CAN_ERROR_AT_RX ((uint32_t)1) #define CHECK_CAN_ERROR_DIR(ERROR) (((ERROR) == CAN_ERROR_AT_TX) \ || ((ERROR) == CAN_ERROR_AT_RX)) /** * CAN错误发生的段 */ #define CAN_SEG_FRAME_HEAD ((uint32_t)0x3) #define CAN_SEG_ID28_TO_ID21 ((uint32_t)0x2) #define CAN_SEG_ID20_TO_ID18 ((uint32_t)0x6) #define CAN_SEG_SRR ((uint32_t)0x4) #define CAN_SEG_IDE ((uint32_t)0x5) #define CAN_SEG_ID17_TO_ID13 ((uint32_t)0x7) #define CAN_SEG_ID12_TO_ID5 ((uint32_t)0xF) #define CAN_SEG_ID4_TO_ID0 ((uint32_t)0xE) #define CAN_SEG_RTR ((uint32_t)0xC) #define CAN_SEG_DATA_LENGTH ((uint32_t)0xB) #define CAN_SEG_DATA_POOL ((uint32_t)0xA) #define CAN_SEG_CRC_SEQUENCE ((uint32_t)0x8) #define CAN_SEG_CRC_DELIMITER ((uint32_t)0x18) #define CAN_SEG_ANSWER ((uint32_t)0x19) #define CAN_SEG_ANSWER_DELIMITER ((uint32_t)0x1B) #define CAN_SEG_FRAME_END ((uint32_t)0x1A) #define CAN_SEG_INTERFRAME ((uint32_t)0x12) #define CAN_SEG_ACTIVE_ERROR ((uint32_t)0x11) #define CAN_SEG_NEGATIVE_ERROR ((uint32_t)0x16) #define CAN_SEG_CONTROL ((uint32_t)0x13) #define CAN_SEG_OVERLOAD_DELIMITER ((uint32_t)0x17) #define CAN_SEG_OVERFLOW_FLAG ((uint32_t)0x1C) /** * CAN仲裁丢失位置 */ #define CAN_ARBITRATION_LOST_ID28 ((uint32_t)0x0) #define CAN_ARBITRATION_LOST_ID27 ((uint32_t)0x1) #define CAN_ARBITRATION_LOST_ID26 ((uint32_t)0x2) #define CAN_ARBITRATION_LOST_ID25 ((uint32_t)0x3) #define CAN_ARBITRATION_LOST_ID24 ((uint32_t)0x4) #define CAN_ARBITRATION_LOST_ID23 ((uint32_t)0x5) #define CAN_ARBITRATION_LOST_ID22 ((uint32_t)0x6) #define CAN_ARBITRATION_LOST_ID21 ((uint32_t)0x7) #define CAN_ARBITRATION_LOST_ID20 ((uint32_t)0x8) #define CAN_ARBITRATION_LOST_ID19 ((uint32_t)0x9) #define CAN_ARBITRATION_LOST_ID18 ((uint32_t)0xA) #define CAN_ARBITRATION_LOST_SRR ((uint32_t)0xB) #define CAN_ARBITRATION_LOST_IDE ((uint32_t)0xC) #define CAN_ARBITRATION_LOST_ID17 ((uint32_t)0xD) #define CAN_ARBITRATION_LOST_ID16 ((uint32_t)0xE) #define CAN_ARBITRATION_LOST_ID15 ((uint32_t)0xF) #define CAN_ARBITRATION_LOST_ID14 ((uint32_t)0x10) #define CAN_ARBITRATION_LOST_ID13 ((uint32_t)0x11) #define CAN_ARBITRATION_LOST_ID12 ((uint32_t)0x12) #define CAN_ARBITRATION_LOST_ID11 ((uint32_t)0x13) #define CAN_ARBITRATION_LOST_ID10 ((uint32_t)0x14) #define CAN_ARBITRATION_LOST_ID9 ((uint32_t)0x15) #define CAN_ARBITRATION_LOST_ID8 ((uint32_t)0x16) #define CAN_ARBITRATION_LOST_ID7 ((uint32_t)0x17) #define CAN_ARBITRATION_LOST_ID6 ((uint32_t)0x18) #define CAN_ARBITRATION_LOST_ID5 ((uint32_t)0x19) #define CAN_ARBITRATION_LOST_ID4 ((uint32_t)0x1A) #define CAN_ARBITRATION_LOST_ID3 ((uint32_t)0x1B) #define CAN_ARBITRATION_LOST_ID2 ((uint32_t)0x1C) #define CAN_ARBITRATION_LOST_ID1 ((uint32_t)0x1D) #define CAN_ARBITRATION_LOST_ID0 ((uint32_t)0x1E) #define CAN_ARBITRATION_LOST_RTR ((uint32_t)0x1F) /** * CAN帧格式 */ #define CAN_FRAME_FORMAT_SFF ((uint32_t)0) #define CAN_FRAME_FORMAT_EFF ((uint32_t)1) #define CHECK_CAN_FRAME_FORMAT(FORMAT) (((FORMAT) == CAN_FRAME_FORMAT_SFF) \ || ((FORMAT) == CAN_FRAME_FORMAT_EFF)) /** * CAN远程发送请求 */ #define CAN_DATA_FRAME ((uint32_t)0) #define CAN_REMOTE_FRAME ((uint32_t)1) #define CHECK_CAN_REMOTE_REQUEST(SEL) (((SEL) == CAN_DATA_FRAME) \ || ((SEL) == CAN_REMOTE_FRAME)) /** * CAN数据长度 */ #define CHECK_CAN_DATA_LENGTH(Length) (((uint32_t)(Length)>>4) == 0) /** * CAN识别码 */ #define CHECK_CAN_SFF_ID(ID) (((uint32_t)(ID)>>11) == 0) #define CHECK_CAN_EFF_ID(ID) (((uint32_t)(ID)>>29) == 0) /** * CAN中断事件 */ #define CAN_INT_RECEIVE ((uint32_t)1<<0) #define CAN_INT_TRANSMIT ((uint32_t)1<<1) #define CAN_INT_ERROR_ALARM ((uint32_t)1<<2) #define CAN_INT_DATA_OVERFLOW ((uint32_t)1<<3) #define CAN_INT_WAKE_UP ((uint32_t)1<<4) #define CAN_INT_ERROR_NEGATIVE ((uint32_t)1<<5) #define CAN_INT_ARBITRATION_LOST ((uint32_t)1<<6) #define CAN_INT_BUS_ERROR ((uint32_t)1<<7) #define CAN_INT_RECEIVED_SUCCESSFULLY ((uint32_t)1<<10) #define CAN_INT_BUS_OFF ((uint32_t)1<<12) #define CHECK_CAN_INT_ONE_EVENT(INT) (((INT) == CAN_INT_RECEIVE) \ || ((INT) == CAN_INT_TRANSMIT) \ || ((INT) == CAN_INT_ERROR_ALARM) \ || ((INT) == CAN_INT_DATA_OVERFLOW) \ || ((INT) == CAN_INT_WAKE_UP) \ || ((INT) == CAN_INT_ERROR_NEGATIVE) \ || ((INT) == CAN_INT_ARBITRATION_LOST) \ || ((INT) == CAN_INT_BUS_ERROR) \ || ((INT) == CAN_INT_RECEIVED_SUCCESSFULLY)) #define CHECK_CAN_INT_EVENT(INT) (((INT) & (~(CAN_INT_RECEIVE \ | CAN_INT_TRANSMIT \ | CAN_INT_ERROR_ALARM \ | CAN_INT_DATA_OVERFLOW \ | CAN_INT_WAKE_UP \ | CAN_INT_ERROR_NEGATIVE \ | CAN_INT_ARBITRATION_LOST \ | CAN_INT_BUS_ERROR \ | CAN_INT_RECEIVED_SUCCESSFULLY))) == 0) /** * CAN接收地址偏移 */ #define CHECK_CAN_RECEIVE_OFFSET(ADDR) (((ADDR) == 0x00) \ || ((ADDR) == 0x10) \ || ((ADDR) == 0x20) \ || ((ADDR) == 0x30) \ || ((ADDR) == 0x40) \ || ((ADDR) == 0x50) \ || ((ADDR) == 0x60) \ || ((ADDR) == 0x70) \ || ((ADDR) == 0x80) \ || ((ADDR) == 0x90) \ || ((ADDR) == 0xA0) \ || ((ADDR) == 0xB0) \ || ((ADDR) == 0xC0) \ || ((ADDR) == 0xD0) \ || ((ADDR) == 0xE0) \ || ((ADDR) == 0xF0)) /* 控制器局域网总线(CAN)初始化函数定义**************************************/ void CAN_Reset(CAN_SFRmap* CANx); void CAN_Configuration_With_Reset_Mode(CAN_SFRmap* CANx, CAN_InitTypeDef* canInitStruct); void CAN_Struct_Init (CAN_InitTypeDef* canInitStruct); /* 控制器局域网总线(CAN)功能配置函数定义************************************/ uint32_t CAN_Get_Receive_Message_Counter (CAN_SFRmap* CANx); FlagStatus CAN_Get_Transmit_Status (CAN_SFRmap* CANx, uint32_t Type); void CAN_Cmd (CAN_SFRmap* CANx, FunctionalState NewState); void CAN_Clock_Source_Config (CAN_SFRmap* CANx, uint32_t ClockSource); void CAN_Sleep_Mode_Enable (CAN_SFRmap* CANx, FunctionalState NewState); void CAN_Reset_Mode_Enable (CAN_SFRmap* CANx, FunctionalState NewState); void CAN_Work_Mode_Config (CAN_SFRmap* CANx, uint32_t ModeType); void CAN_Bus_Sample_Times_Config (CAN_SFRmap* CANx, uint32_t Times); uint8_t CAN_Get_Point_Of_RAM_Mailbox(CAN_SFRmap* CANx); void CAN_Time_Segment_Config (CAN_SFRmap* CANx,uint32_t TimeSeg1, uint32_t TimeSeg2); void CAN_Sync_Jump_Width_Config (CAN_SFRmap* CANx, uint32_t JumpWidth); void CAN_Baud_Rate_Preset_Config (CAN_SFRmap* CANx, uint32_t BaudRate); void CAN_Get_Error_Code (CAN_SFRmap* CANx, CAN_ErrorTypeDef* canErrorStruct); uint8_t CAN_Get_Error_Warning_Limit (CAN_SFRmap* CANx); uint8_t CAN_Get_Error_Counter (CAN_SFRmap* CANx, uint32_t Direction); void CAN_Error_Warning_Limit_Config (CAN_SFRmap* CANx, uint8_t ErrorLimit); void CAN_Error_Counter_Config (CAN_SFRmap* CANx,uint32_t Direction, uint8_t ErrorCounter); void CAN_Acceptance_Config (CAN_SFRmap* CANx, uint32_t Acceptance); uint32_t CAN_Get_Acceptance (CAN_SFRmap* CANx); void CAN_Acceptance_Mask_Config (CAN_SFRmap* CANx, uint32_t Acceptance); uint32_t CAN_Get_Acceptance_Mask (CAN_SFRmap* CANx); /* 控制器局域网总线(CAN)发送接收函数定义************************************/ void CAN_Transmit_Message_Configuration (CAN_SFRmap* CANx,CAN_MessageTypeDef* canInitStruct); void CAN_Message_Struct_Init (CAN_MessageTypeDef* canInitStruct); RetStatus CAN_Clear_Buffer_Overflow_Flag (CAN_SFRmap* CANx); void CAN_Release_Receive_Buffer (CAN_SFRmap* CANx, uint32_t ReleaseCount); RetStatus CAN_Transmit_Single (CAN_SFRmap* CANx); RetStatus CAN_Transmit_Repeat (CAN_SFRmap* CANx); void CAN_Frame_Format_Config (CAN_SFRmap* CANx, uint32_t FrameFormat); void CAN_Remote_Request_Config (CAN_SFRmap* CANx, uint32_t RemoteRequest); void CAN_Data_Length_Config (CAN_SFRmap* CANx, uint32_t Length); void CAN_Identification_Code_Config (CAN_SFRmap* CANx,uint32_t FrameFormat, uint32_t IDCode); /* 控制器局域网总线(CAN)中断管理函数定义************************************/ FlagStatus CAN_Get_INT_Flag (CAN_SFRmap* CANx, uint32_t InterruptType); void CAN_Clear_INT_Flag (CAN_SFRmap* CANx, uint32_t InterruptType); void CAN_Set_INT_Enable (CAN_SFRmap* CANx,uint32_t InterruptType, FunctionalState NewState); void CAN_Set_Reseive_DMA_Enable(CAN_SFRmap* CANx, FunctionalState NewState); void CAN_Set_Send_DMA_Enable(CAN_SFRmap* CANx, FunctionalState NewState); FlagStatus CAN_Get_Receive_DMA_Flag(CAN_SFRmap* CANx); FlagStatus CAN_Get_Send_DMA_Flag(CAN_SFRmap* CANx); #endif /* KF32A9K1XXX_CAN_H_ */