00001
00029
00030 #ifndef __STM32F4xx_CAN_H
00031 #define __STM32F4xx_CAN_H
00032
00033 #ifdef __cplusplus
00034 extern "C" {
00035 #endif
00036
00037
00038 #include "stm32f4xx.h"
00039
00048
00049
00050 #define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
00051 ((PERIPH) == CAN2))
00052
00056 typedef struct
00057 {
00058 uint16_t CAN_Prescaler;
00061 uint8_t CAN_Mode;
00064 uint8_t CAN_SJW;
00069 uint8_t CAN_BS1;
00073 uint8_t CAN_BS2;
00076 FunctionalState CAN_TTCM;
00079 FunctionalState CAN_ABOM;
00082 FunctionalState CAN_AWUM;
00085 FunctionalState CAN_NART;
00088 FunctionalState CAN_RFLM;
00091 FunctionalState CAN_TXFP;
00093 } CAN_InitTypeDef;
00094
00098 typedef struct
00099 {
00100 uint16_t CAN_FilterIdHigh;
00104 uint16_t CAN_FilterIdLow;
00108 uint16_t CAN_FilterMaskIdHigh;
00113 uint16_t CAN_FilterMaskIdLow;
00118 uint16_t CAN_FilterFIFOAssignment;
00121 uint8_t CAN_FilterNumber;
00123 uint8_t CAN_FilterMode;
00126 uint8_t CAN_FilterScale;
00129 FunctionalState CAN_FilterActivation;
00131 } CAN_FilterInitTypeDef;
00132
00136 typedef struct
00137 {
00138 uint32_t StdId;
00141 uint32_t ExtId;
00144 uint8_t IDE;
00148 uint8_t RTR;
00152 uint8_t DLC;
00156 uint8_t Data[8];
00158 } CanTxMsg;
00159
00163 typedef struct
00164 {
00165 uint32_t StdId;
00168 uint32_t ExtId;
00171 uint8_t IDE;
00175 uint8_t RTR;
00179 uint8_t DLC;
00182 uint8_t Data[8];
00185 uint8_t FMI;
00188 } CanRxMsg;
00189
00190
00191
00200 #define CAN_InitStatus_Failed ((uint8_t)0x00)
00201 #define CAN_InitStatus_Success ((uint8_t)0x01)
00204
00205 #define CANINITFAILED CAN_InitStatus_Failed
00206 #define CANINITOK CAN_InitStatus_Success
00207
00215 #define CAN_Mode_Normal ((uint8_t)0x00)
00216 #define CAN_Mode_LoopBack ((uint8_t)0x01)
00217 #define CAN_Mode_Silent ((uint8_t)0x02)
00218 #define CAN_Mode_Silent_LoopBack ((uint8_t)0x03)
00220 #define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \
00221 ((MODE) == CAN_Mode_LoopBack)|| \
00222 ((MODE) == CAN_Mode_Silent) || \
00223 ((MODE) == CAN_Mode_Silent_LoopBack))
00224
00233 #define CAN_OperatingMode_Initialization ((uint8_t)0x00)
00234 #define CAN_OperatingMode_Normal ((uint8_t)0x01)
00235 #define CAN_OperatingMode_Sleep ((uint8_t)0x02)
00238 #define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\
00239 ((MODE) == CAN_OperatingMode_Normal)|| \
00240 ((MODE) == CAN_OperatingMode_Sleep))
00241
00250 #define CAN_ModeStatus_Failed ((uint8_t)0x00)
00251 #define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed)
00259 #define CAN_SJW_1tq ((uint8_t)0x00)
00260 #define CAN_SJW_2tq ((uint8_t)0x01)
00261 #define CAN_SJW_3tq ((uint8_t)0x02)
00262 #define CAN_SJW_4tq ((uint8_t)0x03)
00264 #define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
00265 ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
00266
00273 #define CAN_BS1_1tq ((uint8_t)0x00)
00274 #define CAN_BS1_2tq ((uint8_t)0x01)
00275 #define CAN_BS1_3tq ((uint8_t)0x02)
00276 #define CAN_BS1_4tq ((uint8_t)0x03)
00277 #define CAN_BS1_5tq ((uint8_t)0x04)
00278 #define CAN_BS1_6tq ((uint8_t)0x05)
00279 #define CAN_BS1_7tq ((uint8_t)0x06)
00280 #define CAN_BS1_8tq ((uint8_t)0x07)
00281 #define CAN_BS1_9tq ((uint8_t)0x08)
00282 #define CAN_BS1_10tq ((uint8_t)0x09)
00283 #define CAN_BS1_11tq ((uint8_t)0x0A)
00284 #define CAN_BS1_12tq ((uint8_t)0x0B)
00285 #define CAN_BS1_13tq ((uint8_t)0x0C)
00286 #define CAN_BS1_14tq ((uint8_t)0x0D)
00287 #define CAN_BS1_15tq ((uint8_t)0x0E)
00288 #define CAN_BS1_16tq ((uint8_t)0x0F)
00290 #define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
00291
00298 #define CAN_BS2_1tq ((uint8_t)0x00)
00299 #define CAN_BS2_2tq ((uint8_t)0x01)
00300 #define CAN_BS2_3tq ((uint8_t)0x02)
00301 #define CAN_BS2_4tq ((uint8_t)0x03)
00302 #define CAN_BS2_5tq ((uint8_t)0x04)
00303 #define CAN_BS2_6tq ((uint8_t)0x05)
00304 #define CAN_BS2_7tq ((uint8_t)0x06)
00305 #define CAN_BS2_8tq ((uint8_t)0x07)
00307 #define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)
00308
00315 #define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
00316
00323 #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
00324
00331 #define CAN_FilterMode_IdMask ((uint8_t)0x00)
00332 #define CAN_FilterMode_IdList ((uint8_t)0x01)
00334 #define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
00335 ((MODE) == CAN_FilterMode_IdList))
00336
00343 #define CAN_FilterScale_16bit ((uint8_t)0x00)
00344 #define CAN_FilterScale_32bit ((uint8_t)0x01)
00346 #define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
00347 ((SCALE) == CAN_FilterScale_32bit))
00348
00355 #define CAN_Filter_FIFO0 ((uint8_t)0x00)
00356 #define CAN_Filter_FIFO1 ((uint8_t)0x01)
00357 #define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
00358 ((FIFO) == CAN_FilterFIFO1))
00359
00360
00361 #define CAN_FilterFIFO0 CAN_Filter_FIFO0
00362 #define CAN_FilterFIFO1 CAN_Filter_FIFO1
00363
00370 #define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
00371
00378 #define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
00379 #define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
00380 #define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
00381 #define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
00382
00389 #define CAN_Id_Standard ((uint32_t)0x00000000)
00390 #define CAN_Id_Extended ((uint32_t)0x00000004)
00391 #define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \
00392 ((IDTYPE) == CAN_Id_Extended))
00393
00394
00395 #define CAN_ID_STD CAN_Id_Standard
00396 #define CAN_ID_EXT CAN_Id_Extended
00397
00404 #define CAN_RTR_Data ((uint32_t)0x00000000)
00405 #define CAN_RTR_Remote ((uint32_t)0x00000002)
00406 #define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote))
00407
00408
00409 #define CAN_RTR_DATA CAN_RTR_Data
00410 #define CAN_RTR_REMOTE CAN_RTR_Remote
00411
00418 #define CAN_TxStatus_Failed ((uint8_t)0x00)
00419 #define CAN_TxStatus_Ok ((uint8_t)0x01)
00420 #define CAN_TxStatus_Pending ((uint8_t)0x02)
00421 #define CAN_TxStatus_NoMailBox ((uint8_t)0x04)
00423
00424 #define CANTXFAILED CAN_TxStatus_Failed
00425 #define CANTXOK CAN_TxStatus_Ok
00426 #define CANTXPENDING CAN_TxStatus_Pending
00427 #define CAN_NO_MB CAN_TxStatus_NoMailBox
00428
00435 #define CAN_FIFO0 ((uint8_t)0x00)
00436 #define CAN_FIFO1 ((uint8_t)0x01)
00438 #define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
00439
00446 #define CAN_Sleep_Failed ((uint8_t)0x00)
00447 #define CAN_Sleep_Ok ((uint8_t)0x01)
00449
00450 #define CANSLEEPFAILED CAN_Sleep_Failed
00451 #define CANSLEEPOK CAN_Sleep_Ok
00452
00459 #define CAN_WakeUp_Failed ((uint8_t)0x00)
00460 #define CAN_WakeUp_Ok ((uint8_t)0x01)
00462
00463 #define CANWAKEUPFAILED CAN_WakeUp_Failed
00464 #define CANWAKEUPOK CAN_WakeUp_Ok
00465
00473 #define CAN_ErrorCode_NoErr ((uint8_t)0x00)
00474 #define CAN_ErrorCode_StuffErr ((uint8_t)0x10)
00475 #define CAN_ErrorCode_FormErr ((uint8_t)0x20)
00476 #define CAN_ErrorCode_ACKErr ((uint8_t)0x30)
00477 #define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40)
00478 #define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50)
00479 #define CAN_ErrorCode_CRCErr ((uint8_t)0x60)
00480 #define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70)
00488
00489
00490
00491
00492
00493
00494 #define CAN_FLAG_RQCP0 ((uint32_t)0x38000001)
00495 #define CAN_FLAG_RQCP1 ((uint32_t)0x38000100)
00496 #define CAN_FLAG_RQCP2 ((uint32_t)0x38010000)
00498
00499 #define CAN_FLAG_FMP0 ((uint32_t)0x12000003)
00500 #define CAN_FLAG_FF0 ((uint32_t)0x32000008)
00501 #define CAN_FLAG_FOV0 ((uint32_t)0x32000010)
00502 #define CAN_FLAG_FMP1 ((uint32_t)0x14000003)
00503 #define CAN_FLAG_FF1 ((uint32_t)0x34000008)
00504 #define CAN_FLAG_FOV1 ((uint32_t)0x34000010)
00506
00507 #define CAN_FLAG_WKU ((uint32_t)0x31000008)
00508 #define CAN_FLAG_SLAK ((uint32_t)0x31000012)
00509
00510
00511
00512
00513 #define CAN_FLAG_EWG ((uint32_t)0x10F00001)
00514 #define CAN_FLAG_EPV ((uint32_t)0x10F00002)
00515 #define CAN_FLAG_BOF ((uint32_t)0x10F00004)
00516 #define CAN_FLAG_LEC ((uint32_t)0x30F00070)
00518 #define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_BOF) || \
00519 ((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \
00520 ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \
00521 ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FMP0) || \
00522 ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \
00523 ((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \
00524 ((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \
00525 ((FLAG) == CAN_FLAG_SLAK ))
00526
00527 #define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \
00528 ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \
00529 ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) ||\
00530 ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \
00531 ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK))
00532
00540 #define CAN_IT_TME ((uint32_t)0x00000001)
00542
00543 #define CAN_IT_FMP0 ((uint32_t)0x00000002)
00544 #define CAN_IT_FF0 ((uint32_t)0x00000004)
00545 #define CAN_IT_FOV0 ((uint32_t)0x00000008)
00546 #define CAN_IT_FMP1 ((uint32_t)0x00000010)
00547 #define CAN_IT_FF1 ((uint32_t)0x00000020)
00548 #define CAN_IT_FOV1 ((uint32_t)0x00000040)
00550
00551 #define CAN_IT_WKU ((uint32_t)0x00010000)
00552 #define CAN_IT_SLK ((uint32_t)0x00020000)
00554
00555 #define CAN_IT_EWG ((uint32_t)0x00000100)
00556 #define CAN_IT_EPV ((uint32_t)0x00000200)
00557 #define CAN_IT_BOF ((uint32_t)0x00000400)
00558 #define CAN_IT_LEC ((uint32_t)0x00000800)
00559 #define CAN_IT_ERR ((uint32_t)0x00008000)
00561
00562 #define CAN_IT_RQCP0 CAN_IT_TME
00563 #define CAN_IT_RQCP1 CAN_IT_TME
00564 #define CAN_IT_RQCP2 CAN_IT_TME
00565
00566
00567 #define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\
00568 ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\
00569 ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\
00570 ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
00571 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
00572 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
00573 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
00574
00575 #define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\
00576 ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\
00577 ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\
00578 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
00579 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
00580 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
00581
00589
00590
00591
00592
00593 void CAN_DeInit(CAN_TypeDef* CANx);
00594
00595
00596 uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
00597 void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
00598 void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
00599 void CAN_SlaveStartBank(uint8_t CAN_BankNumber);
00600 void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
00601 void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState);
00602
00603
00604 uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
00605 uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
00606 void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
00607
00608
00609 void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
00610 void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
00611 uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
00612
00613
00614 uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode);
00615 uint8_t CAN_Sleep(CAN_TypeDef* CANx);
00616 uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
00617
00618
00619 uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx);
00620 uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx);
00621 uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx);
00622
00623
00624 void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
00625 FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
00626 void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
00627 ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
00628 void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);
00629
00630 #ifdef __cplusplus
00631 }
00632 #endif
00633
00634 #endif
00635
00644