rt-thread/bsp/hc32f460/Libraries/HC32F460_StdPeriph_Driver/inc/hc32f460_can.h

/*****************************************************************************
 * Copyright (C) 2020, Huada Semiconductor Co., Ltd. All rights reserved.
 *
 * This software component is licensed by HDSC under BSD 3-Clause license
 * (the "License"); You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                    opensource.org/licenses/BSD-3-Clause
 */
/******************************************************************************/
/** \file hc32f460_can.h
 **
 ** A detailed description is available at
 ** @link CanGroup CAN description @endlink
 **
 **   - 2018-11-27  CDT First version for Device Driver Library of CAN
 **
 ******************************************************************************/
#ifndef __HC32F460_CAN_H__
#define __HC32F460_CAN_H__

/*******************************************************************************
 * Include files
 ******************************************************************************/
#include "hc32_common.h"
#include "ddl_config.h"

#if (DDL_CAN_ENABLE == DDL_ON)

/* C binding of definitions if building with C++ compiler */
#ifdef __cplusplus
extern "C"
{
#endif

/**
 *******************************************************************************
 ** \defgroup CanGroup Controller Area Network(CAN)
 **
 ******************************************************************************/
//@{

/*******************************************************************************
 * Global type definitions ('typedef')
 ******************************************************************************/

/**
 *******************************************************************************
 ** \brief  The Can error types.
 ******************************************************************************/
typedef enum
{
    NO_ERROR        = 0U,
    BIT_ERROR       = 1U,
    FORM_ERROR      = 2U,
    STUFF_ERROR     = 3U,
    ACK_ERROR       = 4U,
    CRC_ERROR       = 5U,
    UNKOWN_ERROR    = 6U,
}en_can_error_t;

/**
 *******************************************************************************
 ** \brief  The Can transmit buffer select.(TCMD)
 ******************************************************************************/
typedef enum
{
    CanPTBSel       = 0U,        ///< high-priority buffer
    CanSTBSel       = 1U,        ///< secondary buffer
}en_can_buffer_sel_t;

/**
 *******************************************************************************
 ** \brief  The Can warning limits.(AFWL)
 ******************************************************************************/
typedef struct stc_can_warning_limit
{
    uint8_t CanWarningLimitVal;         ///< Receive buffer almost full warning limit
    uint8_t CanErrorWarningLimitVal;    ///< Programmable error warning limit
}stc_can_warning_limit_t;

/**
 *******************************************************************************
 ** \brief  The Acceptance Filters Frame Format Check.(ACF)
 ******************************************************************************/
typedef enum en_can_acf_format_en
{
    CanStdFrames        = 0x02u,   ///< Accepts only Standard frames
    CanExtFrames        = 0x03u,   ///< Accepts only Extended frames
    CanAllFrames        = 0x00u,   ///< Accepts both standard or extended frames
}en_can_acf_format_en_t;

/**
 *******************************************************************************
 ** \brief  The Acceptance Filters Enable.(ACFEN)
 ******************************************************************************/
typedef enum en_can_filter_sel
{
    CanFilterSel1        = 0u,   ///< The Acceptance Filter 1 Enable
    CanFilterSel2        = 1u,   ///< The Acceptance Filter 2 Enable
    CanFilterSel3        = 2u,   ///< The Acceptance Filter 3 Enable
    CanFilterSel4        = 3u,   ///< The Acceptance Filter 4 Enable
    CanFilterSel5        = 4u,   ///< The Acceptance Filter 5 Enable
    CanFilterSel6        = 5u,   ///< The Acceptance Filter 6 Enable
    CanFilterSel7        = 6u,   ///< The Acceptance Filter 7 Enable
    CanFilterSel8        = 7u,   ///< The Acceptance Filter 8 Enable
}en_can_filter_sel_t;

/**
 *******************************************************************************
 ** \brief  The can interrupt enable.(IE)
 ******************************************************************************/
typedef enum
{
    //<<Can Rx or Tx Irq En
    CanRxIrqEn              = 0x00000080,   ///< Receive interrupt enable
    CanRxOverIrqEn          = 0x00000040,   ///< RB overrun interrupt enable
    CanRxBufFullIrqEn       = 0x00000020,   ///< RB full interrupt enable
    CanRxBufAlmostFullIrqEn = 0x00000010,   ///< RB almost full interrupt enable
    CanTxPrimaryIrqEn       = 0x00000008,   ///< Transmission primary interrupt enable
    CanTxSecondaryIrqEn     = 0x00000004,   ///< Transmission secondary enable
    CanErrorIrqEn           = 0x00000002,   ///< Error interrupt enable

    //<<Can Error Irq En
    CanErrorPassiveIrqEn    = 0x00200000,   ///< Error passive mode active enable
    CanArbiLostIrqEn        = 0x00080000,   ///< Arbitration lost interrupt enable
    CanBusErrorIrqEn        = 0x00020000,   ///< Bus error interrupt enable

}en_can_irq_type_t;

/**
 *******************************************************************************
 ** \brief  The can interrupt flag.(IF)
 ******************************************************************************/
typedef enum
{
    //<<Can Tx or Tx Irq Flg
    CanTxBufFullIrqFlg          = 0x00000001,   ///<
    CanRxIrqFlg                 = 0x00008000,   ///< Receive interrupt flag
    CanRxOverIrqFlg             = 0x00004000,   ///< RB overrun interrupt flag
    CanRxBufFullIrqFlg          = 0x00002000,   ///< RB full interrupt flag
    CanRxBufAlmostFullIrqFlg    = 0x00001000,   ///< RB almost full interrupt flag
    CanTxPrimaryIrqFlg          = 0x00000800,   ///< Transmission primary interrupt flag
    CanTxSecondaryIrqFlg        = 0x00000400,   ///< Transmission secondary interrupt flag
    CanErrorIrqFlg              = 0x00000200,   ///< Error interrupt flag
    CanAbortIrqFlg              = 0x00000100,   ///< Abort interrupt flag

    //<< Can Error Irq Flg
    CanErrorWarningIrqFlg       = 0x00800000,   ///< Error warning limit reached flag
    CanErrorPassivenodeIrqFlg   = 0x00400000,   ///< Error passive mode active flag
    CanErrorPassiveIrqFlg       = 0x00100000,   ///< Error passive interrupt flag
    CanArbiLostIrqFlg           = 0x00040000,   ///< Arbitration lost interrupt flag
    CanBusErrorIrqFlg           = 0x00010000,   ///< Bus error interrupt flag
}en_can_irq_flag_type_t;

/**
 *******************************************************************************
 ** \brief  The can mode.(TCMD)
 ******************************************************************************/
typedef enum
{
    CanExternalLoopBackMode  = 0x40,        ///< Loop back mode, external
    CanInternalLoopBackMode  = 0x20,        ///< Loop back mode, internal
    CanTxSignalPrimaryMode   = 0x10,        ///< Transmission primary single shot mode for PTB
    CanTxSignalSecondaryMode = 0x08,        ///< Transmission secondary single shot mode for STB
    CanListenOnlyMode        = 0xFF,        ///< Listen only mode
}en_can_mode_t;

/**
 *******************************************************************************
 ** \brief  The can status.(STAT)
 ******************************************************************************/
typedef enum
{
    CanRxActive = 0x04,        ///< Reception active
    CanTxActive = 0x02,        ///< Transmission active
    CanBusoff   = 0x01,        ///< Bus off
}en_can_status_t;

/**
 *******************************************************************************
 ** \brief  The Can Tx Command.(TCMD)
 ******************************************************************************/
typedef enum
{
    CanPTBTxCmd      = 0x10,        ///< Transmit primary for PTB
    CanPTBTxAbortCmd = 0x08,        ///< Transmit primary abort for PTB
    CanSTBTxOneCmd   = 0x04,        ///< Transmit secondary one frame for STB
    CanSTBTxAllCmd   = 0x02,        ///< Transmit secondary all frames for STB
    CanSTBTxAbortCmd = 0x01,        ///< Transmit secondary abort for STB
}en_can_tx_cmd_t;

/**
 *******************************************************************************
 ** \brief  The Can Transmit buffer secondary operation mode.(TCTRL)
 ******************************************************************************/
typedef enum
{
    CanSTBFifoMode    = 0,        ///< FIFO mode
    CanSTBPrimaryMode = 1,        ///< Priority decision mode
}en_can_stb_mode_t;

/**
 *******************************************************************************
 ** \brief  The Can Self-ACKnowledge.(RCTRL)
 ******************************************************************************/
typedef enum
{
    CanSelfAckEnable  = 1,        ///< Self-ACK when LBME=1
    CanSelfAckDisable = 0,        ///< no self-ACK
}en_can_self_ack_en_t;

/**
 *******************************************************************************
 ** \brief  The Can Receive Buffer Overflow Mode.(RCTRL)
 ******************************************************************************/
typedef enum
{
    CanRxBufOverwritten = 0,        ///< The oldest message will be overwritten
    CanRxBufNotStored   = 1,        ///< The new message will not be stored
}en_can_rx_buf_mode_en_t;

/**
 *******************************************************************************
 ** \brief  The Can Receive Buffer Stores All data frames.(RCTRL)
 ******************************************************************************/
typedef enum
{
    CanRxNormal = 0,        ///< Normal operation
    CanRxAll    = 1,        ///< RB stores correct data frames as well as data frames with error
}en_can_rx_buf_all_t;

/**
 *******************************************************************************
 ** \brief  The Can Receive Buffer Status.(RSTAT)
 ******************************************************************************/
typedef enum
{
    CanRxBufEmpty          = 0,        ///< Empty
    CanRxBufnotAlmostFull  = 1,        ///< >empty and <almost full
    CanRxBufAlmostFull     = 2,        ///< >=almost full, but not full and no overflow
    CanRxBufFull           = 3,        ///< full
}en_can_rx_buf_status_t;

/**
 *******************************************************************************
 ** \brief  The Can Transmission secondary Status.(TSSTAT)
 ******************************************************************************/
typedef enum
{
    CanTxBufEmpty        = 0,       ///< TTEN=0 or  TTTBM=0: STB is empty
                                    ///< TTEN=1 and TTTBM=1: PTB and STB are empty
    CanTxBufnotHalfFull  = 1,       ///< TTEN=0 or  TTTBM=0: STB is less than or equal to half full
                                    ///< TTEN=1 and TTTBM=1: PTB and STB are not empty and not full
    CanTxBufHalfFull     = 2,       ///< TTEN=0 or  TTTBM=0: STB is more than half full
                                    ///< TTEN=1 and TTTBM=1: None
    CanTxBufFull         = 3,       ///< TTEN=0 or  TTTBM=0: STB is full
                                    ///< TTEN=1 and TTTBM=1: PTB and STB are full
}en_can_tx_buf_status_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Acceptance Filter Code and Mask.
 ******************************************************************************/
typedef struct stc_can_filter
{
    uint32_t                u32CODE;        ///< Acceptance CODE
    uint32_t                u32MASK;        ///< Acceptance MASK
    en_can_filter_sel_t     enFilterSel;    ///< The Acceptance Filters Enable
    en_can_acf_format_en_t  enAcfFormat;    ///< The Acceptance Filters Frame Format Check.
}stc_can_filter_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Bit Timing.
 ******************************************************************************/
typedef struct stc_can_bt
{
    uint8_t SEG_1;      ///< Bit timing segment 1(Tseg_1 = (SEG_1 + 2)*TQ)
    uint8_t SEG_2;      ///< Bit timing segment 2(Tseg_2 = (SEG_2 + 1)*TQ)
    uint8_t SJW;        ///< Synchronization jump width(Tsjw = (SJW + 1)*TQ)
    uint8_t PRESC;      ///< The Prescaler divides the system clock to get the time quanta clock tq_clk(TQ)
}stc_can_bt_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Control Frame.
 ******************************************************************************/
typedef struct
{
    uint32_t DLC         : 4;       ///< Data length code
    uint32_t RESERVED0   : 2;       ///< Ignore
    uint32_t RTR         : 1;       ///< Remote transmission request
    uint32_t IDE         : 1;       ///< IDentifier extension
    uint32_t RESERVED1   : 24;      ///< Ignore
}stc_can_txcontrol_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Tx Frame.
 ******************************************************************************/
typedef struct stc_can_txframe
{
    union
    {
        uint32_t TBUF32_0;                  ///< Ignore
        uint32_t StdID;                     ///< Standard ID
        uint32_t ExtID;                     ///< Extended ID
    };
    union
    {
        uint32_t TBUF32_1;                  ///< Ignore
        stc_can_txcontrol_t Control_f;      ///< CAN Tx Control
    };
    union
    {
        uint32_t TBUF32_2[2];               ///< Ignore
        uint8_t  Data[8];                   ///< CAN data
    };
    en_can_buffer_sel_t     enBufferSel;    ///< CAN Tx buffer select
}stc_can_txframe_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Rx Ctrl.
 ******************************************************************************/
typedef struct
{
    uint8_t DLC          : 4;       ///< Data length code
    uint8_t RESERVED0    : 2;       ///< Ignore
    uint8_t RTR          : 1;       ///< Remote transmission request
    uint8_t IDE          : 1;       ///< IDentifier extension
}stc_can_rxcontrol_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN status.
 ******************************************************************************/
typedef struct
{
    uint8_t RESERVED0    : 4;       ///< Ignore
    uint8_t TX           : 1;       ///< TX is set to 1 if the loop back mode is activated
    uint8_t KOER         : 3;       ///< Kind of error
}stc_can_status_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN control, status and cycletime.
 ******************************************************************************/
typedef struct
{
    stc_can_rxcontrol_t Control_f;      ///< @ref stc_can_rxcontrol_t
    stc_can_status_t    Status_f;       ///< @ref stc_can_status_t
    uint16_t            CycleTime;      ///< TTCAN cycletime
}stc_can_cst_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Rx frame.
 ******************************************************************************/
typedef struct stc_can_rxframe
{
    union
    {
        uint32_t RBUF32_0;              ///< Ignore
        uint32_t StdID;                 ///< Standard ID
        uint32_t ExtID;                 ///< Extended ID
    };
    union
    {
        uint32_t        RBUF32_1;       ///< Ignore
        stc_can_cst_t   Cst;            ///< @ref stc_can_cst_t
    };
    union
    {
        uint32_t RBUF32_2[2];           ///< Ignore
        uint8_t  Data[8];               ///< CAN data
    };
}stc_can_rxframe_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN Rx frame.
 ******************************************************************************/
typedef struct stc_can_init_config
{
    en_can_rx_buf_all_t     enCanRxBufAll;      ///< @ref en_can_rx_buf_all_t
    en_can_rx_buf_mode_en_t enCanRxBufMode;     ///< @ref en_can_rx_buf_mode_en_t
    en_can_self_ack_en_t    enCanSAck;          ///< @ref en_can_self_ack_en_t
    en_can_stb_mode_t       enCanSTBMode;       ///< @ref en_can_stb_mode_t
    stc_can_bt_t            stcCanBt;           ///< @ref stc_can_bt_t
    stc_can_warning_limit_t stcWarningLimit;    ///< @ref stc_can_warning_limit_t
}stc_can_init_config_t;

/**
 *******************************************************************************
 ** \brief                         CAN TTCAN
 ******************************************************************************/
/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN TTCAN pointer to a TB message slot
 ******************************************************************************/
typedef enum
{
    CanTTcanPTBSel      = 0x00u,        ///< PTB
    CanTTcanSTB1Sel     = 0x01u,        ///< STB1
    CanTTcanSTB2Sel     = 0x02u,        ///< STB2
    CanTTcanSTB3Sel     = 0x03u,        ///< STB3
    CanTTcanSTB4Sel     = 0x04u,        ///< STB4
}en_can_ttcan_tbslot_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN TTCAN Timer prescaler
 ******************************************************************************/
typedef enum
{
    CanTTcanTprescDiv1  = 0x00u,        ///< Div1
    CanTTcanTprescDiv2  = 0x01u,        ///< Div2
    CanTTcanTprescDiv3  = 0x02u,        ///< Div3
    CanTTcanTprescDiv4  = 0x03u,        ///< Div4
}en_can_ttcan_Tpresc_t;

/**
 *******************************************************************************
 ** \brief  Configuration structure of CAN TTCAN Trigger type
 ******************************************************************************/
typedef enum
{
    CanTTcanImmediate   = 0x00,         ///< Immediate trigger for immediate transmission
    CanTTcanTime        = 0x01,         ///< Time trigger for receive trigger
    CanTTcanSingle      = 0x02,         ///< Single shot transmit trigger for exclusive time windows
    CanTTcanTransStart  = 0x03,         ///< Transmit start trigger for merged arbitrating time windows
    CanTTcanTransStop   = 0x04,         ///< Transmit stop trigger for merged arbitrating time windows
}en_can_ttcan_trigger_type_t;

typedef enum
{
    CanTTcanWdtTriggerIrq = 0x80,       ///< Watch trigger interrupt
    CanTTcanTimTriggerIrq = 0x10,       ///< Time trigger interrupt
}en_can_ttcan_irq_type_t;


typedef struct stc_can_ttcan_ref_msg
{
    uint8_t       u8IDE;                ///< Reference message IDE:1-Extended; 0-Standard;
    union                               ///< Reference message ID
    {
        uint32_t RefStdID;              ///< Reference standard ID
        uint32_t RefExtID;              ///< Reference Extended ID
    };
}stc_can_ttcan_ref_msg_t;

typedef struct stc_can_ttcan_trigger_config
{
    en_can_ttcan_tbslot_t       enTbSlot;           ///< Transmit trigger TB slot pointer
    en_can_ttcan_trigger_type_t enTrigType;         ///< Trigger type
    en_can_ttcan_Tpresc_t       enTpresc;           ///< Timer prescaler
    uint8_t                     u8Tew;              ///< Transmit enable window
    uint16_t                    u16TrigTime;        ///< TTCAN trigger time
    uint16_t                    u16WatchTrigTime;   ///< TTCAN watch trigger time register
}stc_can_ttcan_trigger_config_t;


/*******************************************************************************
 * Global pre-processor symbols/macros ('#define')
 ******************************************************************************/


/*******************************************************************************
 * Global variable definitions ('extern')
 ******************************************************************************/

/*******************************************************************************
 * Global function prototypes (definition in C source)
 ******************************************************************************/
void CAN_Init(stc_can_init_config_t *pstcCanInitCfg);
void CAN_DeInit(void);
void CAN_IrqCmd(en_can_irq_type_t enCanIrqType, en_functional_state_t enNewState);
bool CAN_IrqFlgGet(en_can_irq_flag_type_t enCanIrqFlgType);
void CAN_IrqFlgClr(en_can_irq_flag_type_t enCanIrqFlgType);
void CAN_ModeConfig(en_can_mode_t enMode, en_functional_state_t enNewState);
en_can_error_t CAN_ErrorStatusGet(void);
bool CAN_StatusGet(en_can_status_t enCanStatus);

void CAN_FilterConfig(const stc_can_filter_t *pstcFilter, en_functional_state_t enNewState);
void CAN_SetFrame(stc_can_txframe_t *pstcTxFrame);
en_can_tx_buf_status_t CAN_TransmitCmd(en_can_tx_cmd_t enTxCmd);
en_can_rx_buf_status_t CAN_Receive(stc_can_rxframe_t *pstcRxFrame);

uint8_t CAN_ArbitrationLostCap(void);
uint8_t CAN_RxErrorCntGet(void);
uint8_t CAN_TxErrorCntGet(void);


//<< void CAN_TTCAN_Enable(void);
//<< void CAN_TTCAN_Disable(void);
//<< void CAN_TTCAN_IrqCmd(void);
//<< void CAN_TTCAN_ReferenceMsgSet(stc_can_ttcan_ref_msg_t *pstcRefMsg);
//<< void CAN_TTCAN_TriggerConfig(stc_can_ttcan_trigger_config_t *pstcTriggerCfg);

//@} // CanGroup

#ifdef __cplusplus
}
#endif

#endif /* DDL_CAN_ENABLE */

#endif /* __HC32F460_CAN_H__ */

/*******************************************************************************
 * EOF (not truncated)
 ******************************************************************************/