rt-thread/bsp/at32/libraries/AT32F413_Firmware_Library/drivers/inc/at32f413_can.h

/**
  **************************************************************************
  * @file     at32f413_can.h
  * @version  v2.0.5
  * @date     2022-05-20
  * @brief    at32f413 can header file
  **************************************************************************
  *                       Copyright notice & Disclaimer
  *
  * The software Board Support Package (BSP) that is made available to
  * download from Artery official website is the copyrighted work of Artery.
  * Artery authorizes customers to use, copy, and distribute the BSP
  * software and its related documentation for the purpose of design and
  * development in conjunction with Artery microcontrollers. Use of the
  * software is governed by this copyright notice and the following disclaimer.
  *
  * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
  * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
  * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
  * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
  * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
  *
  **************************************************************************
  */

/* define to prevent recursive inclusion -------------------------------------*/
#ifndef __AT32F413_CAN_H
#define __AT32F413_CAN_H

#ifdef __cplusplus
extern "C" {
#endif


/* includes ------------------------------------------------------------------*/
#include "at32f413.h"

/** @addtogroup AT32F413_periph_driver
  * @{
  */

/** @addtogroup CAN
  * @{
  */


/** @defgroup CAN_timeout_count
  * @{
  */

#define FZC_TIMEOUT                      ((uint32_t)0x0000FFFF) /*!< time out for fzc bit */
#define DZC_TIMEOUT                      ((uint32_t)0x0000FFFF) /*!< time out for dzc bit */

/**
  * @}
  */

/** @defgroup CAN_flags_definition
  * @brief can flag
  * @{
  */

#define CAN_EAF_FLAG                     ((uint32_t)0x01) /*!< error active flag */
#define CAN_EPF_FLAG                     ((uint32_t)0x02) /*!< error passive flag */
#define CAN_BOF_FLAG                     ((uint32_t)0x03) /*!< bus-off flag */
#define CAN_ETR_FLAG                     ((uint32_t)0x04) /*!< error type record flag */
#define CAN_EOIF_FLAG                    ((uint32_t)0x05) /*!< error occur interrupt flag */
#define CAN_TM0TCF_FLAG                  ((uint32_t)0x06) /*!< transmit mailbox 0 transmission completed flag */
#define CAN_TM1TCF_FLAG                  ((uint32_t)0x07) /*!< transmit mailbox 1 transmission completed flag */
#define CAN_TM2TCF_FLAG                  ((uint32_t)0x08) /*!< transmit mailbox 2 transmission completed flag */
#define CAN_RF0MN_FLAG                   ((uint32_t)0x09) /*!< receive fifo 0 message num flag */
#define CAN_RF0FF_FLAG                   ((uint32_t)0x0A) /*!< receive fifo 0 full flag */
#define CAN_RF0OF_FLAG                   ((uint32_t)0x0B) /*!< receive fifo 0 overflow flag */
#define CAN_RF1MN_FLAG                   ((uint32_t)0x0C) /*!< receive fifo 1 message num flag */
#define CAN_RF1FF_FLAG                   ((uint32_t)0x0D) /*!< receive fifo 1 full flag */
#define CAN_RF1OF_FLAG                   ((uint32_t)0x0E) /*!< receive fifo 1 overflow flag */
#define CAN_QDZIF_FLAG                   ((uint32_t)0x0F) /*!< quit doze mode interrupt flag */
#define CAN_EDZC_FLAG                    ((uint32_t)0x10) /*!< enter doze mode confirm flag */
#define CAN_TMEF_FLAG                    ((uint32_t)0x11) /*!< transmit mailbox empty flag */

/**
  * @}
  */

/** @defgroup CAN_interrupts_definition
  * @brief can interrupt
  * @{
  */

#define CAN_TCIEN_INT                    ((uint32_t)0x00000001) /*!< transmission complete interrupt */
#define CAN_RF0MIEN_INT                  ((uint32_t)0x00000002) /*!< receive fifo 0 message interrupt */
#define CAN_RF0FIEN_INT                  ((uint32_t)0x00000004) /*!< receive fifo 0 full interrupt */
#define CAN_RF0OIEN_INT                  ((uint32_t)0x00000008) /*!< receive fifo 0 overflow interrupt */
#define CAN_RF1MIEN_INT                  ((uint32_t)0x00000010) /*!< receive fifo 1 message interrupt */
#define CAN_RF1FIEN_INT                  ((uint32_t)0x00000020) /*!< receive fifo 1 full interrupt */
#define CAN_RF1OIEN_INT                  ((uint32_t)0x00000040) /*!< receive fifo 1 overflow interrupt */
#define CAN_EAIEN_INT                    ((uint32_t)0x00000100) /*!< error active interrupt */
#define CAN_EPIEN_INT                    ((uint32_t)0x00000200) /*!< error passive interrupt */
#define CAN_BOIEN_INT                    ((uint32_t)0x00000400) /*!< bus-off interrupt */
#define CAN_ETRIEN_INT                   ((uint32_t)0x00000800) /*!< error type record interrupt */
#define CAN_EOIEN_INT                    ((uint32_t)0x00008000) /*!< error occur interrupt */
#define CAN_QDZIEN_INT                   ((uint32_t)0x00010000) /*!< quit doze mode interrupt */
#define CAN_EDZIEN_INT                   ((uint32_t)0x00020000) /*!< enter doze mode confirm interrupt */

/**
  * @}
  */

/**
  * @brief  can flag clear operation macro definition val
  */
#define CAN_MSTS_EOIF_VAL                ((uint32_t)0x00000004) /*!< eoif bit value, it clear by writing 1 */
#define CAN_MSTS_QDZIF_VAL               ((uint32_t)0x00000008) /*!< qdzif bit value, it clear by writing 1 */
#define CAN_MSTS_EDZIF_VAL               ((uint32_t)0x00000010) /*!< edzif bit value, it clear by writing 1 */
#define CAN_TSTS_TM0TCF_VAL              ((uint32_t)0x00000001) /*!< tm0tcf bit value, it clear by writing 1 */
#define CAN_TSTS_TM1TCF_VAL              ((uint32_t)0x00000100) /*!< tm1tcf bit value, it clear by writing 1 */
#define CAN_TSTS_TM2TCF_VAL              ((uint32_t)0x00010000) /*!< tm2tcf bit value, it clear by writing 1 */
#define CAN_TSTS_TM0CT_VAL               ((uint32_t)0x00000080) /*!< tm0ct bit value, it clear by writing 1 */
#define CAN_TSTS_TM1CT_VAL               ((uint32_t)0x00008000) /*!< tm1ct bit value, it clear by writing 1 */
#define CAN_TSTS_TM2CT_VAL               ((uint32_t)0x00800000) /*!< tm2ct bit value, it clear by writing 1 */
#define CAN_RF0_RF0FF_VAL                ((uint32_t)0x00000008) /*!< rf0ff bit value, it clear by writing 1 */
#define CAN_RF0_RF0OF_VAL                ((uint32_t)0x00000010) /*!< rf0of bit value, it clear by writing 1 */
#define CAN_RF0_RF0R_VAL                 ((uint32_t)0x00000020) /*!< rf0r bit value, it clear by writing 1 */
#define CAN_RF1_RF1FF_VAL                ((uint32_t)0x00000008) /*!< rf1ff bit value, it clear by writing 1 */
#define CAN_RF1_RF1OF_VAL                ((uint32_t)0x00000010) /*!< rf1of bit value, it clear by writing 1 */
#define CAN_RF1_RF1R_VAL                 ((uint32_t)0x00000020) /*!< rf1r bit value, it clear by writing 1 */

/** @defgroup CAN_exported_types
  * @{
  */

/**
  * @brief  can filter fifo
  */
typedef enum
{
  CAN_FILTER_FIFO0                       = 0x00, /*!< filter fifo 0 assignment for filter x */
  CAN_FILTER_FIFO1                       = 0x01  /*!< filter fifo 1 assignment for filter x */
} can_filter_fifo_type;

/**
  * @brief  can filter mode
  */
typedef enum
{
  CAN_FILTER_MODE_ID_MASK                = 0x00, /*!< identifier mask mode */
  CAN_FILTER_MODE_ID_LIST                = 0x01  /*!< identifier list mode */
} can_filter_mode_type;

/**
  * @brief  can filter bit width select
  */
typedef enum
{
  CAN_FILTER_16BIT                       = 0x00, /*!< two 16-bit filters */
  CAN_FILTER_32BIT                       = 0x01  /*!< one 32-bit filter */
} can_filter_bit_width_type;

/**
  * @brief  can mode
  */
typedef enum
{
  CAN_MODE_COMMUNICATE                   = 0x00, /*!< communication mode */
  CAN_MODE_LOOPBACK                      = 0x01, /*!< loopback mode */
  CAN_MODE_LISTENONLY                    = 0x02, /*!< listen-only mode */
  CAN_MODE_LISTENONLY_LOOPBACK           = 0x03  /*!< loopback combined with listen-only mode */
} can_mode_type;

/**
  * @brief  can operating mode
  */
typedef enum
{
  CAN_OPERATINGMODE_FREEZE               = 0x00, /*!< freeze mode */
  CAN_OPERATINGMODE_DOZE                 = 0x01, /*!< doze mode */
  CAN_OPERATINGMODE_COMMUNICATE          = 0x02  /*!< communication mode */
} can_operating_mode_type;

/**
  * @brief  can resynchronization adjust width
  */
typedef enum
{
  CAN_RSAW_1TQ                           = 0x00, /*!< 1 time quantum */
  CAN_RSAW_2TQ                           = 0x01, /*!< 2 time quantum */
  CAN_RSAW_3TQ                           = 0x02, /*!< 3 time quantum */
  CAN_RSAW_4TQ                           = 0x03  /*!< 4 time quantum */
} can_rsaw_type;

/**
  * @brief  can bit time segment 1
  */
typedef enum
{
  CAN_BTS1_1TQ                           = 0x00, /*!< 1 time quantum */
  CAN_BTS1_2TQ                           = 0x01, /*!< 2 time quantum */
  CAN_BTS1_3TQ                           = 0x02, /*!< 3 time quantum */
  CAN_BTS1_4TQ                           = 0x03, /*!< 4 time quantum */
  CAN_BTS1_5TQ                           = 0x04, /*!< 5 time quantum */
  CAN_BTS1_6TQ                           = 0x05, /*!< 6 time quantum */
  CAN_BTS1_7TQ                           = 0x06, /*!< 7 time quantum */
  CAN_BTS1_8TQ                           = 0x07, /*!< 8 time quantum */
  CAN_BTS1_9TQ                           = 0x08, /*!< 9 time quantum */
  CAN_BTS1_10TQ                          = 0x09, /*!< 10 time quantum */
  CAN_BTS1_11TQ                          = 0x0A, /*!< 11 time quantum */
  CAN_BTS1_12TQ                          = 0x0B, /*!< 12 time quantum */
  CAN_BTS1_13TQ                          = 0x0C, /*!< 13 time quantum */
  CAN_BTS1_14TQ                          = 0x0D, /*!< 14 time quantum */
  CAN_BTS1_15TQ                          = 0x0E, /*!< 15 time quantum */
  CAN_BTS1_16TQ                          = 0x0F  /*!< 16 time quantum */
} can_bts1_type;

/**
  * @brief  can bit time segment 2
  */
typedef enum
{
  CAN_BTS2_1TQ                           = 0x00, /*!< 1 time quantum */
  CAN_BTS2_2TQ                           = 0x01, /*!< 2 time quantum */
  CAN_BTS2_3TQ                           = 0x02, /*!< 3 time quantum */
  CAN_BTS2_4TQ                           = 0x03, /*!< 4 time quantum */
  CAN_BTS2_5TQ                           = 0x04, /*!< 5 time quantum */
  CAN_BTS2_6TQ                           = 0x05, /*!< 6 time quantum */
  CAN_BTS2_7TQ                           = 0x06, /*!< 7 time quantum */
  CAN_BTS2_8TQ                           = 0x07  /*!< 8 time quantum */
} can_bts2_type;

/**
  * @brief  can identifier type
  */
typedef enum
{
  CAN_ID_STANDARD                        = 0x00, /*!< standard Id */
  CAN_ID_EXTENDED                        = 0x01  /*!< extended Id */
} can_identifier_type;

/**
  * @brief  can transmission frame type
  */
typedef enum
{
  CAN_TFT_DATA                           = 0x00, /*!< data frame */
  CAN_TFT_REMOTE                         = 0x01  /*!< remote frame */
} can_trans_frame_type;

/**
  * @brief  can tx mailboxes
  */
typedef enum
{
  CAN_TX_MAILBOX0                        = 0x00, /*!< can tx mailbox 0 */
  CAN_TX_MAILBOX1                        = 0x01, /*!< can tx mailbox 1 */
  CAN_TX_MAILBOX2                        = 0x02  /*!< can tx mailbox 2 */
} can_tx_mailbox_num_type;

/**
  * @brief  can receive fifo
  */
typedef enum
{
  CAN_RX_FIFO0                           = 0x00, /*!< can fifo 0 used to receive */
  CAN_RX_FIFO1                           = 0x01  /*!< can fifo 1 used to receive */
} can_rx_fifo_num_type;

/**
  * @brief  can transmit status
  */
typedef enum
{
  CAN_TX_STATUS_FAILED                   = 0x00, /*!< can transmission failed */
  CAN_TX_STATUS_SUCCESSFUL               = 0x01, /*!< can transmission successful */
  CAN_TX_STATUS_PENDING                  = 0x02, /*!< can transmission pending */
  CAN_TX_STATUS_NO_EMPTY                 = 0x04  /*!< can transmission no empty mailbox */
} can_transmit_status_type;

/**
  * @brief  can enter doze mode status
  */
typedef enum
{
  CAN_ENTER_DOZE_FAILED                  = 0x00, /*!< can enter the doze mode failed */
  CAN_ENTER_DOZE_SUCCESSFUL              = 0x01  /*!< can enter the doze mode successful */
} can_enter_doze_status_type;

/**
  * @brief  can quit doze mode status
  */
typedef enum
{
  CAN_QUIT_DOZE_FAILED                   = 0x00, /*!< can quit doze mode failed */
  CAN_QUIT_DOZE_SUCCESSFUL               = 0x01  /*!< can quit doze mode successful */
} can_quit_doze_status_type;

/**
  * @brief  can message discarding rule select when overflow
  */
typedef enum
{
  CAN_DISCARDING_FIRST_RECEIVED          = 0x00, /*!< can discarding the first received message */
  CAN_DISCARDING_LAST_RECEIVED           = 0x01  /*!< can discarding the last received message */
} can_msg_discarding_rule_type;

/**
  * @brief  can multiple message sending sequence rule
  */
typedef enum
{
  CAN_SENDING_BY_ID                      = 0x00, /*!< can sending the minimum id message first*/
  CAN_SENDING_BY_REQUEST                 = 0x01  /*!< can sending the first request message first */
} can_msg_sending_rule_type;

/**
  * @brief  can error type record
  */
typedef enum
{
  CAN_ERRORRECORD_NOERR                  = 0x00, /*!< no error */
  CAN_ERRORRECORD_STUFFERR               = 0x01, /*!< stuff error */
  CAN_ERRORRECORD_FORMERR                = 0x02, /*!< form error */
  CAN_ERRORRECORD_ACKERR                 = 0x03, /*!< acknowledgment error */
  CAN_ERRORRECORD_BITRECESSIVEERR        = 0x04, /*!< bit recessive error */
  CAN_ERRORRECORD_BITDOMINANTERR         = 0x05, /*!< bit dominant error */
  CAN_ERRORRECORD_CRCERR                 = 0x06, /*!< crc error */
  CAN_ERRORRECORD_SOFTWARESETERR         = 0x07  /*!< software set error */
} can_error_record_type;

/**
  * @brief  can init structure definition
  */
typedef struct
{
  can_mode_type mode_selection;          /*!< specifies the can mode.*/

  confirm_state ttc_enable;              /*!< time triggered communication mode enable */

  confirm_state aebo_enable;             /*!< automatic exit bus-off enable */

  confirm_state aed_enable;              /*!< automatic exit doze mode enable */

  confirm_state prsf_enable;             /*!< prohibit retransmission when sending fails enable */

  can_msg_discarding_rule_type mdrsel_selection; /*!< message discarding rule select when overflow */

  can_msg_sending_rule_type mmssr_selection;     /*!< multiple message sending sequence rule */

} can_base_type;

/**
  * @brief  can baudrate structure definition
  */
typedef struct
{
  uint16_t baudrate_div;                  /*!< baudrate division,this parameter can be 0x001~0x400.*/

  can_rsaw_type rsaw_size;                /*!< resynchronization adjust width */

  can_bts1_type bts1_size;                /*!< bit time segment 1 */

  can_bts2_type bts2_size;                /*!< bit time segment 2 */

} can_baudrate_type;

/**
  * @brief  can filter init structure definition
  */
typedef struct
{
  confirm_state filter_activate_enable;  /*!< enable or disable the filter activate.*/

  can_filter_mode_type filter_mode;      /*!< config the filter mode mask or list.*/

  can_filter_fifo_type filter_fifo;      /*!< config the fifo which will be assigned to the filter. */

  uint8_t filter_number;                 /*!< config the filter number, parameter ranges from 0 to 13. */

  can_filter_bit_width_type filter_bit;  /*!< config the filter bit width 16bit or 32bit.*/

  uint16_t filter_id_high;               /*!< config the filter identification, for 32-bit configuration
                                              it's high 16 bits, for 16-bit configuration it's first. */

  uint16_t filter_id_low;                /*!< config the filter identification, for 32-bit configuration
                                              it's low 16 bits, for 16-bit configuration it's second. */

  uint16_t filter_mask_high;             /*!< config the filter mask or identification, according to the filtering mode,
                                              for 32-bit configuration it's high 16 bits, for 16-bit configuration it's first. */

  uint16_t filter_mask_low;              /*!< config the filter mask or identification, according to the filtering mode,
                                              for 32-bit configuration it's low 16 bits, for 16-bit configuration it's second. */
} can_filter_init_type;

/**
  * @brief  can tx message structure definition
  */
typedef struct
{
  uint32_t standard_id;                  /*!< specifies the 11 bits standard identifier.
                                              this parameter can be a value between 0 to 0x7FF. */

  uint32_t extended_id;                  /*!< specifies the 29 bits extended identifier.
                                              this parameter can be a value between 0 to 0x1FFFFFFF. */

  can_identifier_type id_type;           /*!< specifies identifier type for the transmit message.*/

  can_trans_frame_type frame_type;       /*!< specifies frame type for the transmit message.*/

  uint8_t dlc;                           /*!< specifies frame data length that will be transmitted.
                                              this parameter can be a value between 0 to 8 */

  uint8_t data[8];                       /*!< contains the transmit data. it ranges from 0 to 0xFF. */

} can_tx_message_type;

/**
  * @brief  can rx message structure definition
  */
typedef struct
{
    uint32_t standard_id;                /*!< specifies the 11 bits standard identifier
                                              this parameter can be a value between 0 to 0x7FF. */

    uint32_t extended_id;                /*!< specifies the 29 bits extended identifier.
                                              this parameter can be a value between 0 to 0x1FFFFFFF. */

    can_identifier_type id_type;         /*!< specifies identifier type for the receive message.*/

    can_trans_frame_type frame_type;     /*!< specifies frame type for the receive message.*/

    uint8_t dlc;                         /*!< specifies the frame data length that will be received.
                                              this parameter can be a value between 0 to 8 */

    uint8_t data[8];                     /*!< contains the receive data. it ranges from 0 to 0xFF.*/

    uint8_t filter_index;                /*!< specifies the message stored in which filter
                                              this parameter can be a value between 0 to 0xFF */
} can_rx_message_type;

/**
  * @brief can controller area network tx mailbox
  */
typedef struct
{
  /**
    * @brief can tmi register
    */
  union
  {
    __IO uint32_t tmi;
    struct
    {
      __IO uint32_t tmsr                 : 1; /* [0] */
      __IO uint32_t tmfrsel              : 1; /* [1] */
      __IO uint32_t tmidsel              : 1; /* [2] */
      __IO uint32_t tmeid                : 18;/* [20:3] */
      __IO uint32_t tmsid                : 11;/* [31:21] */
    } tmi_bit;
  };

  /**
    * @brief can tmc register
    */
  union
  {
    __IO uint32_t tmc;
    struct
    {
      __IO uint32_t tmdtbl               : 4; /* [3:0] */
      __IO uint32_t reserved1            : 4; /* [7:4] */
      __IO uint32_t tmtsten              : 1; /* [8] */
      __IO uint32_t reserved2            : 7; /* [15:9] */
      __IO uint32_t tmts                 : 16;/* [31:16] */
    } tmc_bit;
  };

  /**
    * @brief can tmdtl register
    */
  union
  {
    __IO uint32_t tmdtl;
    struct
    {
      __IO uint32_t tmdt0                : 8; /* [7:0] */
      __IO uint32_t tmdt1                : 8; /* [15:8] */
      __IO uint32_t tmdt2                : 8; /* [23:16] */
      __IO uint32_t tmdt3                : 8; /* [31:24] */
    } tmdtl_bit;
  };

  /**
    * @brief can tmdth register
    */
  union
  {
    __IO uint32_t tmdth;
    struct
    {
      __IO uint32_t tmdt4                : 8; /* [7:0] */
      __IO uint32_t tmdt5                : 8; /* [15:8] */
      __IO uint32_t tmdt6                : 8; /* [23:16] */
      __IO uint32_t tmdt7                : 8; /* [31:24] */
    } tmdth_bit;
  };
} can_tx_mailbox_type;

/**
  * @brief can controller area network fifo mailbox
  */
typedef struct
{
  /**
    * @brief can rfi register
    */
  union
  {
    __IO uint32_t rfi;
    struct
    {
      __IO uint32_t reserved1            : 1; /* [0] */
      __IO uint32_t rffri                : 1; /* [1] */
      __IO uint32_t rfidi                : 1; /* [2] */
      __IO uint32_t rfeid                : 18;/* [20:3] */
      __IO uint32_t rfsid                : 11;/* [31:21] */
    } rfi_bit;
  };

  /**
    * @brief can rfc register
    */
  union
  {
    __IO uint32_t rfc;
    struct
    {
      __IO uint32_t rfdtl                : 4; /* [3:0] */
      __IO uint32_t reserved1            : 4; /* [7:4] */
      __IO uint32_t rffmn                : 8; /* [15:8] */
      __IO uint32_t rfts                 : 16;/* [31:16] */
    } rfc_bit;
  };

  /**
    * @brief can rfdtl register
    */
  union
  {
    __IO uint32_t rfdtl;
    struct
    {
      __IO uint32_t rfdt0                : 8; /* [7:0] */
      __IO uint32_t rfdt1                : 8; /* [15:8] */
      __IO uint32_t rfdt2                : 8; /* [23:16] */
      __IO uint32_t rfdt3                : 8; /* [31:24] */
    } rfdtl_bit;
  };

  /**
    * @brief can rfdth register
    */
  union
  {
    __IO uint32_t rfdth;
    struct
    {
      __IO uint32_t rfdt4                : 8; /* [7:0] */
      __IO uint32_t rfdt5                : 8; /* [15:8] */
      __IO uint32_t rfdt6                : 8; /* [23:16] */
      __IO uint32_t rfdt7                : 8; /* [31:24] */
    } rfdth_bit;
  };
} can_fifo_mailbox_type;

/**
  * @brief can controller area network filter bit register
  */
typedef struct
{
  __IO uint32_t ffdb1;
  __IO uint32_t ffdb2;
} can_filter_register_type;

/**
  * @brief type define can register all
  */
typedef struct
{

  /**
    * @brief can mctrl register, offset:0x00
    */
  union
  {
    __IO uint32_t mctrl;
    struct
    {
      __IO uint32_t fzen                 : 1; /* [0] */
      __IO uint32_t dzen                 : 1; /* [1] */
      __IO uint32_t mmssr                : 1; /* [2] */
      __IO uint32_t mdrsel               : 1; /* [3] */
      __IO uint32_t prsfen               : 1; /* [4] */
      __IO uint32_t aeden                : 1; /* [5] */
      __IO uint32_t aeboen               : 1; /* [6] */
      __IO uint32_t ttcen                : 1; /* [7] */
      __IO uint32_t reserved1            : 7; /* [14:8] */
      __IO uint32_t sprst                : 1; /* [15] */
      __IO uint32_t ptd                  : 1; /* [16] */
      __IO uint32_t reserved2            : 15;/*[31:17] */
    } mctrl_bit;
  };

  /**
    * @brief can msts register, offset:0x04
    */
  union
  {
    __IO uint32_t msts;
    struct
    {
      __IO uint32_t fzc                  : 1; /* [0] */
      __IO uint32_t dzc                  : 1; /* [1] */
      __IO uint32_t eoif                 : 1; /* [2] */
      __IO uint32_t qdzif                : 1; /* [3] */
      __IO uint32_t edzif                : 1; /* [4] */
      __IO uint32_t reserved1            : 3; /* [7:5] */
      __IO uint32_t cuss                 : 1; /* [8] */
      __IO uint32_t curs                 : 1; /* [9] */
      __IO uint32_t lsamprx              : 1; /* [10] */
      __IO uint32_t realrx               : 1; /* [11] */
      __IO uint32_t reserved2            : 20;/*[31:12] */
    } msts_bit;
  };

   /**
     * @brief can tsts register, offset:0x08
     */
  union
  {
    __IO uint32_t tsts;
    struct
    {
      __IO uint32_t tm0tcf               : 1; /* [0] */
      __IO uint32_t tm0tsf               : 1; /* [1] */
      __IO uint32_t tm0alf               : 1; /* [2] */
      __IO uint32_t tm0tef               : 1; /* [3] */
      __IO uint32_t reserved1            : 3; /* [6:4] */
      __IO uint32_t tm0ct                : 1; /* [7] */
      __IO uint32_t tm1tcf               : 1; /* [8] */
      __IO uint32_t tm1tsf               : 1; /* [9] */
      __IO uint32_t tm1alf               : 1; /* [10] */
      __IO uint32_t tm1tef               : 1; /* [11] */
      __IO uint32_t reserved2            : 3; /* [14:12] */
      __IO uint32_t tm1ct                : 1; /* [15] */
      __IO uint32_t tm2tcf               : 1; /* [16] */
      __IO uint32_t tm2tsf               : 1; /* [17] */
      __IO uint32_t tm2alf               : 1; /* [18] */
      __IO uint32_t tm2tef               : 1; /* [19] */
      __IO uint32_t reserved3            : 3; /* [22:20] */
      __IO uint32_t tm2ct                : 1; /* [23] */
      __IO uint32_t tmnr                 : 2; /* [25:24] */
      __IO uint32_t tm0ef                : 1; /* [26] */
      __IO uint32_t tm1ef                : 1; /* [27] */
      __IO uint32_t tm2ef                : 1; /* [28] */
      __IO uint32_t tm0lpf               : 1; /* [29] */
      __IO uint32_t tm1lpf               : 1; /* [30] */
      __IO uint32_t tm2lpf               : 1; /* [31] */
    } tsts_bit;
  };

  /**
    * @brief can rf0 register, offset:0x0C
    */
  union
  {
    __IO uint32_t rf0;
    struct
    {
      __IO uint32_t rf0mn                : 2; /* [1:0] */
      __IO uint32_t reserved1            : 1; /* [2] */
      __IO uint32_t rf0ff                : 1; /* [3] */
      __IO uint32_t rf0of                : 1; /* [4] */
      __IO uint32_t rf0r                 : 1; /* [5] */
      __IO uint32_t reserved2            : 26;/* [31:6] */
    } rf0_bit;
  };

  /**
    * @brief can rf1 register, offset:0x10
    */
  union
  {
    __IO uint32_t rf1;
    struct
    {
      __IO uint32_t rf1mn                : 2; /* [1:0] */
      __IO uint32_t reserved1            : 1; /* [2] */
      __IO uint32_t rf1ff                : 1; /* [3] */
      __IO uint32_t rf1of                : 1; /* [4] */
      __IO uint32_t rf1r                 : 1; /* [5] */
      __IO uint32_t reserved2            : 26;/* [31:6] */
    } rf1_bit;
  };

  /**
    * @brief can inten register, offset:0x14
    */
  union
  {
    __IO uint32_t inten;
    struct
    {
      __IO uint32_t tcien               : 1; /* [0] */
      __IO uint32_t rf0mien              : 1; /* [1] */
      __IO uint32_t rf0fien              : 1; /* [2] */
      __IO uint32_t rf0oien              : 1; /* [3] */
      __IO uint32_t rf1mien              : 1; /* [4] */
      __IO uint32_t rf1fien              : 1; /* [5] */
      __IO uint32_t rf1oien              : 1; /* [6] */
      __IO uint32_t reserved1            : 1; /* [7] */
      __IO uint32_t eaien                : 1; /* [8] */
      __IO uint32_t epien                : 1; /* [9] */
      __IO uint32_t boien                : 1; /* [10] */
      __IO uint32_t etrien               : 1; /* [11] */
      __IO uint32_t reserved2            : 3; /* [14:12] */
      __IO uint32_t eoien                : 1; /* [15] */
      __IO uint32_t qdzien               : 1; /* [16] */
      __IO uint32_t edzien               : 1; /* [17] */
      __IO uint32_t reserved3            : 14;/* [31:18] */
    } inten_bit;
  };

  /**
    * @brief can ests register, offset:0x18
    */
  union
  {
    __IO uint32_t ests;
    struct
    {
      __IO uint32_t eaf                  : 1; /* [0] */
      __IO uint32_t epf                  : 1; /* [1] */
      __IO uint32_t bof                  : 1; /* [2] */
      __IO uint32_t reserved1            : 1; /* [3] */
      __IO uint32_t etr                  : 3; /* [6:4] */
      __IO uint32_t reserved2            : 9; /* [15:7] */
      __IO uint32_t tec                  : 8; /* [23:16] */
      __IO uint32_t rec                  : 8; /* [31:24] */
    } ests_bit;
  };

  /**
    * @brief can btmg register, offset:0x1C
    */
  union
  {
    __IO uint32_t btmg;
    struct
    {
      __IO uint32_t brdiv                : 12;/* [11:0] */
      __IO uint32_t reserved1            : 4; /* [15:12] */
      __IO uint32_t bts1                 : 4; /* [19:16] */
      __IO uint32_t bts2                 : 3; /* [22:20] */
      __IO uint32_t reserved2            : 1; /* [23] */
      __IO uint32_t rsaw                 : 2; /* [25:24] */
      __IO uint32_t reserved3            : 4; /* [29:26] */
      __IO uint32_t lben                 : 1; /* [30] */
      __IO uint32_t loen                 : 1; /* [31] */
    } btmg_bit;
  };

  /**
    * @brief can reserved register, offset:0x20~0x17C
    */
  __IO uint32_t reserved1[88];

  /**
    * @brief can controller area network tx mailbox register, offset:0x180~0x1AC
    */
  can_tx_mailbox_type tx_mailbox[3];

  /**
    * @brief can controller area network fifo mailbox register, offset:0x1B0~0x1CC
    */
  can_fifo_mailbox_type fifo_mailbox[2];

  /**
    * @brief can reserved register, offset:0x1D0~0x1FC
    */
  __IO uint32_t reserved2[12];

  /**
    * @brief can fctrl register, offset:0x200
    */
  union
  {
    __IO uint32_t fctrl;
    struct
    {
      __IO uint32_t fcs                  : 1; /* [0] */
      __IO uint32_t reserved1            : 31;/* [31:1] */
    } fctrl_bit;
  };

  /**
    * @brief can fmcfg register, offset:0x204
    */
  union
  {
    __IO uint32_t fmcfg;
    struct
    {
      __IO uint32_t fmsel0               : 1; /* [0] */
      __IO uint32_t fmsel1               : 1; /* [1] */
      __IO uint32_t fmsel2               : 1; /* [2] */
      __IO uint32_t fmsel3               : 1; /* [3] */
      __IO uint32_t fmsel4               : 1; /* [4] */
      __IO uint32_t fmsel5               : 1; /* [5] */
      __IO uint32_t fmsel6               : 1; /* [6] */
      __IO uint32_t fmsel7               : 1; /* [7] */
      __IO uint32_t fmsel8               : 1; /* [8] */
      __IO uint32_t fmsel9               : 1; /* [9] */
      __IO uint32_t fmsel10              : 1; /* [10] */
      __IO uint32_t fmsel11              : 1; /* [11] */
      __IO uint32_t fmsel12              : 1; /* [12] */
      __IO uint32_t fmsel13              : 1; /* [13] */
      __IO uint32_t reserved1            : 18;/* [31:14] */
    } fmcfg_bit;
  };

  /**
    * @brief can reserved register, offset:0x208
    */
  __IO uint32_t reserved3;

  /**
    * @brief can fbwcfg register, offset:0x20C
    */
  union
  {
    __IO uint32_t fbwcfg;
    struct
    {
      __IO uint32_t fbwsel0              : 1; /* [0] */
      __IO uint32_t fbwsel1              : 1; /* [1] */
      __IO uint32_t fbwsel2              : 1; /* [2] */
      __IO uint32_t fbwsel3              : 1; /* [3] */
      __IO uint32_t fbwsel4              : 1; /* [4] */
      __IO uint32_t fbwsel5              : 1; /* [5] */
      __IO uint32_t fbwsel6              : 1; /* [6] */
      __IO uint32_t fbwsel7              : 1; /* [7] */
      __IO uint32_t fbwsel8              : 1; /* [8] */
      __IO uint32_t fbwsel9              : 1; /* [9] */
      __IO uint32_t fbwsel10             : 1; /* [10] */
      __IO uint32_t fbwsel11             : 1; /* [11] */
      __IO uint32_t fbwsel12             : 1; /* [12] */
      __IO uint32_t fbwsel13             : 1; /* [13] */
      __IO uint32_t reserved1            : 18;/* [31:14] */
    } fbwcfg_bit;
  };

  /**
    * @brief can reserved register, offset:0x210
    */
  __IO uint32_t reserved4;

  /**
    * @brief can frf register, offset:0x214
    */
  union
  {
    __IO uint32_t frf;
    struct
    {
      __IO uint32_t frfsel0              : 1; /* [0] */
      __IO uint32_t frfsel1              : 1; /* [1] */
      __IO uint32_t frfsel2              : 1; /* [2] */
      __IO uint32_t frfsel3              : 1; /* [3] */
      __IO uint32_t frfsel4              : 1; /* [4] */
      __IO uint32_t frfsel5              : 1; /* [5] */
      __IO uint32_t frfsel6              : 1; /* [6] */
      __IO uint32_t frfsel7              : 1; /* [7] */
      __IO uint32_t frfsel8              : 1; /* [8] */
      __IO uint32_t frfsel9              : 1; /* [9] */
      __IO uint32_t frfsel10             : 1; /* [10] */
      __IO uint32_t frfsel11             : 1; /* [11] */
      __IO uint32_t frfsel12             : 1; /* [12] */
      __IO uint32_t frfsel13             : 1; /* [13] */
      __IO uint32_t reserved1            : 18;/* [31:14] */
    } frf_bit;
  };

  /**
    * @brief can reserved register, offset:0x218
    */
  __IO uint32_t reserved5;

  /**
    * @brief can facfg register, offset:0x21C
    */
  union
  {
    __IO uint32_t facfg;
    struct
    {
      __IO uint32_t faen0                : 1; /* [0] */
      __IO uint32_t faen1                : 1; /* [1] */
      __IO uint32_t faen2                : 1; /* [2] */
      __IO uint32_t faen3                : 1; /* [3] */
      __IO uint32_t faen4                : 1; /* [4] */
      __IO uint32_t faen5                : 1; /* [5] */
      __IO uint32_t faen6                : 1; /* [6] */
      __IO uint32_t faen7                : 1; /* [7] */
      __IO uint32_t faen8                : 1; /* [8] */
      __IO uint32_t faen9                : 1; /* [9] */
      __IO uint32_t faen10               : 1; /* [10] */
      __IO uint32_t faen11               : 1; /* [11] */
      __IO uint32_t faen12               : 1; /* [12] */
      __IO uint32_t faen13               : 1; /* [13] */
      __IO uint32_t reserved1            : 18;/* [31:14] */
    } facfg_bit;
  };

  /**
    * @brief can reserved register, offset:0x220~0x23C
    */
  __IO uint32_t reserved6[8];

  /**
    * @brief can ffb register, offset:0x240~0x2AC
    */
  can_filter_register_type ffb[14];
} can_type;

/**
  * @}
  */

#define CAN1                             ((can_type *) CAN1_BASE)
#define CAN2                             ((can_type *) CAN2_BASE)

/** @defgroup CAN_exported_functions
  * @{
  */

void can_reset(can_type* can_x);
void can_baudrate_default_para_init(can_baudrate_type* can_baudrate_struct);
error_status can_baudrate_set(can_type* can_x, can_baudrate_type* can_baudrate_struct);
void can_default_para_init(can_base_type* can_base_struct);
error_status can_base_init(can_type* can_x, can_base_type* can_base_struct);
void can_filter_default_para_init(can_filter_init_type* can_filter_init_struct);
void can_filter_init(can_type* can_x, can_filter_init_type* can_filter_init_struct);
void can_debug_transmission_prohibit(can_type* can_x, confirm_state new_state);
void can_ttc_mode_enable(can_type* can_x, confirm_state new_state);
uint8_t can_message_transmit(can_type* can_x, can_tx_message_type* tx_message_struct);
can_transmit_status_type can_transmit_status_get(can_type* can_x, can_tx_mailbox_num_type transmit_mailbox);
void can_transmit_cancel(can_type* can_x, can_tx_mailbox_num_type transmit_mailbox);
void can_message_receive(can_type* can_x, can_rx_fifo_num_type fifo_number, can_rx_message_type* rx_message_struct);
void can_receive_fifo_release(can_type* can_x, can_rx_fifo_num_type fifo_number);
uint8_t can_receive_message_pending_get(can_type* can_x, can_rx_fifo_num_type fifo_number);
error_status can_operating_mode_set(can_type* can_x, can_operating_mode_type can_operating_mode);
can_enter_doze_status_type can_doze_mode_enter(can_type* can_x);
can_quit_doze_status_type can_doze_mode_exit(can_type* can_x);
can_error_record_type can_error_type_record_get(can_type* can_x);
uint8_t can_receive_error_counter_get(can_type* can_x);
uint8_t can_transmit_error_counter_get(can_type* can_x);
void can_interrupt_enable(can_type* can_x, uint32_t can_int, confirm_state new_state);
flag_status can_flag_get(can_type* can_x, uint32_t can_flag);
void can_flag_clear(can_type* can_x, uint32_t can_flag);

/**
  * @}
  */

/**
  * @}
  */

/**
  * @}
  */

#ifdef __cplusplus
}
#endif

#endif