path: root/demos/ARMCM3-STM32F103-GCC/stm32lib/inc/stm32f10x_can.h

/**
  ******************************************************************************
  * @file    stm32f10x_can.h
  * @author  MCD Application Team
  * @version V3.1.0
  * @date    06/19/2009
  * @brief   This file contains all the functions prototypes for the CAN firmware 
  *          library.
  ******************************************************************************
  * @copy
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2009 STMicroelectronics</center></h2>
  */ 

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F10x_CAN_H
#define __STM32F10x_CAN_H

#ifdef __cplusplus
 extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"

/** @addtogroup STM32F10x_StdPeriph_Driver
  * @{
  */

/** @addtogroup CAN
  * @{
  */

/** @defgroup CAN_Exported_Types
  * @{
  */

#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
                                   ((PERIPH) == CAN2))

/** 
  * @brief  CAN init structure definition
  */

typedef struct
{
  uint16_t CAN_Prescaler;   /*!< Specifies the length of a time quantum. It ranges from 1 to 1024. */
  
  uint8_t CAN_Mode;         /*!< Specifies the CAN operating mode.
                                 This parameter can be a value of @ref CAN_operating_mode */

  uint8_t CAN_SJW;          /*!< Specifies the maximum number of time quanta the CAN hardware
                                 is allowed to lengthen or shorten a bit to perform resynchronization.
                                 This parameter can be a value of @ref CAN_synchronisation_jump_width */

  uint8_t CAN_BS1;          /*!< Specifies the number of time quanta in Bit Segment 1.
                                 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */

  uint8_t CAN_BS2;          /*!< Specifies the number of time quanta in Bit Segment 2.
                                 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
  
  FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode.
                                 This parameter can be set either to ENABLE or DISABLE. */
  
  FunctionalState CAN_ABOM;  /*!< Enable or disable the automatic bus-off management.
                                 This parameter can be set either to ENABLE or DISABLE. */

  FunctionalState CAN_AWUM;  /*!< Enable or disable the automatic wake-up mode. 
                                 This parameter can be set either to ENABLE or DISABLE. */

  FunctionalState CAN_NART;  /*!< Enable or disable the no-automatic retransmission mode.
                                 This parameter can be set either to ENABLE or DISABLE. */

  FunctionalState CAN_RFLM;  /*!< Enable or disable the Receive FIFO Locked mode.
                                 This parameter can be set either to ENABLE or DISABLE. */

  FunctionalState CAN_TXFP;  /*!< Enable or disable the transmit FIFO priority.
                                 This parameter can be set either to ENABLE or DISABLE. */
} CAN_InitTypeDef;

/** 
  * @brief  CAN filter init structure definition
  */

typedef struct
{
  uint16_t CAN_FilterIdHigh;             /*!< Specifies the filter identification number (MSBs for a 32-bit
                                              configuration, first one for a 16-bit configuration).
                                              This parameter can be a value between 0x0000 and 0xFFFF */

  uint16_t CAN_FilterIdLow;              /*!< Specifies the filter identification number (LSBs for a 32-bit
                                              configuration, second one for a 16-bit configuration).
                                              This parameter can be a value between 0x0000 and 0xFFFF */

  uint16_t CAN_FilterMaskIdHigh;         /*!< Specifies the filter mask number or identification number,
                                              according to the mode (MSBs for a 32-bit configuration,
                                              first one for a 16-bit configuration).
                                              This parameter can be a value between 0x0000 and 0xFFFF */

  uint16_t CAN_FilterMaskIdLow;          /*!< Specifies the filter mask number or identification number,
                                              according to the mode (LSBs for a 32-bit configuration,
                                              second one for a 16-bit configuration).
                                              This parameter can be a value between 0x0000 and 0xFFFF */

  uint16_t CAN_FilterFIFOAssignment;     /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
                                              This parameter can be a value of @ref CAN_filter_FIFO */
  
  uint8_t CAN_FilterNumber;              /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */

  uint8_t CAN_FilterMode;                /*!< Specifies the filter mode to be initialized.
                                              This parameter can be a value of @ref CAN_filter_mode */

  uint8_t CAN_FilterScale;               /*!< Specifies the filter scale.
                                              This parameter can be a value of @ref CAN_filter_scale */

  FunctionalState CAN_FilterActivation;  /*!< Enable or disable the filter.
                                              This parameter can be set either to ENABLE or DISABLE. */
} CAN_FilterInitTypeDef;

/** 
  * @brief  CAN Tx message structure definition  
  */

typedef struct
{
  uint32_t StdId;  /*!< Specifies the standard identifier.
                        This parameter can be a value between 0 to 0x7FF. */

  uint32_t ExtId;  /*!< Specifies the extended identifier.
                        This parameter can be a value between 0 to 0x1FFFFFFF. */

  uint8_t IDE;     /*!< Specifies the type of identifier for the message that will be transmitted.
                        This parameter can be a value of @ref CAN_identifier_type */

  uint8_t RTR;     /*!< Specifies the type of frame for the message that will be transmitted.
                        This parameter can be a value of @ref CAN_remote_transmission_request */

  uint8_t DLC;     /*!< Specifies the length of the frame that will be transmitted.
                        This parameter can be a value between 0 to 8 */

  uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
} CanTxMsg;

/** 
  * @brief  CAN Rx message structure definition  
  */

typedef struct
{
  uint32_t StdId;  /*!< Specifies the standard identifier.
                        This parameter can be a value between 0 to 0x7FF. */

  uint32_t ExtId;  /*!< Specifies the extended identifier.
                        This parameter can be a value between 0 to 0x1FFFFFFF. */

  uint8_t IDE;     /*!< Specifies the type of identifier for the message that will be received.
                        This parameter can be a value of @ref CAN_identifier_type */

  uint8_t RTR;     /*!< Specifies the type of frame for the received message.
                        This parameter can be a value of @ref CAN_remote_transmission_request */

  uint8_t DLC;     /*!< Specifies the length of the frame that will be received.
                        This parameter can be a value between 0 to 8 */

  uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 0xFF. */

  uint8_t FMI;     /*!< Specifies the index of the filter the message stored in the mailbox passes through.
                        This parameter can be a value between 0 to 0xFF */
} CanRxMsg;

/**
  * @}
  */

/** @defgroup CAN_Exported_Constants
  * @{
  */

/** @defgroup CAN_sleep_constants 
  * @{
  */

#define CANINITFAILED              ((uint8_t)0x00) /*!< CAN initialization failed */
#define CANINITOK                  ((uint8_t)0x01) /*!< CAN initialization failed */

/**
  * @}
  */

/** @defgroup CAN_operating_mode 
  * @{
  */

#define CAN_Mode_Normal             ((uint8_t)0x00)  /*!< normal mode */
#define CAN_Mode_LoopBack           ((uint8_t)0x01)  /*!< loopback mode */
#define CAN_Mode_Silent             ((uint8_t)0x02)  /*!< silent mode */
#define CAN_Mode_Silent_LoopBack    ((uint8_t)0x03)  /*!< loopback combined with silent mode */

#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || ((MODE) == CAN_Mode_LoopBack)|| \
                           ((MODE) == CAN_Mode_Silent) || ((MODE) == CAN_Mode_Silent_LoopBack))
/**
  * @}
  */

/** @defgroup CAN_synchronisation_jump_width 
  * @{
  */

#define CAN_SJW_1tq                 ((uint8_t)0x00)  /*!< 1 time quantum */
#define CAN_SJW_2tq                 ((uint8_t)0x01)  /*!< 2 time quantum */
#define CAN_SJW_3tq                 ((uint8_t)0x02)  /*!< 3 time quantum */
#define CAN_SJW_4tq                 ((uint8_t)0x03)  /*!< 4 time quantum */

#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
                         ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
/**
  * @}
  */

/** @defgroup CAN_time_quantum_in_bit_segment_1 
  * @{
  */

#define CAN_BS1_1tq                 ((uint8_t)0x00)  /*!< 1 time quantum */
#define CAN_BS1_2tq                 ((uint8_t)0x01)  /*!< 2 time quantum */
#define CAN_BS1_3tq                 ((uint8_t)0x02)  /*!< 3 time quantum */
#define CAN_BS1_4tq                 ((uint8_t)0x03)  /*!< 4 time quantum */
#define CAN_BS1_5tq                 ((uint8_t)0x04)  /*!< 5 time quantum */
#define CAN_BS1_6tq                 ((uint8_t)0x05)  /*!< 6 time quantum */
#define CAN_BS1_7tq                 ((uint8_t)0x06)  /*!< 7 time quantum */
#define CAN_BS1_8tq                 ((uint8_t)0x07)  /*!< 8 time quantum */
#define CAN_BS1_9tq                 ((uint8_t)0x08)  /*!< 9 time quantum */
#define CAN_BS1_10tq                ((uint8_t)0x09)  /*!< 10 time quantum */
#define CAN_BS1_11tq                ((uint8_t)0x0A)  /*!< 11 time quantum */
#define CAN_BS1_12tq                ((uint8_t)0x0B)  /*!< 12 time quantum */
#define CAN_BS1_13tq                ((uint8_t)0x0C)  /*!< 13 time quantum */
#define CAN_BS1_14tq                ((uint8_t)0x0D)  /*!< 14 time quantum */
#define CAN_BS1_15tq                ((uint8_t)0x0E)  /*!< 15 time quantum */
#define CAN_BS1_16tq                ((uint8_t)0x0F)  /*!< 16 time quantum */

#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
/**
  * @}
  */

/** @defgroup CAN_time_quantum_in_bit_segment_2 
  * @{
  */

#define CAN_BS2_1tq                 ((uint8_t)0x00)  /*!< 1 time quantum */
#define CAN_BS2_2tq                 ((uint8_t)0x01)  /*!< 2 time quantum */
#define CAN_BS2_3tq                 ((uint8_t)0x02)  /*!< 3 time quantum */
#define CAN_BS2_4tq                 ((uint8_t)0x03)  /*!< 4 time quantum */
#define CAN_BS2_5tq                 ((uint8_t)0x04)  /*!< 5 time quantum */
#define CAN_BS2_6tq                 ((uint8_t)0x05)  /*!< 6 time quantum */
#define CAN_BS2_7tq                 ((uint8_t)0x06)  /*!< 7 time quantum */
#define CAN_BS2_8tq                 ((uint8_t)0x07)  /*!< 8 time quantum */

#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)

/**
  * @}
  */

/** @defgroup CAN_clock_prescaler 
  * @{
  */

#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))

/**
  * @}
  */

/** @defgroup CAN_filter_number 
  * @{
  */
#ifndef STM32F10X_CL
  #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 13)
#else
  #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
#endif /* STM32F10X_CL */ 
/**
  * @}
  */

/** @defgroup CAN_filter_mode 
  * @{
  */

#define CAN_FilterMode_IdMask       ((uint8_t)0x00)  /*!< id/mask mode */
#define CAN_FilterMode_IdList       ((uint8_t)0x01)  /*!< identifier list mode */

#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
                                  ((MODE) == CAN_FilterMode_IdList))
/**
  * @}
  */

/** @defgroup CAN_filter_scale 
  * @{
  */

#define CAN_FilterScale_16bit       ((uint8_t)0x00) /*!< Two 16-bit filters */
#define CAN_FilterScale_32bit       ((uint8_t)0x01) /*!< One 32-bit filter */

#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
                                    ((SCALE) == CAN_FilterScale_32bit))

/**
  * @}
  */

/** @defgroup CAN_filter_FIFO
  * @{
  */

#define CAN_FilterFIFO0             ((uint8_t)0x00)  /*!< Filter FIFO 0 assignment for filter x */
#define CAN_FilterFIFO1             ((uint8_t)0x01)  /*!< Filter FIFO 1 assignment for filter x */
#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
                                  ((FIFO) == CAN_FilterFIFO1))

/**
  * @}
  */

/** @defgroup Start_bank_filter_for_slave_CAN 
  * @{
  */
#define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
/**
  * @}
  */

/** @defgroup CAN_Tx 
  * @{
  */

#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
#define IS_CAN_STDID(STDID)   ((STDID) <= ((uint32_t)0x7FF))
#define IS_CAN_EXTID(EXTID)   ((EXTID) <= ((uint32_t)0x1FFFFFFF))
#define IS_CAN_DLC(DLC)       ((DLC) <= ((uint8_t)0x08))

/**
  * @}
  */

/** @defgroup CAN_identifier_type 
  * @{
  */

#define CAN_ID_STD                 ((uint32_t)0x00000000)  /*!< Standard Id */
#define CAN_ID_EXT                 ((uint32_t)0x00000004)  /*!< Extended Id */
#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || ((IDTYPE) == CAN_ID_EXT))

/**
  * @}
  */

/** @defgroup CAN_remote_transmission_request 
  * @{
  */

#define CAN_RTR_DATA                ((uint32_t)0x00000000)  /*!< Data frame */
#define CAN_RTR_REMOTE              ((uint32_t)0x00000002)  /*!< Remote frame */
#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))

/**
  * @}
  */

/** @defgroup CAN_transmit_constants 
  * @{
  */

#define CANTXFAILED                 ((uint8_t)0x00) /*!< CAN transmission failed */
#define CANTXOK                     ((uint8_t)0x01) /*!< CAN transmission succeeded */
#define CANTXPENDING                ((uint8_t)0x02) /*!< CAN transmission pending */
#define CAN_NO_MB                   ((uint8_t)0x04) /*!< CAN cell did not provide an empty mailbox */

/**
  * @}
  */

/** @defgroup CAN_receive_FIFO_number_constants 
  * @{
  */

#define CAN_FIFO0                 ((uint8_t)0x00) /*!< CAN FIFO0 used to receive */
#define CAN_FIFO1                 ((uint8_t)0x01) /*!< CAN FIFO1 used to receive */

#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))

/**
  * @}
  */

/** @defgroup CAN_sleep_constants 
  * @{
  */

#define CANSLEEPFAILED              ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */
#define CANSLEEPOK                  ((uint8_t)0x01) /*!< CAN entered the sleep mode */

/**
  * @}
  */

/** @defgroup CAN_wake_up_constants 
  * @{
  */

#define CANWAKEUPFAILED             ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */
#define CANWAKEUPOK                 ((uint8_t)0x01) /*!< CAN leaved the sleep mode */

/**
  * @}
  */

/** @defgroup CAN_flags 
  * @{
  */

#define CAN_FLAG_EWG                ((uint32_t)0x00000001) /*!< Error Warning Flag */
#define CAN_FLAG_EPV                ((uint32_t)0x00000002) /*!< Error Passive Flag */
#define CAN_FLAG_BOF                ((uint32_t)0x00000004) /*!< Bus-Off Flag */

#define IS_CAN_FLAG(FLAG) (((FLAG) == CAN_FLAG_EWG) || ((FLAG) == CAN_FLAG_EPV) ||\
                           ((FLAG) == CAN_FLAG_BOF))

/**
  * @}
  */

/** @defgroup CAN_interrupts 
  * @{
  */

#define CAN_IT_RQCP0                ((uint32_t)0x00000005) /*!< Request completed mailbox 0 */
#define CAN_IT_RQCP1                ((uint32_t)0x00000006) /*!< Request completed mailbox 1 */
#define CAN_IT_RQCP2                ((uint32_t)0x00000007) /*!< Request completed mailbox 2 */
#define CAN_IT_TME                  ((uint32_t)0x00000001) /*!< Transmit mailbox empty */
#define CAN_IT_FMP0                 ((uint32_t)0x00000002) /*!< FIFO 0 message pending */
#define CAN_IT_FF0                  ((uint32_t)0x00000004) /*!< FIFO 0 full */
#define CAN_IT_FOV0                 ((uint32_t)0x00000008) /*!< FIFO 0 overrun */
#define CAN_IT_FMP1                 ((uint32_t)0x00000010) /*!< FIFO 1 message pending */
#define CAN_IT_FF1                  ((uint32_t)0x00000020) /*!< FIFO 1 full */
#define CAN_IT_FOV1                 ((uint32_t)0x00000040) /*!< FIFO 1 overrun */
#define CAN_IT_EWG                  ((uint32_t)0x00000100) /*!< Error warning */
#define CAN_IT_EPV                  ((uint32_t)0x00000200) /*!< Error passive */
#define CAN_IT_BOF                  ((uint32_t)0x00000400) /*!< Bus-off */
#define CAN_IT_LEC                  ((uint32_t)0x00000800) /*!< Last error code */
#define CAN_IT_ERR                  ((uint32_t)0x00008000) /*!< Error */
#define CAN_IT_WKU                  ((uint32_t)0x00010000) /*!< Wake-up */
#define CAN_IT_SLK                  ((uint32_t)0x00020000) /*!< Sleep */

#define IS_CAN_ITConfig(IT) (((IT) == CAN_IT_TME)   || ((IT) == CAN_IT_FMP0)  ||\
                             ((IT) == CAN_IT_FF0)   || ((IT) == CAN_IT_FOV0)  ||\
                             ((IT) == CAN_IT_FMP1)  || ((IT) == CAN_IT_FF1)   ||\
                             ((IT) == CAN_IT_FOV1)  || ((IT) == CAN_IT_EWG)   ||\
                             ((IT) == CAN_IT_EPV)   || ((IT) == CAN_IT_BOF)   ||\
                             ((IT) == CAN_IT_LEC)   || ((IT) == CAN_IT_ERR)   ||\
                             ((IT) == CAN_IT_WKU)   || ((IT) == CAN_IT_SLK))

#define IS_CAN_ITStatus(IT) (((IT) == CAN_IT_RQCP0)  || ((IT) == CAN_IT_RQCP1)  ||\
                             ((IT) == CAN_IT_RQCP2)  || ((IT) == CAN_IT_FF0)    ||\
                             ((IT) == CAN_IT_FOV0)   || ((IT) == CAN_IT_FF1)    ||\
                             ((IT) == CAN_IT_FOV1)   || ((IT) == CAN_IT_EWG)    ||\
                             ((IT) == CAN_IT_EPV)    || ((IT) == CAN_IT_BOF)    ||\
                             ((IT) == CAN_IT_WKU)    || ((IT) == CAN_IT_SLK))
/**
  * @}
  */

/**
  * @}
  */

/** @defgroup CAN_Exported_Macros
  * @{
  */

/**
  * @}
  */

/** @defgroup CAN_Exported_Functions
  * @{
  */

void CAN_DeInit(CAN_TypeDef* CANx);
uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
void CAN_SlaveStartBank(uint8_t CAN_BankNumber); 
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
uint8_t CAN_Sleep(CAN_TypeDef* CANx);
uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);

#ifdef __cplusplus
}
#endif

#endif /* __STM32F10x_CAN_H */
/**
  * @}
  */

/**
  * @}
  */

/**
  * @}
  */

/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/