stm32f7xx_hal_can.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F7xx_HAL_CAN_H
#define __STM32F7xx_HAL_CAN_H

#ifdef __cplusplus
 extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "stm32f7xx_hal_def.h"

/* Exported types ------------------------------------------------------------*/
typedef enum
{
  HAL_CAN_STATE_RESET             = 0x00U,  
  HAL_CAN_STATE_READY             = 0x01U,  
  HAL_CAN_STATE_BUSY              = 0x02U,  
  HAL_CAN_STATE_BUSY_TX           = 0x12U,  
  HAL_CAN_STATE_BUSY_RX           = 0x22U,  
  HAL_CAN_STATE_BUSY_TX_RX        = 0x32U,  
  HAL_CAN_STATE_TIMEOUT           = 0x03U,  
  HAL_CAN_STATE_ERROR             = 0x04U   
}HAL_CAN_StateTypeDef;

typedef struct
{
  uint32_t Prescaler;  
  uint32_t Mode;       
  uint32_t SJW;        
  uint32_t BS1;        
  uint32_t BS2;        
  uint32_t TTCM;       
  uint32_t ABOM;       
  uint32_t AWUM;       
  uint32_t NART;       
  uint32_t RFLM;       
  uint32_t TXFP;       
}CAN_InitTypeDef;

typedef struct
{
  uint32_t FilterIdHigh;          
  uint32_t FilterIdLow;           
  uint32_t FilterMaskIdHigh;      
  uint32_t FilterMaskIdLow;       
  uint32_t FilterFIFOAssignment;  
  uint32_t FilterNumber;          
  uint32_t FilterMode;            
  uint32_t FilterScale;           
  uint32_t FilterActivation;      
  uint32_t BankNumber;            
}CAN_FilterConfTypeDef;

typedef struct
{
  uint32_t StdId;    
  uint32_t ExtId;    
  uint32_t IDE;      
  uint32_t RTR;      
  uint32_t DLC;      
  uint8_t Data[8];  
}CanTxMsgTypeDef;

typedef struct
{
  uint32_t StdId;       
  uint32_t ExtId;       
  uint32_t IDE;         
  uint32_t RTR;         
  uint32_t DLC;         
  uint8_t Data[8];      
  uint32_t FMI;         
  uint32_t FIFONumber;  
}CanRxMsgTypeDef;

typedef struct
{
  CAN_TypeDef                 *Instance;  
  CAN_InitTypeDef             Init;       
  CanTxMsgTypeDef*            pTxMsg;     
  CanRxMsgTypeDef*            pRxMsg;     
  __IO HAL_CAN_StateTypeDef   State;      
  HAL_LockTypeDef             Lock;       
  __IO uint32_t               ErrorCode;  
}CAN_HandleTypeDef;

/* Exported constants --------------------------------------------------------*/
#define   HAL_CAN_ERROR_NONE      0x00U    
#define   HAL_CAN_ERROR_EWG       0x01U    
#define   HAL_CAN_ERROR_EPV       0x02U    
#define   HAL_CAN_ERROR_BOF       0x04U    
#define   HAL_CAN_ERROR_STF       0x08U    
#define   HAL_CAN_ERROR_FOR       0x10U    
#define   HAL_CAN_ERROR_ACK       0x20U    
#define   HAL_CAN_ERROR_BR        0x40U    
#define   HAL_CAN_ERROR_BD        0x80U    
#define   HAL_CAN_ERROR_CRC       0x100U   
#define CAN_INITSTATUS_FAILED       ((uint8_t)0x00U)  
#define CAN_INITSTATUS_SUCCESS      ((uint8_t)0x01U)  
#define CAN_MODE_NORMAL             ((uint32_t)0x00000000U)                     
#define CAN_MODE_LOOPBACK           ((uint32_t)CAN_BTR_LBKM)                   
#define CAN_MODE_SILENT             ((uint32_t)CAN_BTR_SILM)                   
#define CAN_MODE_SILENT_LOOPBACK    ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM))  
#define CAN_SJW_1TQ                 ((uint32_t)0x00000000U)     
#define CAN_SJW_2TQ                 ((uint32_t)CAN_BTR_SJW_0)  
#define CAN_SJW_3TQ                 ((uint32_t)CAN_BTR_SJW_1)  
#define CAN_SJW_4TQ                 ((uint32_t)CAN_BTR_SJW)    
#define CAN_BS1_1TQ                 ((uint32_t)0x00000000U)                                       
#define CAN_BS1_2TQ                 ((uint32_t)CAN_BTR_TS1_0)                                    
#define CAN_BS1_3TQ                 ((uint32_t)CAN_BTR_TS1_1)                                    
#define CAN_BS1_4TQ                 ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0))                  
#define CAN_BS1_5TQ                 ((uint32_t)CAN_BTR_TS1_2)                                    
#define CAN_BS1_6TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0))                  
#define CAN_BS1_7TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1))                  
#define CAN_BS1_8TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))  
#define CAN_BS1_9TQ                 ((uint32_t)CAN_BTR_TS1_3)                                    
#define CAN_BS1_10TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0))                  
#define CAN_BS1_11TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1))                  
#define CAN_BS1_12TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))  
#define CAN_BS1_13TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2))                  
#define CAN_BS1_14TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0))  
#define CAN_BS1_15TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1))  
#define CAN_BS1_16TQ                ((uint32_t)CAN_BTR_TS1) 
#define CAN_BS2_1TQ                 ((uint32_t)0x00000000U)                       
#define CAN_BS2_2TQ                 ((uint32_t)CAN_BTR_TS2_0)                    
#define CAN_BS2_3TQ                 ((uint32_t)CAN_BTR_TS2_1)                    
#define CAN_BS2_4TQ                 ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0))  
#define CAN_BS2_5TQ                 ((uint32_t)CAN_BTR_TS2_2)                    
#define CAN_BS2_6TQ                 ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0))  
#define CAN_BS2_7TQ                 ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1))  
#define CAN_BS2_8TQ                 ((uint32_t)CAN_BTR_TS2)                      
#define CAN_FILTERMODE_IDMASK       ((uint8_t)0x00U)  
#define CAN_FILTERMODE_IDLIST       ((uint8_t)0x01U)  
#define CAN_FILTERSCALE_16BIT       ((uint8_t)0x00U)  
#define CAN_FILTERSCALE_32BIT       ((uint8_t)0x01U)  
#define CAN_FILTER_FIFO0             ((uint8_t)0x00U)  
#define CAN_FILTER_FIFO1             ((uint8_t)0x01U)  
#define CAN_ID_STD             ((uint32_t)0x00000000U)  
#define CAN_ID_EXT             ((uint32_t)0x00000004U)  
#define CAN_RTR_DATA                ((uint32_t)0x00000000U)  
#define CAN_RTR_REMOTE              ((uint32_t)0x00000002U)  
#define CAN_FIFO0                   ((uint8_t)0x00U)  
#define CAN_FIFO1                   ((uint8_t)0x01U)  
/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
   and CAN_ClearFlag() functions. */
/* If the flag is 0x1XXXXXXX, it means that it can only be used with
   CAN_GetFlagStatus() function.  */

/* Transmit Flags */
#define CAN_FLAG_RQCP0             ((uint32_t)0x00000500U)  
#define CAN_FLAG_RQCP1             ((uint32_t)0x00000508U)  
#define CAN_FLAG_RQCP2             ((uint32_t)0x00000510U)  
#define CAN_FLAG_TXOK0             ((uint32_t)0x00000501U)  
#define CAN_FLAG_TXOK1             ((uint32_t)0x00000509U)  
#define CAN_FLAG_TXOK2             ((uint32_t)0x00000511U)  
#define CAN_FLAG_TME0              ((uint32_t)0x0000051AU)  
#define CAN_FLAG_TME1              ((uint32_t)0x0000051BU)  
#define CAN_FLAG_TME2              ((uint32_t)0x0000051CU)  
/* Receive Flags */
#define CAN_FLAG_FF0               ((uint32_t)0x00000203U)  
#define CAN_FLAG_FOV0              ((uint32_t)0x00000204U)  
#define CAN_FLAG_FF1               ((uint32_t)0x00000403U)  
#define CAN_FLAG_FOV1              ((uint32_t)0x00000404U)  
/* Operating Mode Flags */
#define CAN_FLAG_INAK              ((uint32_t)0x00000100U)  
#define CAN_FLAG_SLAK              ((uint32_t)0x00000101U)  
#define CAN_FLAG_ERRI              ((uint32_t)0x00000102U)  
#define CAN_FLAG_WKU               ((uint32_t)0x00000103U)  
#define CAN_FLAG_SLAKI             ((uint32_t)0x00000104U)  
/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
         In this case the SLAK bit can be polled.*/

/* Error Flags */
#define CAN_FLAG_EWG               ((uint32_t)0x00000300U)  
#define CAN_FLAG_EPV               ((uint32_t)0x00000301U)  
#define CAN_FLAG_BOF               ((uint32_t)0x00000302U)  
#define CAN_IT_TME                  ((uint32_t)CAN_IER_TMEIE)   
/* Receive Interrupts */
#define CAN_IT_FMP0                 ((uint32_t)CAN_IER_FMPIE0)  
#define CAN_IT_FF0                  ((uint32_t)CAN_IER_FFIE0)   
#define CAN_IT_FOV0                 ((uint32_t)CAN_IER_FOVIE0)  
#define CAN_IT_FMP1                 ((uint32_t)CAN_IER_FMPIE1)  
#define CAN_IT_FF1                  ((uint32_t)CAN_IER_FFIE1)   
#define CAN_IT_FOV1                 ((uint32_t)CAN_IER_FOVIE1)  
/* Operating Mode Interrupts */
#define CAN_IT_WKU                  ((uint32_t)CAN_IER_WKUIE)  
#define CAN_IT_SLK                  ((uint32_t)CAN_IER_SLKIE)  
/* Error Interrupts */
#define CAN_IT_EWG                  ((uint32_t)CAN_IER_EWGIE) 
#define CAN_IT_EPV                  ((uint32_t)CAN_IER_EPVIE) 
#define CAN_IT_BOF                  ((uint32_t)CAN_IER_BOFIE) 
#define CAN_IT_LEC                  ((uint32_t)CAN_IER_LECIE) 
#define CAN_IT_ERR                  ((uint32_t)CAN_IER_ERRIE) 
#define CAN_TXMAILBOX_0   ((uint8_t)0x00U)
#define CAN_TXMAILBOX_1   ((uint8_t)0x01U)
#define CAN_TXMAILBOX_2   ((uint8_t)0x02U)

/* Exported macro ------------------------------------------------------------*/
#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)

#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))

#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))

#define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
((uint8_t)((__HANDLE__)->Instance->RF0R&(uint32_t)0x03)) : ((uint8_t)((__HANDLE__)->Instance->RF1R&(uint32_t)0x03)))

#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
((((__FLAG__) >> 8) == 5)? ((((__HANDLE__)->Instance->TSR) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 (((__FLAG__) >> 8) == 2)? ((((__HANDLE__)->Instance->RF0R) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 (((__FLAG__) >> 8) == 4)? ((((__HANDLE__)->Instance->RF1R) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 (((__FLAG__) >> 8) == 1)? ((((__HANDLE__)->Instance->MSR) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 ((((__HANDLE__)->Instance->ESR) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))))

#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
((((__FLAG__) >> 8) == 5)? (((__HANDLE__)->Instance->TSR) = ((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 (((__FLAG__) >> 8) == 2)? (((__HANDLE__)->Instance->RF0R) = ((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 (((__FLAG__) >> 8) == 4)? (((__HANDLE__)->Instance->RF1R) = ((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
 (((__HANDLE__)->Instance->MSR) = ((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))))

#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)

#define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\
 ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\
 ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)))

#define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1))

#define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\
 ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\
 ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2))

#define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \
((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF))

/* Exported functions --------------------------------------------------------*/
/* Initialization/de-initialization functions ***********************************/
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
/* I/O operation functions ******************************************************/
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
/* Peripheral State functions ***************************************************/
uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan);
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
#define CAN_TXSTATUS_NOMAILBOX      ((uint8_t)0x04U)  
#define CAN_FLAG_MASK  ((uint32_t)0x000000FFU)

/* Private macros ------------------------------------------------------------*/
#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
                           ((MODE) == CAN_MODE_LOOPBACK)|| \
                           ((MODE) == CAN_MODE_SILENT) || \
                           ((MODE) == CAN_MODE_SILENT_LOOPBACK))
#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \
                         ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ)
#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ)
#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
                                  ((MODE) == CAN_FILTERMODE_IDLIST))
#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
                                    ((SCALE) == CAN_FILTERSCALE_32BIT))
#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
                                  ((FIFO) == CAN_FILTER_FIFO1))
#define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28)

#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))

#define IS_CAN_IDTYPE(IDTYPE)  (((IDTYPE) == CAN_ID_STD) || \
                                ((IDTYPE) == CAN_ID_EXT))
#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))

/* Private functions ---------------------------------------------------------*/
#ifdef __cplusplus
}
#endif

#endif /* __STM32F7xx_CAN_H */


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