1 /** 2 ****************************************************************************** 3 * @file stm32f4xx_can.h 4 * @author MCD Application Team 5 * @version V1.4.0 6 * @date 04-August-2014 7 * @brief This file contains all the functions prototypes for the CAN firmware 8 * library. 9 ****************************************************************************** 10 * @attention 11 * 12 * <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2> 13 * 14 * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); 15 * You may not use this file except in compliance with the License. 16 * You may obtain a copy of the License at: 17 * 18 * http://www.st.com/software_license_agreement_liberty_v2 19 * 20 * Unless required by applicable law or agreed to in writing, software 21 * distributed under the License is distributed on an "AS IS" BASIS, 22 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 23 * See the License for the specific language governing permissions and 24 * limitations under the License. 25 * 26 ****************************************************************************** 27 */ 28 29 /* Define to prevent recursive inclusion -------------------------------------*/ 30 #ifndef __STM32F4xx_CAN_H 31 #define __STM32F4xx_CAN_H 32 33 #ifdef __cplusplus 34 extern "C" { 35 #endif 36 37 /* Includes ------------------------------------------------------------------*/ 38 #include "stm32f4xx.h" 39 40 /** @addtogroup STM32F4xx_StdPeriph_Driver 41 * @{ 42 */ 43 44 /** @addtogroup CAN 45 * @{ 46 */ 47 48 /* Exported types ------------------------------------------------------------*/ 49 50 #define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \ 51 ((PERIPH) == CAN2)) 52 53 /** 54 * @brief CAN init structure definition 55 */ 56 typedef struct 57 { 58 uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum. 59 It ranges from 1 to 1024. */ 60 61 uint8_t CAN_Mode; /*!< Specifies the CAN operating mode. 62 This parameter can be a value of @ref CAN_operating_mode */ 63 64 uint8_t CAN_SJW; /*!< Specifies the maximum number of time quanta 65 the CAN hardware is allowed to lengthen or 66 shorten a bit to perform resynchronization. 67 This parameter can be a value of @ref CAN_synchronisation_jump_width */ 68 69 uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit 70 Segment 1. This parameter can be a value of 71 @ref CAN_time_quantum_in_bit_segment_1 */ 72 73 uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit Segment 2. 74 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */ 75 76 FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode. 77 This parameter can be set either to ENABLE or DISABLE. */ 78 79 FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off management. 80 This parameter can be set either to ENABLE or DISABLE. */ 81 82 FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode. 83 This parameter can be set either to ENABLE or DISABLE. */ 84 85 FunctionalState CAN_NART; /*!< Enable or disable the non-automatic retransmission mode. 86 This parameter can be set either to ENABLE or DISABLE. */ 87 88 FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode. 89 This parameter can be set either to ENABLE or DISABLE. */ 90 91 FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority. 92 This parameter can be set either to ENABLE or DISABLE. */ 93 } CAN_InitTypeDef; 94 95 /** 96 * @brief CAN filter init structure definition 97 */ 98 typedef struct 99 { 100 uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit 101 configuration, first one for a 16-bit configuration). 102 This parameter can be a value between 0x0000 and 0xFFFF */ 103 104 uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit 105 configuration, second one for a 16-bit configuration). 106 This parameter can be a value between 0x0000 and 0xFFFF */ 107 108 uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number, 109 according to the mode (MSBs for a 32-bit configuration, 110 first one for a 16-bit configuration). 111 This parameter can be a value between 0x0000 and 0xFFFF */ 112 113 uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number, 114 according to the mode (LSBs for a 32-bit configuration, 115 second one for a 16-bit configuration). 116 This parameter can be a value between 0x0000 and 0xFFFF */ 117 118 uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter. 119 This parameter can be a value of @ref CAN_filter_FIFO */ 120 121 uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */ 122 123 uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized. 124 This parameter can be a value of @ref CAN_filter_mode */ 125 126 uint8_t CAN_FilterScale; /*!< Specifies the filter scale. 127 This parameter can be a value of @ref CAN_filter_scale */ 128 129 FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter. 130 This parameter can be set either to ENABLE or DISABLE. */ 131 } CAN_FilterInitTypeDef; 132 133 /** 134 * @brief CAN Tx message structure definition 135 */ 136 typedef struct 137 { 138 uint32_t StdId; /*!< Specifies the standard identifier. 139 This parameter can be a value between 0 to 0x7FF. */ 140 141 uint32_t ExtId; /*!< Specifies the extended identifier. 142 This parameter can be a value between 0 to 0x1FFFFFFF. */ 143 144 uint8_t IDE; /*!< Specifies the type of identifier for the message that 145 will be transmitted. This parameter can be a value 146 of @ref CAN_identifier_type */ 147 148 uint8_t RTR; /*!< Specifies the type of frame for the message that will 149 be transmitted. This parameter can be a value of 150 @ref CAN_remote_transmission_request */ 151 152 uint8_t DLC; /*!< Specifies the length of the frame that will be 153 transmitted. This parameter can be a value between 154 0 to 8 */ 155 156 uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 157 to 0xFF. */ 158 } CanTxMsg; 159 160 /** 161 * @brief CAN Rx message structure definition 162 */ 163 typedef struct 164 { 165 uint32_t StdId; /*!< Specifies the standard identifier. 166 This parameter can be a value between 0 to 0x7FF. */ 167 168 uint32_t ExtId; /*!< Specifies the extended identifier. 169 This parameter can be a value between 0 to 0x1FFFFFFF. */ 170 171 uint8_t IDE; /*!< Specifies the type of identifier for the message that 172 will be received. This parameter can be a value of 173 @ref CAN_identifier_type */ 174 175 uint8_t RTR; /*!< Specifies the type of frame for the received message. 176 This parameter can be a value of 177 @ref CAN_remote_transmission_request */ 178 179 uint8_t DLC; /*!< Specifies the length of the frame that will be received. 180 This parameter can be a value between 0 to 8 */ 181 182 uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 183 0xFF. */ 184 185 uint8_t FMI; /*!< Specifies the index of the filter the message stored in 186 the mailbox passes through. This parameter can be a 187 value between 0 to 0xFF */ 188 } CanRxMsg; 189 190 /* Exported constants --------------------------------------------------------*/ 191 192 /** @defgroup CAN_Exported_Constants 193 * @{ 194 */ 195 196 /** @defgroup CAN_InitStatus 197 * @{ 198 */ 199 200 #define CAN_InitStatus_Failed ((uint8_t)0x00) /*!< CAN initialization failed */ 201 #define CAN_InitStatus_Success ((uint8_t)0x01) /*!< CAN initialization OK */ 202 203 204 /* Legacy defines */ 205 #define CANINITFAILED CAN_InitStatus_Failed 206 #define CANINITOK CAN_InitStatus_Success 207 /** 208 * @} 209 */ 210 211 /** @defgroup CAN_operating_mode 212 * @{ 213 */ 214 215 #define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */ 216 #define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */ 217 #define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */ 218 #define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */ 219 220 #define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \ 221 ((MODE) == CAN_Mode_LoopBack)|| \ 222 ((MODE) == CAN_Mode_Silent) || \ 223 ((MODE) == CAN_Mode_Silent_LoopBack)) 224 /** 225 * @} 226 */ 227 228 229 /** 230 * @defgroup CAN_operating_mode 231 * @{ 232 */ 233 #define CAN_OperatingMode_Initialization ((uint8_t)0x00) /*!< Initialization mode */ 234 #define CAN_OperatingMode_Normal ((uint8_t)0x01) /*!< Normal mode */ 235 #define CAN_OperatingMode_Sleep ((uint8_t)0x02) /*!< sleep mode */ 236 237 238 #define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\ 239 ((MODE) == CAN_OperatingMode_Normal)|| \ 240 ((MODE) == CAN_OperatingMode_Sleep)) 241 /** 242 * @} 243 */ 244 245 /** 246 * @defgroup CAN_operating_mode_status 247 * @{ 248 */ 249 250 #define CAN_ModeStatus_Failed ((uint8_t)0x00) /*!< CAN entering the specific mode failed */ 251 #define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed) /*!< CAN entering the specific mode Succeed */ 252 /** 253 * @} 254 */ 255 256 /** @defgroup CAN_synchronisation_jump_width 257 * @{ 258 */ 259 #define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */ 260 #define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */ 261 #define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */ 262 #define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */ 263 264 #define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \ 265 ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq)) 266 /** 267 * @} 268 */ 269 270 /** @defgroup CAN_time_quantum_in_bit_segment_1 271 * @{ 272 */ 273 #define CAN_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */ 274 #define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */ 275 #define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */ 276 #define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */ 277 #define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */ 278 #define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */ 279 #define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */ 280 #define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */ 281 #define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */ 282 #define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */ 283 #define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */ 284 #define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */ 285 #define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */ 286 #define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */ 287 #define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */ 288 #define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */ 289 290 #define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq) 291 /** 292 * @} 293 */ 294 295 /** @defgroup CAN_time_quantum_in_bit_segment_2 296 * @{ 297 */ 298 #define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */ 299 #define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */ 300 #define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */ 301 #define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */ 302 #define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */ 303 #define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */ 304 #define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */ 305 #define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */ 306 307 #define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq) 308 /** 309 * @} 310 */ 311 312 /** @defgroup CAN_clock_prescaler 313 * @{ 314 */ 315 #define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024)) 316 /** 317 * @} 318 */ 319 320 /** @defgroup CAN_filter_number 321 * @{ 322 */ 323 #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27) 324 /** 325 * @} 326 */ 327 328 /** @defgroup CAN_filter_mode 329 * @{ 330 */ 331 #define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< identifier/mask mode */ 332 #define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */ 333 334 #define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \ 335 ((MODE) == CAN_FilterMode_IdList)) 336 /** 337 * @} 338 */ 339 340 /** @defgroup CAN_filter_scale 341 * @{ 342 */ 343 #define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */ 344 #define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */ 345 346 #define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \ 347 ((SCALE) == CAN_FilterScale_32bit)) 348 /** 349 * @} 350 */ 351 352 /** @defgroup CAN_filter_FIFO 353 * @{ 354 */ 355 #define CAN_Filter_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */ 356 #define CAN_Filter_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */ 357 #define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \ 358 ((FIFO) == CAN_FilterFIFO1)) 359 360 /* Legacy defines */ 361 #define CAN_FilterFIFO0 CAN_Filter_FIFO0 362 #define CAN_FilterFIFO1 CAN_Filter_FIFO1 363 /** 364 * @} 365 */ 366 367 /** @defgroup CAN_Start_bank_filter_for_slave_CAN 368 * @{ 369 */ 370 #define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27)) 371 /** 372 * @} 373 */ 374 375 /** @defgroup CAN_Tx 376 * @{ 377 */ 378 #define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02)) 379 #define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF)) 380 #define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF)) 381 #define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08)) 382 /** 383 * @} 384 */ 385 386 /** @defgroup CAN_identifier_type 387 * @{ 388 */ 389 #define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */ 390 #define CAN_Id_Extended ((uint32_t)0x00000004) /*!< Extended Id */ 391 #define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \ 392 ((IDTYPE) == CAN_Id_Extended)) 393 394 /* Legacy defines */ 395 #define CAN_ID_STD CAN_Id_Standard 396 #define CAN_ID_EXT CAN_Id_Extended 397 /** 398 * @} 399 */ 400 401 /** @defgroup CAN_remote_transmission_request 402 * @{ 403 */ 404 #define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */ 405 #define CAN_RTR_Remote ((uint32_t)0x00000002) /*!< Remote frame */ 406 #define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote)) 407 408 /* Legacy defines */ 409 #define CAN_RTR_DATA CAN_RTR_Data 410 #define CAN_RTR_REMOTE CAN_RTR_Remote 411 /** 412 * @} 413 */ 414 415 /** @defgroup CAN_transmit_constants 416 * @{ 417 */ 418 #define CAN_TxStatus_Failed ((uint8_t)0x00)/*!< CAN transmission failed */ 419 #define CAN_TxStatus_Ok ((uint8_t)0x01) /*!< CAN transmission succeeded */ 420 #define CAN_TxStatus_Pending ((uint8_t)0x02) /*!< CAN transmission pending */ 421 #define CAN_TxStatus_NoMailBox ((uint8_t)0x04) /*!< CAN cell did not provide 422 an empty mailbox */ 423 /* Legacy defines */ 424 #define CANTXFAILED CAN_TxStatus_Failed 425 #define CANTXOK CAN_TxStatus_Ok 426 #define CANTXPENDING CAN_TxStatus_Pending 427 #define CAN_NO_MB CAN_TxStatus_NoMailBox 428 /** 429 * @} 430 */ 431 432 /** @defgroup CAN_receive_FIFO_number_constants 433 * @{ 434 */ 435 #define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */ 436 #define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */ 437 438 #define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1)) 439 /** 440 * @} 441 */ 442 443 /** @defgroup CAN_sleep_constants 444 * @{ 445 */ 446 #define CAN_Sleep_Failed ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */ 447 #define CAN_Sleep_Ok ((uint8_t)0x01) /*!< CAN entered the sleep mode */ 448 449 /* Legacy defines */ 450 #define CANSLEEPFAILED CAN_Sleep_Failed 451 #define CANSLEEPOK CAN_Sleep_Ok 452 /** 453 * @} 454 */ 455 456 /** @defgroup CAN_wake_up_constants 457 * @{ 458 */ 459 #define CAN_WakeUp_Failed ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */ 460 #define CAN_WakeUp_Ok ((uint8_t)0x01) /*!< CAN leaved the sleep mode */ 461 462 /* Legacy defines */ 463 #define CANWAKEUPFAILED CAN_WakeUp_Failed 464 #define CANWAKEUPOK CAN_WakeUp_Ok 465 /** 466 * @} 467 */ 468 469 /** 470 * @defgroup CAN_Error_Code_constants 471 * @{ 472 */ 473 #define CAN_ErrorCode_NoErr ((uint8_t)0x00) /*!< No Error */ 474 #define CAN_ErrorCode_StuffErr ((uint8_t)0x10) /*!< Stuff Error */ 475 #define CAN_ErrorCode_FormErr ((uint8_t)0x20) /*!< Form Error */ 476 #define CAN_ErrorCode_ACKErr ((uint8_t)0x30) /*!< Acknowledgment Error */ 477 #define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /*!< Bit Recessive Error */ 478 #define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50) /*!< Bit Dominant Error */ 479 #define CAN_ErrorCode_CRCErr ((uint8_t)0x60) /*!< CRC Error */ 480 #define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70) /*!< Software Set Error */ 481 /** 482 * @} 483 */ 484 485 /** @defgroup CAN_flags 486 * @{ 487 */ 488 /* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus() 489 and CAN_ClearFlag() functions. */ 490 /* If the flag is 0x1XXXXXXX, it means that it can only be used with 491 CAN_GetFlagStatus() function. */ 492 493 /* Transmit Flags */ 494 #define CAN_FLAG_RQCP0 ((uint32_t)0x38000001) /*!< Request MailBox0 Flag */ 495 #define CAN_FLAG_RQCP1 ((uint32_t)0x38000100) /*!< Request MailBox1 Flag */ 496 #define CAN_FLAG_RQCP2 ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */ 497 498 /* Receive Flags */ 499 #define CAN_FLAG_FMP0 ((uint32_t)0x12000003) /*!< FIFO 0 Message Pending Flag */ 500 #define CAN_FLAG_FF0 ((uint32_t)0x32000008) /*!< FIFO 0 Full Flag */ 501 #define CAN_FLAG_FOV0 ((uint32_t)0x32000010) /*!< FIFO 0 Overrun Flag */ 502 #define CAN_FLAG_FMP1 ((uint32_t)0x14000003) /*!< FIFO 1 Message Pending Flag */ 503 #define CAN_FLAG_FF1 ((uint32_t)0x34000008) /*!< FIFO 1 Full Flag */ 504 #define CAN_FLAG_FOV1 ((uint32_t)0x34000010) /*!< FIFO 1 Overrun Flag */ 505 506 /* Operating Mode Flags */ 507 #define CAN_FLAG_WKU ((uint32_t)0x31000008) /*!< Wake up Flag */ 508 #define CAN_FLAG_SLAK ((uint32_t)0x31000012) /*!< Sleep acknowledge Flag */ 509 /* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible. 510 In this case the SLAK bit can be polled.*/ 511 512 /* Error Flags */ 513 #define CAN_FLAG_EWG ((uint32_t)0x10F00001) /*!< Error Warning Flag */ 514 #define CAN_FLAG_EPV ((uint32_t)0x10F00002) /*!< Error Passive Flag */ 515 #define CAN_FLAG_BOF ((uint32_t)0x10F00004) /*!< Bus-Off Flag */ 516 #define CAN_FLAG_LEC ((uint32_t)0x30F00070) /*!< Last error code Flag */ 517 518 #define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_BOF) || \ 519 ((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \ 520 ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \ 521 ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FMP0) || \ 522 ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \ 523 ((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \ 524 ((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \ 525 ((FLAG) == CAN_FLAG_SLAK )) 526 527 #define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \ 528 ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \ 529 ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) ||\ 530 ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \ 531 ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK)) 532 /** 533 * @} 534 */ 535 536 537 /** @defgroup CAN_interrupts 538 * @{ 539 */ 540 #define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty Interrupt*/ 541 542 /* Receive Interrupts */ 543 #define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending Interrupt*/ 544 #define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full Interrupt*/ 545 #define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun Interrupt*/ 546 #define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending Interrupt*/ 547 #define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full Interrupt*/ 548 #define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun Interrupt*/ 549 550 /* Operating Mode Interrupts */ 551 #define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up Interrupt*/ 552 #define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt*/ 553 554 /* Error Interrupts */ 555 #define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning Interrupt*/ 556 #define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive Interrupt*/ 557 #define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off Interrupt*/ 558 #define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code Interrupt*/ 559 #define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error Interrupt*/ 560 561 /* Flags named as Interrupts : kept only for FW compatibility */ 562 #define CAN_IT_RQCP0 CAN_IT_TME 563 #define CAN_IT_RQCP1 CAN_IT_TME 564 #define CAN_IT_RQCP2 CAN_IT_TME 565 566 567 #define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\ 568 ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\ 569 ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\ 570 ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\ 571 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\ 572 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\ 573 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK)) 574 575 #define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\ 576 ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\ 577 ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\ 578 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\ 579 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\ 580 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK)) 581 /** 582 * @} 583 */ 584 585 /** 586 * @} 587 */ 588 589 /* Exported macro ------------------------------------------------------------*/ 590 /* Exported functions --------------------------------------------------------*/ 591 592 /* Function used to set the CAN configuration to the default reset state *****/ 593 void CAN_DeInit(CAN_TypeDef* CANx); 594 595 /* Initialization and Configuration functions *********************************/ 596 uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct); 597 void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct); 598 void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct); 599 void CAN_SlaveStartBank(uint8_t CAN_BankNumber); 600 void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState); 601 void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState); 602 603 /* CAN Frames Transmission functions ******************************************/ 604 uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage); 605 uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox); 606 void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox); 607 608 /* CAN Frames Reception functions *********************************************/ 609 void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage); 610 void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber); 611 uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber); 612 613 /* Operation modes functions **************************************************/ 614 uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode); 615 uint8_t CAN_Sleep(CAN_TypeDef* CANx); 616 uint8_t CAN_WakeUp(CAN_TypeDef* CANx); 617 618 /* CAN Bus Error management functions *****************************************/ 619 uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx); 620 uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx); 621 uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx); 622 623 /* Interrupts and flags management functions **********************************/ 624 void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState); 625 FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG); 626 void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG); 627 ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT); 628 void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT); 629 630 #ifdef __cplusplus 631 } 632 #endif 633 634 #endif /* __STM32F4xx_CAN_H */ 635 636 /** 637 * @} 638 */ 639 640 /** 641 * @} 642 */ 643 644 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 645