stm32f4xx_can.h 27 KB

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  1. /**
  2. ******************************************************************************
  3. * @file stm32f4xx_can.h
  4. * @author MCD Application Team
  5. * @version V1.5.0
  6. * @date 06-March-2015
  7. * @brief This file contains all the functions prototypes for the CAN firmware
  8. * library.
  9. ******************************************************************************
  10. * @attention
  11. *
  12. * <h2><center>&copy; COPYRIGHT 2015 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. /* Define to prevent recursive inclusion -------------------------------------*/
  29. #ifndef __STM32F4xx_CAN_H
  30. #define __STM32F4xx_CAN_H
  31. #ifdef __cplusplus
  32. extern "C" {
  33. #endif
  34. /* Includes ------------------------------------------------------------------*/
  35. #include "stm32f4xx.h"
  36. /** @addtogroup STM32F4xx_StdPeriph_Driver
  37. * @{
  38. */
  39. /** @addtogroup CAN
  40. * @{
  41. */
  42. /* Exported types ------------------------------------------------------------*/
  43. #define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
  44. ((PERIPH) == CAN2))
  45. /**
  46. * @brief CAN init structure definition
  47. */
  48. typedef struct
  49. {
  50. uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum.
  51. It ranges from 1 to 1024. */
  52. uint8_t CAN_Mode; /*!< Specifies the CAN operating mode.
  53. This parameter can be a value of @ref CAN_operating_mode */
  54. uint8_t CAN_SJW; /*!< Specifies the maximum number of time quanta
  55. the CAN hardware is allowed to lengthen or
  56. shorten a bit to perform resynchronization.
  57. This parameter can be a value of @ref CAN_synchronisation_jump_width */
  58. uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit
  59. Segment 1. This parameter can be a value of
  60. @ref CAN_time_quantum_in_bit_segment_1 */
  61. uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
  62. This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
  63. FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode.
  64. This parameter can be set either to ENABLE or DISABLE. */
  65. FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off management.
  66. This parameter can be set either to ENABLE or DISABLE. */
  67. FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode.
  68. This parameter can be set either to ENABLE or DISABLE. */
  69. FunctionalState CAN_NART; /*!< Enable or disable the non-automatic retransmission mode.
  70. This parameter can be set either to ENABLE or DISABLE. */
  71. FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode.
  72. This parameter can be set either to ENABLE or DISABLE. */
  73. FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority.
  74. This parameter can be set either to ENABLE or DISABLE. */
  75. } CAN_InitTypeDef;
  76. /**
  77. * @brief CAN filter init structure definition
  78. */
  79. typedef struct
  80. {
  81. uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit
  82. configuration, first one for a 16-bit configuration).
  83. This parameter can be a value between 0x0000 and 0xFFFF */
  84. uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit
  85. configuration, second one for a 16-bit configuration).
  86. This parameter can be a value between 0x0000 and 0xFFFF */
  87. uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number,
  88. according to the mode (MSBs for a 32-bit configuration,
  89. first one for a 16-bit configuration).
  90. This parameter can be a value between 0x0000 and 0xFFFF */
  91. uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number,
  92. according to the mode (LSBs for a 32-bit configuration,
  93. second one for a 16-bit configuration).
  94. This parameter can be a value between 0x0000 and 0xFFFF */
  95. uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
  96. This parameter can be a value of @ref CAN_filter_FIFO */
  97. uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */
  98. uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized.
  99. This parameter can be a value of @ref CAN_filter_mode */
  100. uint8_t CAN_FilterScale; /*!< Specifies the filter scale.
  101. This parameter can be a value of @ref CAN_filter_scale */
  102. FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter.
  103. This parameter can be set either to ENABLE or DISABLE. */
  104. } CAN_FilterInitTypeDef;
  105. /**
  106. * @brief CAN Tx message structure definition
  107. */
  108. typedef struct
  109. {
  110. uint32_t StdId; /*!< Specifies the standard identifier.
  111. This parameter can be a value between 0 to 0x7FF. */
  112. uint32_t ExtId; /*!< Specifies the extended identifier.
  113. This parameter can be a value between 0 to 0x1FFFFFFF. */
  114. uint8_t IDE; /*!< Specifies the type of identifier for the message that
  115. will be transmitted. This parameter can be a value
  116. of @ref CAN_identifier_type */
  117. uint8_t RTR; /*!< Specifies the type of frame for the message that will
  118. be transmitted. This parameter can be a value of
  119. @ref CAN_remote_transmission_request */
  120. uint8_t DLC; /*!< Specifies the length of the frame that will be
  121. transmitted. This parameter can be a value between
  122. 0 to 8 */
  123. uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0
  124. to 0xFF. */
  125. } CanTxMsg;
  126. /**
  127. * @brief CAN Rx message structure definition
  128. */
  129. typedef struct
  130. {
  131. uint32_t StdId; /*!< Specifies the standard identifier.
  132. This parameter can be a value between 0 to 0x7FF. */
  133. uint32_t ExtId; /*!< Specifies the extended identifier.
  134. This parameter can be a value between 0 to 0x1FFFFFFF. */
  135. uint8_t IDE; /*!< Specifies the type of identifier for the message that
  136. will be received. This parameter can be a value of
  137. @ref CAN_identifier_type */
  138. uint8_t RTR; /*!< Specifies the type of frame for the received message.
  139. This parameter can be a value of
  140. @ref CAN_remote_transmission_request */
  141. uint8_t DLC; /*!< Specifies the length of the frame that will be received.
  142. This parameter can be a value between 0 to 8 */
  143. uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to
  144. 0xFF. */
  145. uint8_t FMI; /*!< Specifies the index of the filter the message stored in
  146. the mailbox passes through. This parameter can be a
  147. value between 0 to 0xFF */
  148. } CanRxMsg;
  149. /* Exported constants --------------------------------------------------------*/
  150. /** @defgroup CAN_Exported_Constants
  151. * @{
  152. */
  153. /** @defgroup CAN_InitStatus
  154. * @{
  155. */
  156. #define CAN_InitStatus_Failed ((uint8_t)0x00) /*!< CAN initialization failed */
  157. #define CAN_InitStatus_Success ((uint8_t)0x01) /*!< CAN initialization OK */
  158. /* Legacy defines */
  159. #define CANINITFAILED CAN_InitStatus_Failed
  160. #define CANINITOK CAN_InitStatus_Success
  161. /**
  162. * @}
  163. */
  164. /** @defgroup CAN_operating_mode
  165. * @{
  166. */
  167. #define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */
  168. #define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */
  169. #define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */
  170. #define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */
  171. #define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \
  172. ((MODE) == CAN_Mode_LoopBack)|| \
  173. ((MODE) == CAN_Mode_Silent) || \
  174. ((MODE) == CAN_Mode_Silent_LoopBack))
  175. /**
  176. * @}
  177. */
  178. /**
  179. * @defgroup CAN_operating_mode
  180. * @{
  181. */
  182. #define CAN_OperatingMode_Initialization ((uint8_t)0x00) /*!< Initialization mode */
  183. #define CAN_OperatingMode_Normal ((uint8_t)0x01) /*!< Normal mode */
  184. #define CAN_OperatingMode_Sleep ((uint8_t)0x02) /*!< sleep mode */
  185. #define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\
  186. ((MODE) == CAN_OperatingMode_Normal)|| \
  187. ((MODE) == CAN_OperatingMode_Sleep))
  188. /**
  189. * @}
  190. */
  191. /**
  192. * @defgroup CAN_operating_mode_status
  193. * @{
  194. */
  195. #define CAN_ModeStatus_Failed ((uint8_t)0x00) /*!< CAN entering the specific mode failed */
  196. #define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed) /*!< CAN entering the specific mode Succeed */
  197. /**
  198. * @}
  199. */
  200. /** @defgroup CAN_synchronisation_jump_width
  201. * @{
  202. */
  203. #define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */
  204. #define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */
  205. #define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */
  206. #define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */
  207. #define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
  208. ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
  209. /**
  210. * @}
  211. */
  212. /** @defgroup CAN_time_quantum_in_bit_segment_1
  213. * @{
  214. */
  215. #define CAN_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */
  216. #define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */
  217. #define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */
  218. #define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */
  219. #define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */
  220. #define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */
  221. #define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */
  222. #define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */
  223. #define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */
  224. #define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */
  225. #define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */
  226. #define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */
  227. #define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */
  228. #define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */
  229. #define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */
  230. #define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */
  231. #define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
  232. /**
  233. * @}
  234. */
  235. /** @defgroup CAN_time_quantum_in_bit_segment_2
  236. * @{
  237. */
  238. #define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */
  239. #define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */
  240. #define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */
  241. #define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */
  242. #define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */
  243. #define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */
  244. #define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */
  245. #define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */
  246. #define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)
  247. /**
  248. * @}
  249. */
  250. /** @defgroup CAN_clock_prescaler
  251. * @{
  252. */
  253. #define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
  254. /**
  255. * @}
  256. */
  257. /** @defgroup CAN_filter_number
  258. * @{
  259. */
  260. #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
  261. /**
  262. * @}
  263. */
  264. /** @defgroup CAN_filter_mode
  265. * @{
  266. */
  267. #define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< identifier/mask mode */
  268. #define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */
  269. #define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
  270. ((MODE) == CAN_FilterMode_IdList))
  271. /**
  272. * @}
  273. */
  274. /** @defgroup CAN_filter_scale
  275. * @{
  276. */
  277. #define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */
  278. #define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */
  279. #define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
  280. ((SCALE) == CAN_FilterScale_32bit))
  281. /**
  282. * @}
  283. */
  284. /** @defgroup CAN_filter_FIFO
  285. * @{
  286. */
  287. #define CAN_Filter_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
  288. #define CAN_Filter_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
  289. #define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
  290. ((FIFO) == CAN_FilterFIFO1))
  291. /* Legacy defines */
  292. #define CAN_FilterFIFO0 CAN_Filter_FIFO0
  293. #define CAN_FilterFIFO1 CAN_Filter_FIFO1
  294. /**
  295. * @}
  296. */
  297. /** @defgroup CAN_Start_bank_filter_for_slave_CAN
  298. * @{
  299. */
  300. #define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
  301. /**
  302. * @}
  303. */
  304. /** @defgroup CAN_Tx
  305. * @{
  306. */
  307. #define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
  308. #define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
  309. #define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
  310. #define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
  311. /**
  312. * @}
  313. */
  314. /** @defgroup CAN_identifier_type
  315. * @{
  316. */
  317. #define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */
  318. #define CAN_Id_Extended ((uint32_t)0x00000004) /*!< Extended Id */
  319. #define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \
  320. ((IDTYPE) == CAN_Id_Extended))
  321. /* Legacy defines */
  322. #define CAN_ID_STD CAN_Id_Standard
  323. #define CAN_ID_EXT CAN_Id_Extended
  324. /**
  325. * @}
  326. */
  327. /** @defgroup CAN_remote_transmission_request
  328. * @{
  329. */
  330. #define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */
  331. #define CAN_RTR_Remote ((uint32_t)0x00000002) /*!< Remote frame */
  332. #define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote))
  333. /* Legacy defines */
  334. #define CAN_RTR_DATA CAN_RTR_Data
  335. #define CAN_RTR_REMOTE CAN_RTR_Remote
  336. /**
  337. * @}
  338. */
  339. /** @defgroup CAN_transmit_constants
  340. * @{
  341. */
  342. #define CAN_TxStatus_Failed ((uint8_t)0x00)/*!< CAN transmission failed */
  343. #define CAN_TxStatus_Ok ((uint8_t)0x01) /*!< CAN transmission succeeded */
  344. #define CAN_TxStatus_Pending ((uint8_t)0x02) /*!< CAN transmission pending */
  345. #define CAN_TxStatus_NoMailBox ((uint8_t)0x04) /*!< CAN cell did not provide
  346. an empty mailbox */
  347. /* Legacy defines */
  348. #define CANTXFAILED CAN_TxStatus_Failed
  349. #define CANTXOK CAN_TxStatus_Ok
  350. #define CANTXPENDING CAN_TxStatus_Pending
  351. #define CAN_NO_MB CAN_TxStatus_NoMailBox
  352. /**
  353. * @}
  354. */
  355. /** @defgroup CAN_receive_FIFO_number_constants
  356. * @{
  357. */
  358. #define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */
  359. #define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */
  360. #define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
  361. /**
  362. * @}
  363. */
  364. /** @defgroup CAN_sleep_constants
  365. * @{
  366. */
  367. #define CAN_Sleep_Failed ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */
  368. #define CAN_Sleep_Ok ((uint8_t)0x01) /*!< CAN entered the sleep mode */
  369. /* Legacy defines */
  370. #define CANSLEEPFAILED CAN_Sleep_Failed
  371. #define CANSLEEPOK CAN_Sleep_Ok
  372. /**
  373. * @}
  374. */
  375. /** @defgroup CAN_wake_up_constants
  376. * @{
  377. */
  378. #define CAN_WakeUp_Failed ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */
  379. #define CAN_WakeUp_Ok ((uint8_t)0x01) /*!< CAN leaved the sleep mode */
  380. /* Legacy defines */
  381. #define CANWAKEUPFAILED CAN_WakeUp_Failed
  382. #define CANWAKEUPOK CAN_WakeUp_Ok
  383. /**
  384. * @}
  385. */
  386. /**
  387. * @defgroup CAN_Error_Code_constants
  388. * @{
  389. */
  390. #define CAN_ErrorCode_NoErr ((uint8_t)0x00) /*!< No Error */
  391. #define CAN_ErrorCode_StuffErr ((uint8_t)0x10) /*!< Stuff Error */
  392. #define CAN_ErrorCode_FormErr ((uint8_t)0x20) /*!< Form Error */
  393. #define CAN_ErrorCode_ACKErr ((uint8_t)0x30) /*!< Acknowledgment Error */
  394. #define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /*!< Bit Recessive Error */
  395. #define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50) /*!< Bit Dominant Error */
  396. #define CAN_ErrorCode_CRCErr ((uint8_t)0x60) /*!< CRC Error */
  397. #define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70) /*!< Software Set Error */
  398. /**
  399. * @}
  400. */
  401. /** @defgroup CAN_flags
  402. * @{
  403. */
  404. /* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
  405. and CAN_ClearFlag() functions. */
  406. /* If the flag is 0x1XXXXXXX, it means that it can only be used with
  407. CAN_GetFlagStatus() function. */
  408. /* Transmit Flags */
  409. #define CAN_FLAG_RQCP0 ((uint32_t)0x38000001) /*!< Request MailBox0 Flag */
  410. #define CAN_FLAG_RQCP1 ((uint32_t)0x38000100) /*!< Request MailBox1 Flag */
  411. #define CAN_FLAG_RQCP2 ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */
  412. /* Receive Flags */
  413. #define CAN_FLAG_FMP0 ((uint32_t)0x12000003) /*!< FIFO 0 Message Pending Flag */
  414. #define CAN_FLAG_FF0 ((uint32_t)0x32000008) /*!< FIFO 0 Full Flag */
  415. #define CAN_FLAG_FOV0 ((uint32_t)0x32000010) /*!< FIFO 0 Overrun Flag */
  416. #define CAN_FLAG_FMP1 ((uint32_t)0x14000003) /*!< FIFO 1 Message Pending Flag */
  417. #define CAN_FLAG_FF1 ((uint32_t)0x34000008) /*!< FIFO 1 Full Flag */
  418. #define CAN_FLAG_FOV1 ((uint32_t)0x34000010) /*!< FIFO 1 Overrun Flag */
  419. /* Operating Mode Flags */
  420. #define CAN_FLAG_WKU ((uint32_t)0x31000008) /*!< Wake up Flag */
  421. #define CAN_FLAG_SLAK ((uint32_t)0x31000012) /*!< Sleep acknowledge Flag */
  422. /* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
  423. In this case the SLAK bit can be polled.*/
  424. /* Error Flags */
  425. #define CAN_FLAG_EWG ((uint32_t)0x10F00001) /*!< Error Warning Flag */
  426. #define CAN_FLAG_EPV ((uint32_t)0x10F00002) /*!< Error Passive Flag */
  427. #define CAN_FLAG_BOF ((uint32_t)0x10F00004) /*!< Bus-Off Flag */
  428. #define CAN_FLAG_LEC ((uint32_t)0x30F00070) /*!< Last error code Flag */
  429. #define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_BOF) || \
  430. ((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \
  431. ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \
  432. ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FMP0) || \
  433. ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \
  434. ((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \
  435. ((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \
  436. ((FLAG) == CAN_FLAG_SLAK ))
  437. #define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \
  438. ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \
  439. ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) ||\
  440. ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \
  441. ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK))
  442. /**
  443. * @}
  444. */
  445. /** @defgroup CAN_interrupts
  446. * @{
  447. */
  448. #define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty Interrupt*/
  449. /* Receive Interrupts */
  450. #define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending Interrupt*/
  451. #define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full Interrupt*/
  452. #define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun Interrupt*/
  453. #define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending Interrupt*/
  454. #define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full Interrupt*/
  455. #define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun Interrupt*/
  456. /* Operating Mode Interrupts */
  457. #define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up Interrupt*/
  458. #define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt*/
  459. /* Error Interrupts */
  460. #define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning Interrupt*/
  461. #define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive Interrupt*/
  462. #define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off Interrupt*/
  463. #define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code Interrupt*/
  464. #define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error Interrupt*/
  465. /* Flags named as Interrupts : kept only for FW compatibility */
  466. #define CAN_IT_RQCP0 CAN_IT_TME
  467. #define CAN_IT_RQCP1 CAN_IT_TME
  468. #define CAN_IT_RQCP2 CAN_IT_TME
  469. #define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\
  470. ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\
  471. ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\
  472. ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
  473. ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
  474. ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
  475. ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
  476. #define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\
  477. ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\
  478. ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\
  479. ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
  480. ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
  481. ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
  482. /**
  483. * @}
  484. */
  485. /**
  486. * @}
  487. */
  488. /* Exported macro ------------------------------------------------------------*/
  489. /* Exported functions --------------------------------------------------------*/
  490. /* Function used to set the CAN configuration to the default reset state *****/
  491. void CAN_DeInit(CAN_TypeDef* CANx);
  492. /* Initialization and Configuration functions *********************************/
  493. uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
  494. void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
  495. void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
  496. void CAN_SlaveStartBank(uint8_t CAN_BankNumber);
  497. void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
  498. void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState);
  499. /* CAN Frames Transmission functions ******************************************/
  500. uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
  501. uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
  502. void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
  503. /* CAN Frames Reception functions *********************************************/
  504. void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
  505. void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
  506. uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
  507. /* Operation modes functions **************************************************/
  508. uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode);
  509. uint8_t CAN_Sleep(CAN_TypeDef* CANx);
  510. uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
  511. /* CAN Bus Error management functions *****************************************/
  512. uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx);
  513. uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx);
  514. uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx);
  515. /* Interrupts and flags management functions **********************************/
  516. void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
  517. FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
  518. void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
  519. ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
  520. void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);
  521. #ifdef __cplusplus
  522. }
  523. #endif
  524. #endif /* __STM32F4xx_CAN_H */
  525. /**
  526. * @}
  527. */
  528. /**
  529. * @}
  530. */
  531. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/