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/*
* Copyright (c) 2015, Freescale Semiconductor, Inc.
* Copyright 2016-2019 NXP
* All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#ifndef _FSL_FLEXCAN_H_
#define _FSL_FLEXCAN_H_
#include "fsl_common.h"
/*!
* @addtogroup flexcan_driver
* @{
*/
/******************************************************************************
* Definitions
*****************************************************************************/
/*! @name Driver version */
/*@{*/
/*! @brief FlexCAN driver version 2.4.0. */
#define FSL_FLEXCAN_DRIVER_VERSION (MAKE_VERSION(2, 4, 0))
/*@}*/
#if !(defined(FLEXCAN_WAIT_TIMEOUT) && FLEXCAN_WAIT_TIMEOUT)
/* Define to 1000 means keep waiting 1000 times until the flag is assert/deassert. */
#define FLEXCAN_WAIT_TIMEOUT (1000U)
#endif
/*! @brief FlexCAN Frame ID helper macro. */
#define FLEXCAN_ID_STD(id) \
(((uint32_t)(((uint32_t)(id)) << CAN_ID_STD_SHIFT)) & CAN_ID_STD_MASK) /*!< Standard Frame ID helper macro. */
#define FLEXCAN_ID_EXT(id) \
(((uint32_t)(((uint32_t)(id)) << CAN_ID_EXT_SHIFT)) & \
(CAN_ID_EXT_MASK | CAN_ID_STD_MASK)) /*!< Extend Frame ID helper macro. */
/*! @brief FlexCAN Rx Message Buffer Mask helper macro. */
#define FLEXCAN_RX_MB_STD_MASK(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \
FLEXCAN_ID_STD(id)) /*!< Standard Rx Message Buffer Mask helper macro. */
#define FLEXCAN_RX_MB_EXT_MASK(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \
FLEXCAN_ID_EXT(id)) /*!< Extend Rx Message Buffer Mask helper macro. */
/*! @brief FlexCAN Rx FIFO Mask helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_A(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \
(FLEXCAN_ID_STD(id) << 1)) /*!< Standard Rx FIFO Mask helper macro Type A helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_HIGH(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \
(((uint32_t)(id)&0x7FF) << 19)) /*!< Standard Rx FIFO Mask helper macro Type B upper part helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_LOW(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 15) | (uint32_t)((uint32_t)(ide) << 14)) | \
(((uint32_t)(id)&0x7FF) << 3)) /*!< Standard Rx FIFO Mask helper macro Type B lower part helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_HIGH(id) \
(((uint32_t)(id)&0x7F8) << 21) /*!< Standard Rx FIFO Mask helper macro Type C upper part helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_HIGH(id) \
(((uint32_t)(id)&0x7F8) << 13) /*!< Standard Rx FIFO Mask helper macro Type C mid-upper part helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_LOW(id) \
(((uint32_t)(id)&0x7F8) << 5) /*!< Standard Rx FIFO Mask helper macro Type C mid-lower part helper macro. */
#define FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_LOW(id) \
(((uint32_t)(id)&0x7F8) >> 3) /*!< Standard Rx FIFO Mask helper macro Type C lower part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_A(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \
(FLEXCAN_ID_EXT(id) << 1)) /*!< Extend Rx FIFO Mask helper macro Type A helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_HIGH(id, rtr, ide) \
( \
((uint32_t)((uint32_t)(rtr) << 31) | (uint32_t)((uint32_t)(ide) << 30)) | \
((FLEXCAN_ID_EXT(id) & 0x1FFF8000) \
<< 1)) /*!< Extend Rx FIFO Mask helper macro Type B upper part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_LOW(id, rtr, ide) \
(((uint32_t)((uint32_t)(rtr) << 15) | (uint32_t)((uint32_t)(ide) << 14)) | \
((FLEXCAN_ID_EXT(id) & 0x1FFF8000) >> \
15)) /*!< Extend Rx FIFO Mask helper macro Type B lower part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_HIGH(id) \
((FLEXCAN_ID_EXT(id) & 0x1FE00000) << 3) /*!< Extend Rx FIFO Mask helper macro Type C upper part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_HIGH(id) \
((FLEXCAN_ID_EXT(id) & 0x1FE00000) >> \
5) /*!< Extend Rx FIFO Mask helper macro Type C mid-upper part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_LOW(id) \
((FLEXCAN_ID_EXT(id) & 0x1FE00000) >> \
13) /*!< Extend Rx FIFO Mask helper macro Type C mid-lower part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_LOW(id) \
((FLEXCAN_ID_EXT(id) & 0x1FE00000) >> 21) /*!< Extend Rx FIFO Mask helper macro Type C lower part helper macro. */
/*! @brief FlexCAN Rx FIFO Filter helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_A(id, rtr, ide) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_A(id, rtr, ide) /*!< Standard Rx FIFO Filter helper macro Type A helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_B_HIGH(id, rtr, ide) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_HIGH( \
id, rtr, ide) /*!< Standard Rx FIFO Filter helper macro Type B upper part helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_B_LOW(id, rtr, ide) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_B_LOW( \
id, rtr, ide) /*!< Standard Rx FIFO Filter helper macro Type B lower part helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_HIGH(id) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_HIGH( \
id) /*!< Standard Rx FIFO Filter helper macro Type C upper part helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_MID_HIGH(id) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_HIGH( \
id) /*!< Standard Rx FIFO Filter helper macro Type C mid-upper part helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_MID_LOW(id) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_MID_LOW( \
id) /*!< Standard Rx FIFO Filter helper macro Type C mid-lower part helper macro. */
#define FLEXCAN_RX_FIFO_STD_FILTER_TYPE_C_LOW(id) \
FLEXCAN_RX_FIFO_STD_MASK_TYPE_C_LOW( \
id) /*!< Standard Rx FIFO Filter helper macro Type C lower part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_A(id, rtr, ide) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_A(id, rtr, ide) /*!< Extend Rx FIFO Filter helper macro Type A helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_B_HIGH(id, rtr, ide) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_HIGH( \
id, rtr, ide) /*!< Extend Rx FIFO Filter helper macro Type B upper part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_B_LOW(id, rtr, ide) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_B_LOW( \
id, rtr, ide) /*!< Extend Rx FIFO Filter helper macro Type B lower part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_HIGH(id) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_HIGH( \
id) /*!< Extend Rx FIFO Filter helper macro Type C upper part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_MID_HIGH(id) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_HIGH( \
id) /*!< Extend Rx FIFO Filter helper macro Type C mid-upper part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_MID_LOW(id) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_MID_LOW( \
id) /*!< Extend Rx FIFO Filter helper macro Type C mid-lower part helper macro. */
#define FLEXCAN_RX_FIFO_EXT_FILTER_TYPE_C_LOW(id) \
FLEXCAN_RX_FIFO_EXT_MASK_TYPE_C_LOW(id) /*!< Extend Rx FIFO Filter helper macro Type C lower part helper macro. */
/*! @brief FlexCAN transfer status. */
enum _flexcan_status
{
kStatus_FLEXCAN_TxBusy = MAKE_STATUS(kStatusGroup_FLEXCAN, 0), /*!< Tx Message Buffer is Busy. */
kStatus_FLEXCAN_TxIdle = MAKE_STATUS(kStatusGroup_FLEXCAN, 1), /*!< Tx Message Buffer is Idle. */
kStatus_FLEXCAN_TxSwitchToRx = MAKE_STATUS(
kStatusGroup_FLEXCAN, 2), /*!< Remote Message is send out and Message buffer changed to Receive one. */
kStatus_FLEXCAN_RxBusy = MAKE_STATUS(kStatusGroup_FLEXCAN, 3), /*!< Rx Message Buffer is Busy. */
kStatus_FLEXCAN_RxIdle = MAKE_STATUS(kStatusGroup_FLEXCAN, 4), /*!< Rx Message Buffer is Idle. */
kStatus_FLEXCAN_RxOverflow = MAKE_STATUS(kStatusGroup_FLEXCAN, 5), /*!< Rx Message Buffer is Overflowed. */
kStatus_FLEXCAN_RxFifoBusy = MAKE_STATUS(kStatusGroup_FLEXCAN, 6), /*!< Rx Message FIFO is Busy. */
kStatus_FLEXCAN_RxFifoIdle = MAKE_STATUS(kStatusGroup_FLEXCAN, 7), /*!< Rx Message FIFO is Idle. */
kStatus_FLEXCAN_RxFifoOverflow = MAKE_STATUS(kStatusGroup_FLEXCAN, 8), /*!< Rx Message FIFO is overflowed. */
kStatus_FLEXCAN_RxFifoWarning = MAKE_STATUS(kStatusGroup_FLEXCAN, 9), /*!< Rx Message FIFO is almost overflowed. */
kStatus_FLEXCAN_ErrorStatus = MAKE_STATUS(kStatusGroup_FLEXCAN, 10), /*!< FlexCAN Module Error and Status. */
kStatus_FLEXCAN_WakeUp = MAKE_STATUS(kStatusGroup_FLEXCAN, 11), /*!< FlexCAN is waken up from STOP mode. */
kStatus_FLEXCAN_UnHandled = MAKE_STATUS(kStatusGroup_FLEXCAN, 12), /*!< UnHadled Interrupt asserted. */
};
/*! @brief FlexCAN frame format. */
typedef enum _flexcan_frame_format
{
kFLEXCAN_FrameFormatStandard = 0x0U, /*!< Standard frame format attribute. */
kFLEXCAN_FrameFormatExtend = 0x1U, /*!< Extend frame format attribute. */
} flexcan_frame_format_t;
/*! @brief FlexCAN frame type. */
typedef enum _flexcan_frame_type
{
kFLEXCAN_FrameTypeData = 0x0U, /*!< Data frame type attribute. */
kFLEXCAN_FrameTypeRemote = 0x1U, /*!< Remote frame type attribute. */
} flexcan_frame_type_t;
/*! @brief FlexCAN clock source. */
typedef enum _flexcan_clock_source
{
kFLEXCAN_ClkSrcOsc = 0x0U, /*!< FlexCAN Protocol Engine clock from Oscillator. */
kFLEXCAN_ClkSrcPeri = 0x1U, /*!< FlexCAN Protocol Engine clock from Peripheral Clock. */
} flexcan_clock_source_t;
/*! @brief FlexCAN wake up source. */
typedef enum _flexcan_wake_up_source
{
kFLEXCAN_WakeupSrcUnfiltered = 0x0U, /*!< FlexCAN uses unfiltered Rx input to detect edge. */
kFLEXCAN_WakeupSrcFiltered = 0x1U, /*!< FlexCAN uses filtered Rx input to detect edge. */
} flexcan_wake_up_source_t;
/*! @brief FlexCAN Rx Fifo Filter type. */
typedef enum _flexcan_rx_fifo_filter_type
{
kFLEXCAN_RxFifoFilterTypeA = 0x0U, /*!< One full ID (standard and extended) per ID Filter element. */
kFLEXCAN_RxFifoFilterTypeB =
0x1U, /*!< Two full standard IDs or two partial 14-bit ID slices per ID Filter Table element. */
kFLEXCAN_RxFifoFilterTypeC =
0x2U, /*!< Four partial 8-bit Standard or extended ID slices per ID Filter Table element. */
kFLEXCAN_RxFifoFilterTypeD = 0x3U, /*!< All frames rejected. */
} flexcan_rx_fifo_filter_type_t;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief FlexCAN Message Buffer Data Size.
*/
typedef enum _flexcan_mb_size
{
kFLEXCAN_8BperMB = 0x0U, /*!< Selects 8 bytes per Message Buffer. */
kFLEXCAN_16BperMB = 0x1U, /*!< Selects 16 bytes per Message Buffer. */
kFLEXCAN_32BperMB = 0x2U, /*!< Selects 32 bytes per Message Buffer. */
kFLEXCAN_64BperMB = 0x3U, /*!< Selects 64 bytes per Message Buffer. */
} flexcan_mb_size_t;
#endif
/*!
* @brief FlexCAN Rx FIFO priority.
*
* The matching process starts from the Rx MB(or Rx FIFO) with higher priority.
* If no MB(or Rx FIFO filter) is satisfied, the matching process goes on with
* the Rx FIFO(or Rx MB) with lower priority.
*/
typedef enum _flexcan_rx_fifo_priority
{
kFLEXCAN_RxFifoPrioLow = 0x0U, /*!< Matching process start from Rx Message Buffer first*/
kFLEXCAN_RxFifoPrioHigh = 0x1U, /*!< Matching process start from Rx FIFO first*/
} flexcan_rx_fifo_priority_t;
/*!
* @brief FlexCAN interrupt configuration structure, default settings all disabled.
*
* This structure contains the settings for all of the FlexCAN Module interrupt configurations.
* Note: FlexCAN Message Buffers and Rx FIFO have their own interrupts.
*/
enum _flexcan_interrupt_enable
{
kFLEXCAN_BusOffInterruptEnable = CAN_CTRL1_BOFFMSK_MASK, /*!< Bus Off interrupt. */
kFLEXCAN_ErrorInterruptEnable = CAN_CTRL1_ERRMSK_MASK, /*!< Error interrupt. */
kFLEXCAN_RxWarningInterruptEnable = CAN_CTRL1_RWRNMSK_MASK, /*!< Rx Warning interrupt. */
kFLEXCAN_TxWarningInterruptEnable = CAN_CTRL1_TWRNMSK_MASK, /*!< Tx Warning interrupt. */
kFLEXCAN_WakeUpInterruptEnable = CAN_MCR_WAKMSK_MASK, /*!< Wake Up interrupt. */
};
/*!
* @brief FlexCAN status flags.
*
* This provides constants for the FlexCAN status flags for use in the FlexCAN functions.
* Note: The CPU read action clears FlEXCAN_ErrorFlag, therefore user need to
* read FlEXCAN_ErrorFlag and distinguish which error is occur using
* @ref _flexcan_error_flags enumerations.
*/
enum _flexcan_flags
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
kFLEXCAN_FDErrorIntFlag = CAN_ESR1_ERRINT_FAST_MASK, /*!< Error Overrun Status. */
kFLEXCAN_BusoffDoneIntFlag = CAN_ESR1_BOFFDONEINT_MASK, /*!< Error Overrun Status. */
#endif
kFLEXCAN_SynchFlag = CAN_ESR1_SYNCH_MASK, /*!< CAN Synchronization Status. */
kFLEXCAN_TxWarningIntFlag = CAN_ESR1_TWRNINT_MASK, /*!< Tx Warning Interrupt Flag. */
kFLEXCAN_RxWarningIntFlag = CAN_ESR1_RWRNINT_MASK, /*!< Rx Warning Interrupt Flag. */
kFLEXCAN_TxErrorWarningFlag = CAN_ESR1_TXWRN_MASK, /*!< Tx Error Warning Status. */
kFLEXCAN_RxErrorWarningFlag = CAN_ESR1_RXWRN_MASK, /*!< Rx Error Warning Status. */
kFLEXCAN_IdleFlag = CAN_ESR1_IDLE_MASK, /*!< CAN IDLE Status Flag. */
kFLEXCAN_FaultConfinementFlag = CAN_ESR1_FLTCONF_MASK, /*!< Fault Confinement State Flag. */
kFLEXCAN_TransmittingFlag = CAN_ESR1_TX_MASK, /*!< FlexCAN In Transmission Status. */
kFLEXCAN_ReceivingFlag = CAN_ESR1_RX_MASK, /*!< FlexCAN In Reception Status. */
kFLEXCAN_BusOffIntFlag = CAN_ESR1_BOFFINT_MASK, /*!< Bus Off Interrupt Flag. */
kFLEXCAN_ErrorIntFlag = CAN_ESR1_ERRINT_MASK, /*!< Error Interrupt Flag. */
kFLEXCAN_WakeUpIntFlag = CAN_ESR1_WAKINT_MASK, /*!< Wake-Up Interrupt Flag. */
kFLEXCAN_ErrorFlag = (int)( /*!< All FlexCAN Error Status. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
CAN_ESR1_STFERR_FAST_MASK | CAN_ESR1_FRMERR_FAST_MASK | CAN_ESR1_CRCERR_FAST_MASK |
CAN_ESR1_BIT0ERR_FAST_MASK | CAN_ESR1_BIT1ERR_FAST_MASK | CAN_ESR1_ERROVR_MASK |
#endif
CAN_ESR1_BIT1ERR_MASK | CAN_ESR1_BIT0ERR_MASK | CAN_ESR1_ACKERR_MASK |
CAN_ESR1_CRCERR_MASK | CAN_ESR1_FRMERR_MASK | CAN_ESR1_STFERR_MASK),
};
/*!
* @brief FlexCAN error status flags.
*
* The FlexCAN Error Status enumerations is used to report current error of the FlexCAN bus.
* This enumerations should be used with KFLEXCAN_ErrorFlag in @ref _flexcan_flags enumerations
* to ditermine which error is generated.
*/
enum _flexcan_error_flags
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
kFLEXCAN_FDStuffingError = CAN_ESR1_STFERR_FAST_MASK, /*!< Stuffing Error. */
kFLEXCAN_FDFormError = CAN_ESR1_FRMERR_FAST_MASK, /*!< Form Error. */
kFLEXCAN_FDCrcError = CAN_ESR1_CRCERR_FAST_MASK, /*!< Cyclic Redundancy Check Error. */
kFLEXCAN_FDBit0Error = CAN_ESR1_BIT0ERR_FAST_MASK, /*!< Unable to send dominant bit. */
kFLEXCAN_FDBit1Error = (int)CAN_ESR1_BIT1ERR_FAST_MASK, /*!< Unable to send recessive bit. */
kFLEXCAN_OverrunError = CAN_ESR1_ERROVR_MASK, /*!< Error Overrun Status. */
#endif
kFLEXCAN_StuffingError = CAN_ESR1_STFERR_MASK, /*!< Stuffing Error. */
kFLEXCAN_FormError = CAN_ESR1_FRMERR_MASK, /*!< Form Error. */
kFLEXCAN_CrcError = CAN_ESR1_CRCERR_MASK, /*!< Cyclic Redundancy Check Error. */
kFLEXCAN_AckError = CAN_ESR1_ACKERR_MASK, /*!< Received no ACK on transmission. */
kFLEXCAN_Bit0Error = CAN_ESR1_BIT0ERR_MASK, /*!< Unable to send dominant bit. */
kFLEXCAN_Bit1Error = CAN_ESR1_BIT1ERR_MASK, /*!< Unable to send recessive bit. */
};
/*!
* @brief FlexCAN Rx FIFO status flags.
*
* The FlexCAN Rx FIFO Status enumerations are used to determine the status of the
* Rx FIFO. Because Rx FIFO occupy the MB0 ~ MB7 (Rx Fifo filter also occupies
* more Message Buffer space), Rx FIFO status flags are mapped to the corresponding
* Message Buffer status flags.
*/
enum _flexcan_rx_fifo_flags
{
kFLEXCAN_RxFifoOverflowFlag = CAN_IFLAG1_BUF7I_MASK, /*!< Rx FIFO overflow flag. */
kFLEXCAN_RxFifoWarningFlag = CAN_IFLAG1_BUF6I_MASK, /*!< Rx FIFO almost full flag. */
kFLEXCAN_RxFifoFrameAvlFlag = CAN_IFLAG1_BUF5I_MASK, /*!< Frames available in Rx FIFO flag. */
};
#if defined(__CC_ARM)
#pragma anon_unions
#endif
/*! @brief FlexCAN message frame structure. */
typedef struct _flexcan_frame
{
struct
{
uint32_t timestamp : 16; /*!< FlexCAN internal Free-Running Counter Time Stamp. */
uint32_t length : 4; /*!< CAN frame payload length in bytes(Range: 0~8). */
uint32_t type : 1; /*!< CAN Frame Type(DATA or REMOTE). */
uint32_t format : 1; /*!< CAN Frame Identifier(STD or EXT format). */
uint32_t : 1; /*!< Reserved. */
uint32_t idhit : 9; /*!< CAN Rx FIFO filter hit id(This value is only used in Rx FIFO receive mode). */
};
struct
{
uint32_t id : 29; /*!< CAN Frame Identifier, should be set using FLEXCAN_ID_EXT() or FLEXCAN_ID_STD() macro. */
uint32_t : 3; /*!< Reserved. */
};
union
{
struct
{
uint32_t dataWord0; /*!< CAN Frame payload word0. */
uint32_t dataWord1; /*!< CAN Frame payload word1. */
};
struct
{
uint8_t dataByte3; /*!< CAN Frame payload byte3. */
uint8_t dataByte2; /*!< CAN Frame payload byte2. */
uint8_t dataByte1; /*!< CAN Frame payload byte1. */
uint8_t dataByte0; /*!< CAN Frame payload byte0. */
uint8_t dataByte7; /*!< CAN Frame payload byte7. */
uint8_t dataByte6; /*!< CAN Frame payload byte6. */
uint8_t dataByte5; /*!< CAN Frame payload byte5. */
uint8_t dataByte4; /*!< CAN Frame payload byte4. */
};
};
} flexcan_frame_t;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*! @brief CAN FDmessage frame structure. */
typedef struct _flexcan_fd_frame
{
struct
{
uint32_t timestamp : 16; /*!< FlexCAN internal Free-Running Counter Time Stamp. */
uint32_t length : 4; /*!< CAN frame payload length in bytes(Range: 0~8). */
uint32_t type : 1; /*!< CAN Frame Type(DATA or REMOTE). */
uint32_t format : 1; /*!< CAN Frame Identifier(STD or EXT format). */
uint32_t srr : 1; /*!< Substitute Remote request. */
uint32_t : 1;
uint32_t code : 4; /*!< Message Buffer Code. */
uint32_t : 1;
uint32_t esi : 1; /*!< Error State Indicator. */
uint32_t brs : 1; /*!< Bit Rate Switch. */
uint32_t edl : 1; /*!< Extended Data Length. */
};
struct
{
uint32_t id : 29; /*!< CAN Frame Identifier, should be set using FLEXCAN_ID_EXT() or FLEXCAN_ID_STD() macro. */
uint32_t : 3; /*!< Reserved. */
};
union
{
struct
{
uint32_t dataWord[16]; /*!< CAN FD Frame payload, 16 double word maximum. */
};
/* Note: the maximum databyte* below is actually 64, user can add them if needed,
or just use dataWord[*] instead. */
struct
{
uint8_t dataByte3; /*!< CAN Frame payload byte3. */
uint8_t dataByte2; /*!< CAN Frame payload byte2. */
uint8_t dataByte1; /*!< CAN Frame payload byte1. */
uint8_t dataByte0; /*!< CAN Frame payload byte0. */
uint8_t dataByte7; /*!< CAN Frame payload byte7. */
uint8_t dataByte6; /*!< CAN Frame payload byte6. */
uint8_t dataByte5; /*!< CAN Frame payload byte5. */
uint8_t dataByte4; /*!< CAN Frame payload byte4. */
};
};
} flexcan_fd_frame_t;
#endif
/*! @brief FlexCAN protocol timing characteristic configuration structure. */
typedef struct _flexcan_timing_config
{
uint16_t preDivider; /*!< Clock Pre-scaler Division Factor. */
uint8_t rJumpwidth; /*!< Re-sync Jump Width. */
uint8_t phaseSeg1; /*!< Phase Segment 1. */
uint8_t phaseSeg2; /*!< Phase Segment 2. */
uint8_t propSeg; /*!< Propagation Segment. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
uint16_t fpreDivider; /*!< Fast Clock Pre-scaler Division Factor. */
uint8_t frJumpwidth; /*!< Fast Re-sync Jump Width. */
uint8_t fphaseSeg1; /*!< Fast Phase Segment 1. */
uint8_t fphaseSeg2; /*!< Fast Phase Segment 2. */
uint8_t fpropSeg; /*!< Fast Propagation Segment. */
#endif
} flexcan_timing_config_t;
/*! @brief FlexCAN module configuration structure. */
typedef struct _flexcan_config
{
uint32_t baudRate; /*!< FlexCAN baud rate in bps. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
uint32_t baudRateFD; /*!< FlexCAN FD baud rate in bps. */
#endif
flexcan_clock_source_t clkSrc; /*!< Clock source for FlexCAN Protocol Engine. */
flexcan_wake_up_source_t wakeupSrc; /*!< Wake up source selection. */
uint8_t maxMbNum; /*!< The maximum number of Message Buffers used by user. */
bool enableLoopBack; /*!< Enable or Disable Loop Back Self Test Mode. */
bool enableTimerSync; /*!< Enable or Disable Timer Synchronization. */
bool enableSelfWakeup; /*!< Enable or Disable Self Wakeup Mode. */
bool enableIndividMask; /*!< Enable or Disable Rx Individual Mask. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT)
bool enableDoze; /*!< Enable or Disable Doze Mode. */
#endif
flexcan_timing_config_t timingConfig; /* Protocol timing . */
} flexcan_config_t;
/*!
* @brief FlexCAN Receive Message Buffer configuration structure
*
* This structure is used as the parameter of FLEXCAN_SetRxMbConfig() function.
* The FLEXCAN_SetRxMbConfig() function is used to configure FlexCAN Receive
* Message Buffer. The function abort previous receiving process, clean the
* Message Buffer and activate the Rx Message Buffer using given Message Buffer
* setting.
*/
typedef struct _flexcan_rx_mb_config
{
uint32_t id; /*!< CAN Message Buffer Frame Identifier, should be set using
FLEXCAN_ID_EXT() or FLEXCAN_ID_STD() macro. */
flexcan_frame_format_t format; /*!< CAN Frame Identifier format(Standard of Extend). */
flexcan_frame_type_t type; /*!< CAN Frame Type(Data or Remote). */
} flexcan_rx_mb_config_t;
/*! @brief FlexCAN Rx FIFO configuration structure. */
typedef struct _flexcan_rx_fifo_config
{
uint32_t *idFilterTable; /*!< Pointer to the FlexCAN Rx FIFO identifier filter table. */
uint8_t idFilterNum; /*!< The quantity of filter elements. */
flexcan_rx_fifo_filter_type_t idFilterType; /*!< The FlexCAN Rx FIFO Filter type. */
flexcan_rx_fifo_priority_t priority; /*!< The FlexCAN Rx FIFO receive priority. */
} flexcan_rx_fifo_config_t;
/*! @brief FlexCAN Message Buffer transfer. */
typedef struct _flexcan_mb_transfer
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
flexcan_fd_frame_t *framefd;
#endif
flexcan_frame_t *frame; /*!< The buffer of CAN Message to be transfer. */
uint8_t mbIdx; /*!< The index of Message buffer used to transfer Message. */
} flexcan_mb_transfer_t;
/*! @brief FlexCAN Rx FIFO transfer. */
typedef struct _flexcan_fifo_transfer
{
flexcan_frame_t *frame; /*!< The buffer of CAN Message to be received from Rx FIFO. */
} flexcan_fifo_transfer_t;
/*! @brief FlexCAN handle structure definition. */
typedef struct _flexcan_handle flexcan_handle_t;
/*! @brief FlexCAN transfer callback function.
*
* The FlexCAN transfer callback returns a value from the underlying layer.
* If the status equals to kStatus_FLEXCAN_ErrorStatus, the result parameter is the Content of
* FlexCAN status register which can be used to get the working status(or error status) of FlexCAN module.
* If the status equals to other FlexCAN Message Buffer transfer status, the result is the index of
* Message Buffer that generate transfer event.
* If the status equals to other FlexCAN Message Buffer transfer status, the result is meaningless and should be
* Ignored.
*/
typedef void (*flexcan_transfer_callback_t)(
CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData);
/*! @brief FlexCAN handle structure. */
struct _flexcan_handle
{
flexcan_transfer_callback_t callback; /*!< Callback function. */
void *userData; /*!< FlexCAN callback function parameter.*/
flexcan_frame_t *volatile mbFrameBuf[CAN_WORD1_COUNT];
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
flexcan_fd_frame_t *volatile mbFDFrameBuf[CAN_WORD1_COUNT];
#endif
/*!< The buffer for received data from Message Buffers. */
flexcan_frame_t *volatile rxFifoFrameBuf; /*!< The buffer for received data from Rx FIFO. */
volatile uint8_t mbState[CAN_WORD1_COUNT]; /*!< Message Buffer transfer state. */
volatile uint8_t rxFifoState; /*!< Rx FIFO transfer state. */
};
/******************************************************************************
* API
*****************************************************************************/
#if defined(__cplusplus)
extern "C" {
#endif
/*!
* @name Initialization and deinitialization
* @{
*/
/*!
* @brief Get the FlexCAN instance from peripheral base address.
*
* @param base FlexCAN peripheral base address.
* @return FlexCAN instance.
*/
uint32_t FLEXCAN_GetInstance(CAN_Type *base);
/*!
* @brief Calculates the improved timing values by specific baudrates for classical CAN
*
* @param baudRate The classical CAN speed in bps defined by user
* @param sourceClock_Hz The Source clock data speed in bps. Zero to disable baudrate switching
* @param pconfig Pointer to the FlexCAN timing configuration structure.
*
* @return TRUE if timing configuration found, FALSE if failed to find configuration
*/
bool FLEXCAN_CalculateImprovedTimingValues(uint32_t baudRate,
uint32_t sourceClock_Hz,
flexcan_timing_config_t *pconfig);
/*!
* @brief Initializes a FlexCAN instance.
*
* This function initializes the FlexCAN module with user-defined settings.
* This example shows how to set up the flexcan_config_t parameters and how
* to call the FLEXCAN_Init function by passing in these parameters.
* @code
* flexcan_config_t flexcanConfig;
* flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
* flexcanConfig.baudRate = 1000000U;
* flexcanConfig.maxMbNum = 16;
* flexcanConfig.enableLoopBack = false;
* flexcanConfig.enableSelfWakeup = false;
* flexcanConfig.enableIndividMask = false;
* flexcanConfig.enableDoze = false;
* flexcanConfig.timingConfig = timingConfig;
* FLEXCAN_Init(CAN0, &flexcanConfig, 8000000UL);
* @endcode
*
* @param base FlexCAN peripheral base address.
* @param config Pointer to the user-defined configuration structure.
* @param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz.
*/
void FLEXCAN_Init(CAN_Type *base, const flexcan_config_t *config, uint32_t sourceClock_Hz);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief Calculates the improved timing values by specific baudrates for CANFD
*
* @param baudRate The CANFD bus control speed in bps defined by user
* @param baudRateFD The CANFD bus data speed in bps defined by user
* @param sourceClock_Hz The Source clock data speed in bps. Zero to disable baudrate switching
* @param pconfig Pointer to the FlexCAN timing configuration structure.
*
* @return TRUE if timing configuration found, FALSE if failed to find configuration
*/
bool FLEXCAN_FDCalculateImprovedTimingValues(uint32_t baudRate,
uint32_t baudRateFD,
uint32_t sourceClock_Hz,
flexcan_timing_config_t *pconfig);
/*!
* @brief Initializes a FlexCAN instance.
*
* This function initializes the FlexCAN module with user-defined settings.
* This example shows how to set up the flexcan_config_t parameters and how
* to call the FLEXCAN_FDInit function by passing in these parameters.
* @code
* flexcan_config_t flexcanConfig;
* flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
* flexcanConfig.baudRate = 1000000U;
* flexcanConfig.baudRateFD = 2000000U;
* flexcanConfig.maxMbNum = 16;
* flexcanConfig.enableLoopBack = false;
* flexcanConfig.enableSelfWakeup = false;
* flexcanConfig.enableIndividMask = false;
* flexcanConfig.enableDoze = false;
* flexcanConfig.timingConfig = timingConfig;
* FLEXCAN_FDInit(CAN0, &flexcanConfig, 8000000UL, kFLEXCAN_16BperMB, false);
* @endcode
*
* @param base FlexCAN peripheral base address.
* @param config Pointer to the user-defined configuration structure.
* @param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz.
* @param dataSize FlexCAN FD frame payload size.
* @param brs If bitrate switch is enabled in FD mode.
*/
void FLEXCAN_FDInit(
CAN_Type *base, const flexcan_config_t *config, uint32_t sourceClock_Hz, flexcan_mb_size_t dataSize, bool brs);
#endif
/*!
* @brief De-initializes a FlexCAN instance.
*
* This function disables the FlexCAN module clock and sets all register values
* to the reset value.
*
* @param base FlexCAN peripheral base address.
*/
void FLEXCAN_Deinit(CAN_Type *base);
/*!
* @brief Gets the default configuration structure.
*
* This function initializes the FlexCAN configuration structure to default values. The default
* values are as follows.
* flexcanConfig->clkSrc = kFLEXCAN_ClkSrcOsc;
* flexcanConfig->baudRate = 1000000U;
* flexcanConfig->baudRateFD = 2000000U;
* flexcanConfig->maxMbNum = 16;
* flexcanConfig->enableLoopBack = false;
* flexcanConfig->enableSelfWakeup = false;
* flexcanConfig->enableIndividMask = false;
* flexcanConfig->enableDoze = false;
* flexcanConfig.timingConfig = timingConfig;
*
* @param config Pointer to the FlexCAN configuration structure.
*/
void FLEXCAN_GetDefaultConfig(flexcan_config_t *config);
/* @} */
/*!
* @name Configuration.
* @{
*/
/*!
* @brief Sets the FlexCAN protocol timing characteristic.
*
* This function gives user settings to CAN bus timing characteristic.
* The function is for an experienced user. For less experienced users, call
* the FLEXCAN_Init() and fill the baud rate field with a desired value.
* This provides the default timing characteristics to the module.
*
* Note that calling FLEXCAN_SetTimingConfig() overrides the baud rate set
* in FLEXCAN_Init().
*
* @param base FlexCAN peripheral base address.
* @param config Pointer to the timing configuration structure.
*/
void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *config);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief Sets the FlexCAN FD protocol timing characteristic.
*
* This function gives user settings to CAN bus timing characteristic.
* The function is for an experienced user. For less experienced users, call
* the FLEXCAN_Init() and fill the baud rate field with a desired value.
* This provides the default timing characteristics to the module.
*
* Note that calling FLEXCAN_SetFDTimingConfig() overrides the baud rate set
* in FLEXCAN_Init().
*
* @param base FlexCAN peripheral base address.
* @param config Pointer to the timing configuration structure.
*/
void FLEXCAN_SetFDTimingConfig(CAN_Type *base, const flexcan_timing_config_t *config);
#endif
/*!
* @brief Sets the FlexCAN receive message buffer global mask.
*
* This function sets the global mask for the FlexCAN message buffer in a matching process.
* The configuration is only effective when the Rx individual mask is disabled in the FLEXCAN_Init().
*
* @param base FlexCAN peripheral base address.
* @param mask Rx Message Buffer Global Mask value.
*/
void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask);
/*!
* @brief Sets the FlexCAN receive FIFO global mask.
*
* This function sets the global mask for FlexCAN FIFO in a matching process.
*
* @param base FlexCAN peripheral base address.
* @param mask Rx Fifo Global Mask value.
*/
void FLEXCAN_SetRxFifoGlobalMask(CAN_Type *base, uint32_t mask);
/*!
* @brief Sets the FlexCAN receive individual mask.
*
* This function sets the individual mask for the FlexCAN matching process.
* The configuration is only effective when the Rx individual mask is enabled in the FLEXCAN_Init().
* If the Rx FIFO is disabled, the individual mask is applied to the corresponding Message Buffer.
* If the Rx FIFO is enabled, the individual mask for Rx FIFO occupied Message Buffer is applied to
* the Rx Filter with the same index. Note that only the first 32
* individual masks can be used as the Rx FIFO filter mask.
*
* @param base FlexCAN peripheral base address.
* @param maskIdx The Index of individual Mask.
* @param mask Rx Individual Mask value.
*/
void FLEXCAN_SetRxIndividualMask(CAN_Type *base, uint8_t maskIdx, uint32_t mask);
/*!
* @brief Configures a FlexCAN transmit message buffer.
*
* This function aborts the previous transmission, cleans the Message Buffer, and
* configures it as a Transmit Message Buffer.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The Message Buffer index.
* @param enable Enable/disable Tx Message Buffer.
* - true: Enable Tx Message Buffer.
* - false: Disable Tx Message Buffer.
*/
void FLEXCAN_SetTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief Configures a FlexCAN transmit message buffer.
*
* This function aborts the previous transmission, cleans the Message Buffer, and
* configures it as a Transmit Message Buffer.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The Message Buffer index.
* @param enable Enable/disable Tx Message Buffer.
* - true: Enable Tx Message Buffer.
* - false: Disable Tx Message Buffer.
*/
void FLEXCAN_SetFDTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable);
#endif
/*!
* @brief Configures a FlexCAN Receive Message Buffer.
*
* This function cleans a FlexCAN build-in Message Buffer and configures it
* as a Receive Message Buffer.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The Message Buffer index.
* @param config Pointer to the FlexCAN Message Buffer configuration structure.
* @param enable Enable/disable Rx Message Buffer.
* - true: Enable Rx Message Buffer.
* - false: Disable Rx Message Buffer.
*/
void FLEXCAN_SetRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *config, bool enable);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief Configures a FlexCAN Receive Message Buffer.
*
* This function cleans a FlexCAN build-in Message Buffer and configures it
* as a Receive Message Buffer.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The Message Buffer index.
* @param config Pointer to the FlexCAN Message Buffer configuration structure.
* @param enable Enable/disable Rx Message Buffer.
* - true: Enable Rx Message Buffer.
* - false: Disable Rx Message Buffer.
*/
void FLEXCAN_SetFDRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *config, bool enable);
#endif
/*!
* @brief Configures the FlexCAN Rx FIFO.
*
* This function configures the Rx FIFO with given Rx FIFO configuration.
*
* @param base FlexCAN peripheral base address.
* @param config Pointer to the FlexCAN Rx FIFO configuration structure.
* @param enable Enable/disable Rx FIFO.
* - true: Enable Rx FIFO.
* - false: Disable Rx FIFO.
*/
void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *config, bool enable);
/* @} */
/*!
* @name Status
* @{
*/
/*!
* @brief Gets the FlexCAN module interrupt flags.
*
* This function gets all FlexCAN status flags. The flags are returned as the logical
* OR value of the enumerators @ref _flexcan_flags. To check the specific status,
* compare the return value with enumerators in @ref _flexcan_flags.
*
* @param base FlexCAN peripheral base address.
* @return FlexCAN status flags which are ORed by the enumerators in the _flexcan_flags.
*/
static inline uint32_t FLEXCAN_GetStatusFlags(CAN_Type *base)
{
return base->ESR1;
}
/*!
* @brief Clears status flags with the provided mask.
*
* This function clears the FlexCAN status flags with a provided mask. An automatically cleared flag
* can't be cleared by this function.
*
* @param base FlexCAN peripheral base address.
* @param mask The status flags to be cleared, it is logical OR value of @ref _flexcan_flags.
*/
static inline void FLEXCAN_ClearStatusFlags(CAN_Type *base, uint32_t mask)
{
/* Write 1 to clear status flag. */
base->ESR1 = mask;
}
/*!
* @brief Gets the FlexCAN Bus Error Counter value.
*
* This function gets the FlexCAN Bus Error Counter value for both Tx and
* Rx direction. These values may be needed in the upper layer error handling.
*
* @param base FlexCAN peripheral base address.
* @param txErrBuf Buffer to store Tx Error Counter value.
* @param rxErrBuf Buffer to store Rx Error Counter value.
*/
static inline void FLEXCAN_GetBusErrCount(CAN_Type *base, uint8_t *txErrBuf, uint8_t *rxErrBuf)
{
if (NULL != txErrBuf)
{
*txErrBuf = (uint8_t)((base->ECR & CAN_ECR_TXERRCNT_MASK) >> CAN_ECR_TXERRCNT_SHIFT);
}
if (NULL != rxErrBuf)
{
*rxErrBuf = (uint8_t)((base->ECR & CAN_ECR_RXERRCNT_MASK) >> CAN_ECR_RXERRCNT_SHIFT);
}
}
/*!
* @brief Gets the FlexCAN Message Buffer interrupt flags.
*
* This function gets the interrupt flags of a given Message Buffers.
*
* @param base FlexCAN peripheral base address.
* @param mask The ORed FlexCAN Message Buffer mask.
* @return The status of given Message Buffers.
*/
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
static inline uint64_t FLEXCAN_GetMbStatusFlags(CAN_Type *base, uint64_t mask)
#else
static inline uint32_t FLEXCAN_GetMbStatusFlags(CAN_Type *base, uint32_t mask)
#endif
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
return ((((uint64_t)base->IFLAG1) & mask) | ((((uint64_t)base->IFLAG2) << 32) & mask));
#else
return (base->IFLAG1 & mask);
#endif
}
/*!
* @brief Clears the FlexCAN Message Buffer interrupt flags.
*
* This function clears the interrupt flags of a given Message Buffers.
*
* @param base FlexCAN peripheral base address.
* @param mask The ORed FlexCAN Message Buffer mask.
*/
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
static inline void FLEXCAN_ClearMbStatusFlags(CAN_Type *base, uint64_t mask)
#else
static inline void FLEXCAN_ClearMbStatusFlags(CAN_Type *base, uint32_t mask)
#endif
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
base->IFLAG1 = (uint32_t)(mask & 0xFFFFFFFFU);
base->IFLAG2 = (uint32_t)(mask >> 32);
#else
base->IFLAG1 = mask;
#endif
}
/* @} */
/*!
* @name Interrupts
* @{
*/
/*!
* @brief Enables FlexCAN interrupts according to the provided mask.
*
* This function enables the FlexCAN interrupts according to the provided mask. The mask
* is a logical OR of enumeration members, see @ref _flexcan_interrupt_enable.
*
* @param base FlexCAN peripheral base address.
* @param mask The interrupts to enable. Logical OR of @ref _flexcan_interrupt_enable.
*/
static inline void FLEXCAN_EnableInterrupts(CAN_Type *base, uint32_t mask)
{
/* Solve Wake Up Interrupt. */
if ((uint32_t)kFLEXCAN_WakeUpInterruptEnable == (mask & (uint32_t)kFLEXCAN_WakeUpInterruptEnable))
{
base->MCR |= CAN_MCR_WAKMSK_MASK;
}
/* Solve others. */
base->CTRL1 |= (mask & (~((uint32_t)kFLEXCAN_WakeUpInterruptEnable)));
}
/*!
* @brief Disables FlexCAN interrupts according to the provided mask.
*
* This function disables the FlexCAN interrupts according to the provided mask. The mask
* is a logical OR of enumeration members, see @ref _flexcan_interrupt_enable.
*
* @param base FlexCAN peripheral base address.
* @param mask The interrupts to disable. Logical OR of @ref _flexcan_interrupt_enable.
*/
static inline void FLEXCAN_DisableInterrupts(CAN_Type *base, uint32_t mask)
{
/* Solve Wake Up Interrupt. */
if ((uint32_t)kFLEXCAN_WakeUpInterruptEnable == (mask & (uint32_t)kFLEXCAN_WakeUpInterruptEnable))
{
base->MCR &= ~CAN_MCR_WAKMSK_MASK;
}
/* Solve others. */
base->CTRL1 &= ~(mask & (~((uint32_t)kFLEXCAN_WakeUpInterruptEnable)));
}
/*!
* @brief Enables FlexCAN Message Buffer interrupts.
*
* This function enables the interrupts of given Message Buffers.
*
* @param base FlexCAN peripheral base address.
* @param mask The ORed FlexCAN Message Buffer mask.
*/
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
static inline void FLEXCAN_EnableMbInterrupts(CAN_Type *base, uint64_t mask)
#else
static inline void FLEXCAN_EnableMbInterrupts(CAN_Type *base, uint32_t mask)
#endif
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
base->IMASK1 |= (uint32_t)(mask & 0xFFFFFFFFU);
base->IMASK2 |= (uint32_t)(mask >> 32);
#else
base->IMASK1 |= mask;
#endif
}
/*!
* @brief Disables FlexCAN Message Buffer interrupts.
*
* This function disables the interrupts of given Message Buffers.
*
* @param base FlexCAN peripheral base address.
* @param mask The ORed FlexCAN Message Buffer mask.
*/
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
static inline void FLEXCAN_DisableMbInterrupts(CAN_Type *base, uint64_t mask)
#else
static inline void FLEXCAN_DisableMbInterrupts(CAN_Type *base, uint32_t mask)
#endif
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
base->IMASK1 &= ~((uint32_t)(mask & 0xFFFFFFFFU));
base->IMASK2 &= ~((uint32_t)(mask >> 32));
#else
base->IMASK1 &= ~mask;
#endif
}
/* @} */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) && FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA)
/*!
* @name DMA Control
* @{
*/
/*!
* @brief Enables or disables the FlexCAN Rx FIFO DMA request.
*
* This function enables or disables the DMA feature of FlexCAN build-in Rx FIFO.
*
* @param base FlexCAN peripheral base address.
* @param enable true to enable, false to disable.
*/
void FLEXCAN_EnableRxFifoDMA(CAN_Type *base, bool enable);
/*!
* @brief Gets the Rx FIFO Head address.
*
* This function returns the FlexCAN Rx FIFO Head address, which is mainly used for the DMA/eDMA use case.
*
* @param base FlexCAN peripheral base address.
* @return FlexCAN Rx FIFO Head address.
*/
static inline uint32_t FLEXCAN_GetRxFifoHeadAddr(CAN_Type *base)
{
return (uint32_t) & (base->MB[0].CS);
}
/* @} */
#endif /* FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA */
/*!
* @name Bus Operations
* @{
*/
/*!
* @brief Enables or disables the FlexCAN module operation.
*
* This function enables or disables the FlexCAN module.
*
* @param base FlexCAN base pointer.
* @param enable true to enable, false to disable.
*/
static inline void FLEXCAN_Enable(CAN_Type *base, bool enable)
{
if (enable)
{
base->MCR &= ~CAN_MCR_MDIS_MASK;
/* Wait FlexCAN exit from low-power mode. */
while (0U != (base->MCR & CAN_MCR_LPMACK_MASK))
{
}
}
else
{
base->MCR |= CAN_MCR_MDIS_MASK;
/* Wait FlexCAN enter low-power mode. */
while (0U == (base->MCR & CAN_MCR_LPMACK_MASK))
{
}
}
}
/*!
* @brief Writes a FlexCAN Message to the Transmit Message Buffer.
*
* This function writes a CAN Message to the specified Transmit Message Buffer
* and changes the Message Buffer state to start CAN Message transmit. After
* that the function returns immediately.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The FlexCAN Message Buffer index.
* @param txFrame Pointer to CAN message frame to be sent.
* @retval kStatus_Success - Write Tx Message Buffer Successfully.
* @retval kStatus_Fail - Tx Message Buffer is currently in use.
*/
status_t FLEXCAN_WriteTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_frame_t *txFrame);
/*!
* @brief Reads a FlexCAN Message from Receive Message Buffer.
*
* This function reads a CAN message from a specified Receive Message Buffer.
* The function fills a receive CAN message frame structure with
* just received data and activates the Message Buffer again.
* The function returns immediately.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The FlexCAN Message Buffer index.
* @param rxFrame Pointer to CAN message frame structure for reception.
* @retval kStatus_Success - Rx Message Buffer is full and has been read successfully.
* @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
* @retval kStatus_Fail - Rx Message Buffer is empty.
*/
status_t FLEXCAN_ReadRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *rxFrame);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief Writes a FlexCAN FD Message to the Transmit Message Buffer.
*
* This function writes a CAN FD Message to the specified Transmit Message Buffer
* and changes the Message Buffer state to start CAN FD Message transmit. After
* that the function returns immediately.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The FlexCAN FD Message Buffer index.
* @param txFrame Pointer to CAN FD message frame to be sent.
* @retval kStatus_Success - Write Tx Message Buffer Successfully.
* @retval kStatus_Fail - Tx Message Buffer is currently in use.
*/
status_t FLEXCAN_WriteFDTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_fd_frame_t *txFrame);
/*!
* @brief Reads a FlexCAN FD Message from Receive Message Buffer.
*
* This function reads a CAN FD message from a specified Receive Message Buffer.
* The function fills a receive CAN FD message frame structure with
* just received data and activates the Message Buffer again.
* The function returns immediately.
*
* @param base FlexCAN peripheral base address.
* @param mbIdx The FlexCAN FD Message Buffer index.
* @param rxFrame Pointer to CAN FD message frame structure for reception.
* @retval kStatus_Success - Rx Message Buffer is full and has been read successfully.
* @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
* @retval kStatus_Fail - Rx Message Buffer is empty.
*/
status_t FLEXCAN_ReadFDRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *rxFrame);
#endif
/*!
* @brief Reads a FlexCAN Message from Rx FIFO.
*
* This function reads a CAN message from the FlexCAN build-in Rx FIFO.
*
* @param base FlexCAN peripheral base address.
* @param rxFrame Pointer to CAN message frame structure for reception.
* @retval kStatus_Success - Read Message from Rx FIFO successfully.
* @retval kStatus_Fail - Rx FIFO is not enabled.
*/
status_t FLEXCAN_ReadRxFifo(CAN_Type *base, flexcan_frame_t *rxFrame);
/* @} */
/*!
* @name Transactional
* @{
*/
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
* @brief Performs a polling send transaction on the CAN bus.
*
* Note that a transfer handle does not need to be created before calling this API.
*
* @param base FlexCAN peripheral base pointer.
* @param mbIdx The FlexCAN FD Message Buffer index.
* @param txFrame Pointer to CAN FD message frame to be sent.
* @retval kStatus_Success - Write Tx Message Buffer Successfully.
* @retval kStatus_Fail - Tx Message Buffer is currently in use.
*/
status_t FLEXCAN_TransferFDSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *txFrame);
/*!
* @brief Performs a polling receive transaction on the CAN bus.
*
* Note that a transfer handle does not need to be created before calling this API.
*
* @param base FlexCAN peripheral base pointer.
* @param mbIdx The FlexCAN FD Message Buffer index.
* @param rxFrame Pointer to CAN FD message frame structure for reception.
* @retval kStatus_Success - Rx Message Buffer is full and has been read successfully.
* @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
* @retval kStatus_Fail - Rx Message Buffer is empty.
*/
status_t FLEXCAN_TransferFDReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *rxFrame);
/*!
* @brief Sends a message using IRQ.
*
* This function sends a message using IRQ. This is a non-blocking function, which returns
* right away. When messages have been sent out, the send callback function is called.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param xfer FlexCAN FD Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
* @retval kStatus_Success Start Tx Message Buffer sending process successfully.
* @retval kStatus_Fail Write Tx Message Buffer failed.
* @retval kStatus_FLEXCAN_TxBusy Tx Message Buffer is in use.
*/
status_t FLEXCAN_TransferFDSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer);
/*!
* @brief Receives a message using IRQ.
*
* This function receives a message using IRQ. This is non-blocking function, which returns
* right away. When the message has been received, the receive callback function is called.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param xfer FlexCAN FD Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
* @retval kStatus_Success - Start Rx Message Buffer receiving process successfully.
* @retval kStatus_FLEXCAN_RxBusy - Rx Message Buffer is in use.
*/
status_t FLEXCAN_TransferFDReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer);
/*!
* @brief Aborts the interrupt driven message send process.
*
* This function aborts the interrupt driven message send process.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param mbIdx The FlexCAN FD Message Buffer index.
*/
void FLEXCAN_TransferFDAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx);
/*!
* @brief Aborts the interrupt driven message receive process.
*
* This function aborts the interrupt driven message receive process.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param mbIdx The FlexCAN FD Message Buffer index.
*/
void FLEXCAN_TransferFDAbortReceive(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx);
#endif
/*!
* @brief Performs a polling send transaction on the CAN bus.
*
* Note that a transfer handle does not need to be created before calling this API.
*
* @param base FlexCAN peripheral base pointer.
* @param mbIdx The FlexCAN Message Buffer index.
* @param txFrame Pointer to CAN message frame to be sent.
* @retval kStatus_Success - Write Tx Message Buffer Successfully.
* @retval kStatus_Fail - Tx Message Buffer is currently in use.
*/
status_t FLEXCAN_TransferSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *txFrame);
/*!
* @brief Performs a polling receive transaction on the CAN bus.
*
* Note that a transfer handle does not need to be created before calling this API.
*
* @param base FlexCAN peripheral base pointer.
* @param mbIdx The FlexCAN Message Buffer index.
* @param rxFrame Pointer to CAN message frame structure for reception.
* @retval kStatus_Success - Rx Message Buffer is full and has been read successfully.
* @retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
* @retval kStatus_Fail - Rx Message Buffer is empty.
*/
status_t FLEXCAN_TransferReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *rxFrame);
/*!
* @brief Performs a polling receive transaction from Rx FIFO on the CAN bus.
*
* Note that a transfer handle does not need to be created before calling this API.
*
* @param base FlexCAN peripheral base pointer.
* @param rxFrame Pointer to CAN message frame structure for reception.
* @retval kStatus_Success - Read Message from Rx FIFO successfully.
* @retval kStatus_Fail - Rx FIFO is not enabled.
*/
status_t FLEXCAN_TransferReceiveFifoBlocking(CAN_Type *base, flexcan_frame_t *rxFrame);
/*!
* @brief Initializes the FlexCAN handle.
*
* This function initializes the FlexCAN handle, which can be used for other FlexCAN
* transactional APIs. Usually, for a specified FlexCAN instance,
* call this API once to get the initialized handle.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param callback The callback function.
* @param userData The parameter of the callback function.
*/
void FLEXCAN_TransferCreateHandle(CAN_Type *base,
flexcan_handle_t *handle,
flexcan_transfer_callback_t callback,
void *userData);
/*!
* @brief Sends a message using IRQ.
*
* This function sends a message using IRQ. This is a non-blocking function, which returns
* right away. When messages have been sent out, the send callback function is called.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param xfer FlexCAN Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
* @retval kStatus_Success Start Tx Message Buffer sending process successfully.
* @retval kStatus_Fail Write Tx Message Buffer failed.
* @retval kStatus_FLEXCAN_TxBusy Tx Message Buffer is in use.
*/
status_t FLEXCAN_TransferSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer);
/*!
* @brief Receives a message using IRQ.
*
* This function receives a message using IRQ. This is non-blocking function, which returns
* right away. When the message has been received, the receive callback function is called.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param xfer FlexCAN Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
* @retval kStatus_Success - Start Rx Message Buffer receiving process successfully.
* @retval kStatus_FLEXCAN_RxBusy - Rx Message Buffer is in use.
*/
status_t FLEXCAN_TransferReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer);
/*!
* @brief Receives a message from Rx FIFO using IRQ.
*
* This function receives a message using IRQ. This is a non-blocking function, which returns
* right away. When all messages have been received, the receive callback function is called.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param xfer FlexCAN Rx FIFO transfer structure. See the @ref flexcan_fifo_transfer_t.
* @retval kStatus_Success - Start Rx FIFO receiving process successfully.
* @retval kStatus_FLEXCAN_RxFifoBusy - Rx FIFO is currently in use.
*/
status_t FLEXCAN_TransferReceiveFifoNonBlocking(CAN_Type *base,
flexcan_handle_t *handle,
flexcan_fifo_transfer_t *xfer);
/*!
* @brief Aborts the interrupt driven message send process.
*
* This function aborts the interrupt driven message send process.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param mbIdx The FlexCAN Message Buffer index.
*/
void FLEXCAN_TransferAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx);
/*!
* @brief Aborts the interrupt driven message receive process.
*
* This function aborts the interrupt driven message receive process.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
* @param mbIdx The FlexCAN Message Buffer index.
*/
void FLEXCAN_TransferAbortReceive(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx);
/*!
* @brief Aborts the interrupt driven message receive from Rx FIFO process.
*
* This function aborts the interrupt driven message receive from Rx FIFO process.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
*/
void FLEXCAN_TransferAbortReceiveFifo(CAN_Type *base, flexcan_handle_t *handle);
/*!
* @brief FlexCAN IRQ handle function.
*
* This function handles the FlexCAN Error, the Message Buffer, and the Rx FIFO IRQ request.
*
* @param base FlexCAN peripheral base address.
* @param handle FlexCAN handle pointer.
*/
void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle);
/* @} */
#if defined(__cplusplus)
}
#endif
/*! @}*/
#endif /* _FSL_FLEXCAN_H_ */