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hal_ll_can.h
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hal_ll_can.h
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/****************************************************************************
**
** Copyright (C) ${COPYRIGHT_YEAR} MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** This file is part of the mikroSDK package
**
** Commercial License Usage
**
** Licensees holding valid commercial NECTO compilers AI licenses may use this
** file in accordance with the commercial license agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and The MikroElektronika Company.
** For licensing terms and conditions see
** https://www.mikroe.com/legal/software-license-agreement.
** For further information use the contact form at
** https://www.mikroe.com/contact.
**
**
** GNU Lesser General Public License Usage
**
** Alternatively, this file may be used for
** non-commercial projects under the terms of the GNU Lesser
** General Public License version 3 as published by the Free Software
** Foundation: https://www.gnu.org/licenses/lgpl-3.0.html.
**
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** OF MERCHANTABILITY, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
** TO THE WARRANTIES FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
** OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
**
****************************************************************************/
/*!
* @file hal_ll_can.h
* @brief API for CAN HAL LOW LEVEL layer.
*/
#ifndef _HAL_LL_CAN_H_
#define _HAL_LL_CAN_H_
#include "hal_ll_target.h"
#ifdef __cplusplus
extern "C"{
#endif
/**
* @brief CAN low level pins config structure.
*
* The context structure for storing low level pin configuration
* for both TX and RX pins.
*
*/
typedef struct
{
hal_ll_pin_af_t tx_pin; /*!< TX CAN pin. */
hal_ll_pin_af_t rx_pin; /*!< RX CAN pin. */
} hal_ll_can_pins_t;
/**
* @details CAN modes.
*/
typedef enum
{
/* Universal Modes. */
HAL_LL_CAN_MODE_NORMAL = 0, /*!< Mode for normal operation. */
HAL_LL_CAN_MODE_LOOPBACK, /*!< Mode for testing communication internally with sending TX data frames to other nodes. */
HAL_LL_CAN_MODE_DISABLE, /*!< Mode for ignoring TX and RX data frames. */
/* STM32 and RISC-V Modes. */
HAL_LL_CAN_MODE_SILENT, /*!< Mode for only receiving messages. */
HAL_LL_CAN_MODE_LOOPBACK_SILENT, /*!< Mode for testing communication internally without sending TX data frames to other nodes. */
/* NXP Modes. */
HAL_LL_CAN_MODE_LISTENONLY, /*!< Mode for only receiving messages. */
HAL_LL_CAN_MODE_DOZE, /*!< Mode for acknowledging system low-power mode. */
HAL_LL_CAN_MODE_STOP, /*!< Mode for acknowledging system clock stop. */
HAL_LL_CAN_MODE_FREEZE, /*!< Mode for ignoring TX and RX data frames. */
/* dsPIC Modes. */
HAL_LL_CAN_MODE_LISTENALL /*!< Mode for receiving data frames without filter configs. */
} hal_ll_can_mode_t;
/**
* @details CAN data frame formats.
*/
typedef enum
{
HAL_LL_CAN_FRAME_FORMAT_STANDARD_11BITS = 0, /*!< Standard format identifier. */
HAL_LL_CAN_FRAME_FORMAT_EXTENDED_29BITS /*!< Extended format identifier. */
} hal_ll_can_frame_format_t;
/**
* @details CAN data frame types.
*/
typedef enum
{
HAL_LL_CAN_FRAME_TYPE_DATA = 0, /*!< Data frame. */
HAL_LL_CAN_FRAME_TYPE_RTR /*!< Remote frame. */
} hal_ll_can_frame_type_t;
/**
* @details CAN filter mode.
*/
typedef enum
{
HAL_LL_CAN_FILTER_MODE_IDMASK = 0, /*!< Identifier mask mode. */
HAL_LL_CAN_FILTER_MODE_IDLIST /*!< Identifier list mode. */
} hal_ll_can_filter_mode_t;
/**
* @details CAN filter scale.
*/
typedef enum
{
HAL_LL_CAN_FILTER_SCALE_16BIT = 0, /*!< Two 16-bit filters. */
HAL_LL_CAN_FILTER_SCALE_32BIT /*!< One 32-bit filter. */
} hal_ll_can_filter_scale_t;
/**
* @details CAN filter FIFO.
*/
typedef enum
{
HAL_LL_CAN_FILTER_FIFO0 = 0, /*!< Filter mapped to FIFO0. */
HAL_LL_CAN_FILTER_FIFO1, /*!< Filter mapped to FIFO1. */
HAL_LL_CAN_FILTER_FIFO2, /*!< Filter mapped to FIFO2. */
HAL_LL_CAN_FILTER_FIFO3, /*!< Filter mapped to FIFO3. */
HAL_LL_CAN_FILTER_FIFO4, /*!< Filter mapped to FIFO4. */
HAL_LL_CAN_FILTER_FIFO5, /*!< Filter mapped to FIFO5. */
HAL_LL_CAN_FILTER_FIFO6, /*!< Filter mapped to FIFO6. */
HAL_LL_CAN_FILTER_FIFO7, /*!< Filter mapped to FIFO7. */
HAL_LL_CAN_FILTER_FIFO8, /*!< Filter mapped to FIFO8. */
HAL_LL_CAN_FILTER_FIFO9, /*!< Filter mapped to FIFO9. */
HAL_LL_CAN_FILTER_FIFO10, /*!< Filter mapped to FIFO10. */
HAL_LL_CAN_FILTER_FIFO11, /*!< Filter mapped to FIFO11. */
HAL_LL_CAN_FILTER_FIFO12, /*!< Filter mapped to FIFO12. */
HAL_LL_CAN_FILTER_FIFO13, /*!< Filter mapped to FIFO13. */
HAL_LL_CAN_FILTER_FIFO14, /*!< Filter mapped to FIFO14. */
HAL_LL_CAN_FILTER_FIFO15, /*!< Filter mapped to FIFO15. */
HAL_LL_CAN_FILTER_FIFO16, /*!< Filter mapped to FIFO16. */
HAL_LL_CAN_FILTER_FIFO17, /*!< Filter mapped to FIFO17. */
HAL_LL_CAN_FILTER_FIFO18, /*!< Filter mapped to FIFO18. */
HAL_LL_CAN_FILTER_FIFO19, /*!< Filter mapped to FIFO19. */
HAL_LL_CAN_FILTER_FIFO20, /*!< Filter mapped to FIFO20. */
HAL_LL_CAN_FILTER_FIFO21, /*!< Filter mapped to FIFO21. */
HAL_LL_CAN_FILTER_FIFO22, /*!< Filter mapped to FIFO22. */
HAL_LL_CAN_FILTER_FIFO23, /*!< Filter mapped to FIFO23. */
HAL_LL_CAN_FILTER_FIFO24, /*!< Filter mapped to FIFO24. */
HAL_LL_CAN_FILTER_FIFO25, /*!< Filter mapped to FIFO25. */
HAL_LL_CAN_FILTER_FIFO26, /*!< Filter mapped to FIFO26. */
HAL_LL_CAN_FILTER_FIFO27, /*!< Filter mapped to FIFO27. */
HAL_LL_CAN_FILTER_FIFO28, /*!< Filter mapped to FIFO28. */
HAL_LL_CAN_FILTER_FIFO29, /*!< Filter mapped to FIFO29. */
HAL_LL_CAN_FILTER_FIFO30, /*!< Filter mapped to FIFO30. */
HAL_LL_CAN_FILTER_FIFO31 /*!< Filter mapped to FIFO31. */
} hal_ll_can_filter_fifo_t;
/*< @brief Default FIFO number and filter bank used for CAN implementation */
#define HAL_LL_CAN_FILTER_FIFO_DEFAULT HAL_LL_CAN_FILTER_FIFO0
#define HAL_LL_CAN_FILTER_BANK_DEFAULT (0)
/**
* @details CAN filter activation.
*/
typedef enum
{
HAL_LL_CAN_FILTER_DISABLE = 0, /*!< CAN filter disable. */
HAL_LL_CAN_FILTER_ENABLE /*!< CAN filter enable. */
} hal_ll_can_filter_activation_t;
/**
* @details CAN filter config structure.
*/
typedef struct
{
union {
struct {
uint16_t can_filter_id_low; /*!< 16-bit Filter ID. */
uint16_t can_filter_id_high; /*!< 16-bit Filter ID. */
};
uint32_t can_filter_id; /*!< 32-bit Filter ID. */
};
union {
struct {
uint16_t can_filter_mask_id_low; /*!< 16-bit Filter ID or Filter Mask. */
uint16_t can_filter_mask_id_high; /*!< 16-bit Filter ID or Filter Mask. */
};
uint32_t can_filter_mask_id; /*!< 32-bit Filter ID or Filter Mask. */
};
uint8_t can_filter_bank; /*!< Filter bank. */
hal_ll_can_frame_type_t can_filter_frame_type[4]; /*!< Type of frame, data or remote. */
hal_ll_can_filter_activation_t can_filter_enable; /*!< Filter activation status. */
hal_ll_can_filter_mode_t can_filter_mode; /*!< Filter mode. */
hal_ll_can_filter_scale_t can_filter_scale; /*!< Filter scale. */
hal_ll_can_filter_fifo_t can_filter_fifo; /*!< Filter-to-FIFO mapping. */
} hal_ll_can_filter_config_t;
/**
* @details CAN module config structure.
*/
typedef struct
{
hal_ll_pin_name_t tx_pin; /*!< Tx pin. */
hal_ll_pin_name_t rx_pin; /*!< Rx pin. */
hal_ll_can_mode_t mode; /*!< CAN mode. */
uint32_t frequency; /*!< CAN frequency. */
} hal_ll_can_config_t;
/**
* @details Message structure.
*/
typedef struct
{
union {
struct {
uint16_t std_id; /*!< Standard format frame identifier. */
uint16_t ext_id; /*!< Extended format frame identifier. */
};
uint32_t id;
};
hal_ll_can_frame_format_t frame_format; /*!< Format of frame, standard or extended format. */
hal_ll_can_frame_type_t frame_type; /*!< Type of frame, data or remote. */
uint8_t data_len; /*!< Data length. */
uint8_t message_data[8]; /*!< Data. */
} hal_ll_can_message_t;
/**
* @details CAN HAL low level transmit message structure.
*/
typedef struct
{
hal_ll_can_message_t message; /* CAN message structure. */
} hal_ll_can_transmit_message_struct;
/**
* @details CAN HAL low level receive message structure.
*/
typedef struct
{
hal_ll_can_message_t message; /* CAN message structure. */
uint8_t rx_fifo_number; /* Receive FIFO number. */
} hal_ll_can_receive_message_struct;
/**
* @brief CAN low level handle.
*
* The context for storing low level object handler.
* User is not to change these values or unexpected behaviour
* may occur.
*/
typedef struct
{
handle_t *hal_ll_can_handle; /*!< CAN HAL low level handle */
handle_t *hal_drv_can_handle; /*!< CAN DRV level handle */
bool init_ll_state; /*!< CAN HAL low level object init state */
} hal_ll_can_handle_register_t;
/**
* @brief Registers handler for future use.
*
* Registers low level and hal level handlers
* for use with appropriate functions.
*
* @param[in] tx_pin CAN TX pin.
* @param[in] rx_pin CAN RX pin.
* @param[in] *handle_map HAL layer local handle map.
* @param[in] *hal_module_id HAL layer module number.
* @return hal_ll_err_t Module specific error.
*
* Returns one of pre-defined values.
* Take into consideration that this is hardware specific.
*/
hal_ll_err_t hal_ll_can_register_handle( hal_ll_pin_name_t tx_pin, hal_ll_pin_name_t rx_pin,
hal_ll_can_handle_register_t *handle_map, uint8_t *hal_module_id );
/**
* @brief Initializes specified module.
*
* Performs module configuration on the hardware
* level. Enables module specific clock gate and
* sets adequate alternate function values.
*
* @param[in] handle HAL context object handle.
* @param[in] config HAL low level config structure.
* @param[in] filter_config HAL low level filter config structure.
*
* @return hal_ll_err_t Module specific error.
*
* Returns one of pre-defined values.
* Take into consideration that this is hardware specific.
*/
hal_ll_err_t hal_ll_can_init( handle_t *handle, hal_ll_can_config_t *config,
hal_ll_can_filter_config_t *filter_config );
/**
* @brief Sets filter parameters.
*
* Initializes module with specified filter parameters.
*
* @param[in] handle HAL context object handle.
* @param[in] config HAL low level config structure.
* @param[in] filter_config HAL low level filter config structure.
*
* Returns one of pre-defined values.
* Take into consideration that this is hardware specific.
*/
hal_ll_err_t hal_ll_can_set_filter( handle_t *handle, hal_ll_can_config_t *config,
hal_ll_can_filter_config_t *filter_config );
/**
* @brief Sets adequate bit timing parameters for desired frequency.
*
* @note: Setting parameters that result in a baud rate that
* differs from the desired value is not acceptable.
* If two devices communicate over CAN, their baud
* rates need to be exactly the same.
*
* @param[in] handle HAL context object handle.
* @param[in] config HAL low level config structure.
* @param[in] filter_config HAL low level filter config structure.
*
* Returns one of pre-defined values.
* Take into consideration that this is hardware specific.
*/
hal_ll_err_t hal_ll_can_set_frequency( handle_t *handle, hal_ll_can_config_t *config,
hal_ll_can_filter_config_t *filter_config );
/**
* @brief Gets CAN frequency.
*
* Gets the currently configured CAN frequency.
*
* @param[in] handle HAL context object handle.
*
* Returns CAN frequency.
*/
hal_ll_err_t hal_ll_can_get_frequency( handle_t *handle );
/**
* @brief Sets desired CAN operating mode.
*
* Initializes module with specified CAN mode.
*
* @param[in] handle HAL context object handle.
* @param[in] config HAL low level config structure.
* @param[in] filter_config HAL low level filter config structure.
*
* Returns one of pre-defined values.
* Take into consideration that this is hardware specific.
*/
hal_ll_err_t hal_ll_can_set_mode( handle_t *handle, hal_ll_can_config_t *config,
hal_ll_can_filter_config_t *filter_config );
/**
* @brief Gets CAN mode.
*
* Gets the currently configured CAN mode.
*
* @param[in] handle HAL context object handle.
*
* Returns CAN mode.
*/
hal_ll_err_t hal_ll_can_get_mode( handle_t *handle );
/**
* @brief Performs transmit operation.
*
* Accesses hardware transmit registers and
* writes parameters and data directly to them.
*
* @param[in] handle HAL context object handle.
* @param[in] transmit_message Transmit message structure.
*
* Returns one of pre-defined values.
*/
hal_ll_err_t hal_ll_can_transmit( handle_t *handle, hal_ll_can_transmit_message_struct *transmit_message );
/**
* @brief Stops transmit operation.
*
* Accesses hardware transmit registers and stops data transmission.
*
* @param[in] handle HAL context object handle.
*
* @return void None.
*/
void hal_ll_can_transmission_stop( handle_t *handle );
/**
* @brief Performs receive operation.
*
* Accesses hardware receive registers and
* reads parameters and data directly from them.
*
* @param[in] handle HAL context object handle.
* @param[in] receive_message Receive message structure.
*
* Returns one of pre-defined values.
*/
hal_ll_err_t hal_ll_can_receive( handle_t *handle, hal_ll_can_receive_message_struct *receive_message );
/**
* @brief Closes CAN HAL and HAL_LOW_LEVEL context object.
*
* De-allocates hardware resources for specific driver object and
* de-initializes the module on a hardware level.
*
* @param[in] *handle HAL context object handle.
*
* Returns one of pre-defined values.
*/
hal_ll_err_t hal_ll_can_close( handle_t *handle );
#ifdef __cplusplus
}
#endif
#endif // _HAL_LL_CAN_H_
// ------------------------------------------------------------------------- END