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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2014 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* 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, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* 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.
*/
#ifndef MICROPY_INCLUDED_STM32_CAN_H
#define MICROPY_INCLUDED_STM32_CAN_H
#include "py/mphal.h"
#if MICROPY_HW_ENABLE_CAN
// This API provides a higher abstraction layer over the two STM32
// CAN controller APIs provided by the ST HAL (one for their classic
// CAN controller, one for their FD CAN controller.)
// There are two implementations, can.c and fdcan.c - only one is included in
// the build for a given board.
#define PYB_CAN_1 (1)
#define PYB_CAN_2 (2)
#define PYB_CAN_3 (3)
#define MASK16 (0)
#define LIST16 (1)
#define MASK32 (2)
#define LIST32 (3)
#if MICROPY_HW_ENABLE_FDCAN
#define CAN_TypeDef FDCAN_GlobalTypeDef
#define CAN_HandleTypeDef FDCAN_HandleTypeDef
#define CanTxMsgTypeDef FDCAN_TxHeaderTypeDef
#define CanRxMsgTypeDef FDCAN_RxHeaderTypeDef
#endif
enum {
CAN_STATE_STOPPED,
CAN_STATE_ERROR_ACTIVE,
CAN_STATE_ERROR_WARNING,
CAN_STATE_ERROR_PASSIVE,
CAN_STATE_BUS_OFF,
};
typedef enum _rx_state_t {
RX_STATE_FIFO_EMPTY = 0,
RX_STATE_MESSAGE_PENDING,
RX_STATE_FIFO_FULL,
RX_STATE_FIFO_OVERFLOW,
} rx_state_t;
typedef enum {
CAN_INT_MESSAGE_RECEIVED,
CAN_INT_FIFO_FULL,
CAN_INT_FIFO_OVERFLOW, // These first 3 correspond to pyb.CAN.rxcallback args
CAN_INT_ERR_BUS_OFF,
CAN_INT_ERR_PASSIVE,
CAN_INT_ERR_WARNING,
} can_int_t;
// RX FIFO numbering
//
// Note: For traditional CAN peripheral, the values of CAN_FIFO0 and CAN_FIFO1 are the same
// as this enum. FDCAN macros FDCAN_RX_FIFO0 and FDCAN_RX_FIFO1 are hardware offsets and not the same.
typedef enum {
CAN_RX_FIFO0,
CAN_RX_FIFO1,
} can_rx_fifo_t;
bool can_init(CAN_HandleTypeDef *can, int can_id, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart);
void can_deinit(CAN_HandleTypeDef *can);
void can_clearfilter(CAN_HandleTypeDef *can, uint32_t filter_num, uint8_t bank);
int can_receive(CAN_HandleTypeDef *can, can_rx_fifo_t fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms);
HAL_StatusTypeDef can_transmit(CAN_HandleTypeDef *hcan, CanTxMsgTypeDef *txmsg, uint8_t *data, uint32_t Timeout);
// Disable all CAN receive interrupts for a FIFO
void can_disable_rx_interrupts(CAN_HandleTypeDef *can, can_rx_fifo_t fifo);
// Enable CAN receive interrupts for a FIFO.
//
// Interrupt for CAN_INT_MESSAGE_RECEIVED is only enabled if enable_msg_received is set.
void can_enable_rx_interrupts(CAN_HandleTypeDef *can, can_rx_fifo_t fifo, bool enable_msg_received);
// Implemented in pyb_can.c, called from lower layer
extern void can_irq_handler(uint can_id, can_int_t interrupt, can_rx_fifo_t fifo);
#if MICROPY_HW_ENABLE_FDCAN
static inline unsigned can_rx_pending(CAN_HandleTypeDef *can, can_rx_fifo_t fifo) {
return HAL_FDCAN_GetRxFifoFillLevel(can, fifo == CAN_RX_FIFO0 ? FDCAN_RX_FIFO0 : FDCAN_RX_FIFO1);
}
#else
static inline unsigned can_rx_pending(CAN_HandleTypeDef *can, can_rx_fifo_t fifo) {
return __HAL_CAN_MSG_PENDING(can, fifo == CAN_RX_FIFO0 ? CAN_FIFO0 : CAN_FIFO1);
}
#endif // MICROPY_HW_ENABLE_FDCAN
#endif // MICROPY_HW_ENABLE_CAN
#endif // MICROPY_INCLUDED_STM32_CAN_H
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