MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NUVOTON/TARGET_NUC472/device/StdDriver/nuc472_can.h@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /**************************************************************************//**
sahilmgandhi 18:6a4db94011d3 2 * @file can.h
sahilmgandhi 18:6a4db94011d3 3 * @version V1.00
sahilmgandhi 18:6a4db94011d3 4 * $Revision: 8 $
sahilmgandhi 18:6a4db94011d3 5 * $Date: 14/09/26 3:38p $
sahilmgandhi 18:6a4db94011d3 6 * @brief NUC472/NUC442 CAN driver header file
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * @note
sahilmgandhi 18:6a4db94011d3 9 * Copyright (C) 2013 Nuvoton Technology Corp. All rights reserved.
sahilmgandhi 18:6a4db94011d3 10 *****************************************************************************/
sahilmgandhi 18:6a4db94011d3 11 #ifndef __CAN_H__
sahilmgandhi 18:6a4db94011d3 12 #define __CAN_H__
sahilmgandhi 18:6a4db94011d3 13
sahilmgandhi 18:6a4db94011d3 14 #ifdef __cplusplus
sahilmgandhi 18:6a4db94011d3 15 extern "C"
sahilmgandhi 18:6a4db94011d3 16 {
sahilmgandhi 18:6a4db94011d3 17 #endif
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 /** @addtogroup NUC472_442_Device_Driver NUC472/NUC442 Device Driver
sahilmgandhi 18:6a4db94011d3 20 @{
sahilmgandhi 18:6a4db94011d3 21 */
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 /** @addtogroup NUC472_442_CAN_Driver CAN Driver
sahilmgandhi 18:6a4db94011d3 24 @{
sahilmgandhi 18:6a4db94011d3 25 */
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 /** @addtogroup NUC472_442_CAN_EXPORTED_TYPEDEF CAN Exported Type Defines
sahilmgandhi 18:6a4db94011d3 28 @{
sahilmgandhi 18:6a4db94011d3 29 */
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 /**
sahilmgandhi 18:6a4db94011d3 32 * @details Message ID types.
sahilmgandhi 18:6a4db94011d3 33 */
sahilmgandhi 18:6a4db94011d3 34 typedef enum {
sahilmgandhi 18:6a4db94011d3 35 CAN_STD_ID = 0, /*!< Standard Identifier */
sahilmgandhi 18:6a4db94011d3 36 CAN_EXT_ID = 1 /*!< Extended Identifier */
sahilmgandhi 18:6a4db94011d3 37 } E_CAN_ID_TYPE;
sahilmgandhi 18:6a4db94011d3 38
sahilmgandhi 18:6a4db94011d3 39 /**
sahilmgandhi 18:6a4db94011d3 40 * @details Message Frame types.
sahilmgandhi 18:6a4db94011d3 41 */
sahilmgandhi 18:6a4db94011d3 42 typedef enum {
sahilmgandhi 18:6a4db94011d3 43 REMOTE_FRAME = 0, /*!< Remote Frame */
sahilmgandhi 18:6a4db94011d3 44 DATA_FRAME = 1 /*!< Data Frame */
sahilmgandhi 18:6a4db94011d3 45 } E_CAN_FRAME_TYPE;
sahilmgandhi 18:6a4db94011d3 46
sahilmgandhi 18:6a4db94011d3 47 /**
sahilmgandhi 18:6a4db94011d3 48 * @details CAN message structure.
sahilmgandhi 18:6a4db94011d3 49 */
sahilmgandhi 18:6a4db94011d3 50 typedef struct {
sahilmgandhi 18:6a4db94011d3 51 uint32_t IdType; /*!< Identifier Type */
sahilmgandhi 18:6a4db94011d3 52 uint32_t FrameType; /*!< Frame Type */
sahilmgandhi 18:6a4db94011d3 53 uint32_t Id; /*!< Message Identifier */
sahilmgandhi 18:6a4db94011d3 54 uint8_t DLC; /*!< Data Length Code */
sahilmgandhi 18:6a4db94011d3 55 uint8_t Data[8]; /*!< Data byte 0 ~ 7 */
sahilmgandhi 18:6a4db94011d3 56 } STR_CANMSG_T;
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 /**
sahilmgandhi 18:6a4db94011d3 59 * @details CAN mask message structure.
sahilmgandhi 18:6a4db94011d3 60 */
sahilmgandhi 18:6a4db94011d3 61 typedef struct {
sahilmgandhi 18:6a4db94011d3 62 uint8_t u8Xtd; /*!< Extended Identifier */
sahilmgandhi 18:6a4db94011d3 63 uint8_t u8Dir; /*!< Message Direction */
sahilmgandhi 18:6a4db94011d3 64 uint32_t u32Id; /*!< Message Identifier */
sahilmgandhi 18:6a4db94011d3 65 uint8_t u8IdType; /*!< Identifier Type */
sahilmgandhi 18:6a4db94011d3 66 } STR_CANMASK_T;
sahilmgandhi 18:6a4db94011d3 67
sahilmgandhi 18:6a4db94011d3 68 /**
sahilmgandhi 18:6a4db94011d3 69 * @details CAN operation mode: normal/basic mode.
sahilmgandhi 18:6a4db94011d3 70 */
sahilmgandhi 18:6a4db94011d3 71 typedef enum {
sahilmgandhi 18:6a4db94011d3 72 CAN_NORMAL_MODE = 1, /*!< Normal Mode */
sahilmgandhi 18:6a4db94011d3 73 CAN_BASIC_MODE = 2 /*!< Basic Mode */
sahilmgandhi 18:6a4db94011d3 74 } CAN_MODE_SELECT;
sahilmgandhi 18:6a4db94011d3 75
sahilmgandhi 18:6a4db94011d3 76 #define ALL_MSG 32 /*!< All Message ram number */
sahilmgandhi 18:6a4db94011d3 77 #define MSG(id) id /*!< Message ram number */
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 /*@}*/ /* end of group NUC472_442_CAN_EXPORTED_TYPEDEF */
sahilmgandhi 18:6a4db94011d3 81
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 /** @addtogroup NUC472_442_CAN_EXPORTED_FUNCTIONS CAN Exported Functions
sahilmgandhi 18:6a4db94011d3 84 @{
sahilmgandhi 18:6a4db94011d3 85 */
sahilmgandhi 18:6a4db94011d3 86
sahilmgandhi 18:6a4db94011d3 87 /**
sahilmgandhi 18:6a4db94011d3 88 * @brief Get interrupt status
sahilmgandhi 18:6a4db94011d3 89 *
sahilmgandhi 18:6a4db94011d3 90 * @param[in] can The base address of can module
sahilmgandhi 18:6a4db94011d3 91 *
sahilmgandhi 18:6a4db94011d3 92 * @return CAN module status register value
sahilmgandhi 18:6a4db94011d3 93 * \hideinitializer
sahilmgandhi 18:6a4db94011d3 94 */
sahilmgandhi 18:6a4db94011d3 95 #define CAN_GET_INT_STATUS(can) (can->STATUS)
sahilmgandhi 18:6a4db94011d3 96
sahilmgandhi 18:6a4db94011d3 97 /**
sahilmgandhi 18:6a4db94011d3 98 * @brief Get specified interrupt pending status
sahilmgandhi 18:6a4db94011d3 99 *
sahilmgandhi 18:6a4db94011d3 100 * @param[in] can The base address of can module
sahilmgandhi 18:6a4db94011d3 101 *
sahilmgandhi 18:6a4db94011d3 102 * @return The source of the interrupt.
sahilmgandhi 18:6a4db94011d3 103 * \hideinitializer
sahilmgandhi 18:6a4db94011d3 104 */
sahilmgandhi 18:6a4db94011d3 105 #define CAN_GET_INT_PENDING_STATUS(can) (can->IIDR)
sahilmgandhi 18:6a4db94011d3 106
sahilmgandhi 18:6a4db94011d3 107 /**
sahilmgandhi 18:6a4db94011d3 108 * @brief Disable Wakeup function
sahilmgandhi 18:6a4db94011d3 109 *
sahilmgandhi 18:6a4db94011d3 110 * @param[in] can The base address of can module
sahilmgandhi 18:6a4db94011d3 111 *
sahilmgandhi 18:6a4db94011d3 112 * @return None
sahilmgandhi 18:6a4db94011d3 113 * \hideinitializer
sahilmgandhi 18:6a4db94011d3 114 */
sahilmgandhi 18:6a4db94011d3 115 #define CAN_DISABLE_WAKEUP(can) (can->WU_IE = 0)
sahilmgandhi 18:6a4db94011d3 116
sahilmgandhi 18:6a4db94011d3 117 /**
sahilmgandhi 18:6a4db94011d3 118 * @brief Enable Wakeup function
sahilmgandhi 18:6a4db94011d3 119 *
sahilmgandhi 18:6a4db94011d3 120 * @param[in] can The base address of can module
sahilmgandhi 18:6a4db94011d3 121 *
sahilmgandhi 18:6a4db94011d3 122 * @return None
sahilmgandhi 18:6a4db94011d3 123 * \hideinitializer
sahilmgandhi 18:6a4db94011d3 124 */
sahilmgandhi 18:6a4db94011d3 125 #define CAN_ENABLE_WAKEUP(can) (can->WU_IE = CAN_WUEN_WAKUP_EN_Msk)
sahilmgandhi 18:6a4db94011d3 126
sahilmgandhi 18:6a4db94011d3 127 /**
sahilmgandhi 18:6a4db94011d3 128 * @brief Get specified Message Object new data into bit value
sahilmgandhi 18:6a4db94011d3 129 *
sahilmgandhi 18:6a4db94011d3 130 * @param[in] can The base address of can module
sahilmgandhi 18:6a4db94011d3 131 * @param[in] u32MsgNum Specified Message Object number. (0 ~ 31)
sahilmgandhi 18:6a4db94011d3 132 *
sahilmgandhi 18:6a4db94011d3 133 * @return Specified Message Object new data into bit value.
sahilmgandhi 18:6a4db94011d3 134 * \hideinitializer
sahilmgandhi 18:6a4db94011d3 135 */
sahilmgandhi 18:6a4db94011d3 136 #define CAN_GET_NEW_DATA_IN_BIT(can, u32MsgNum) (u32MsgNum < 16 ? can->NDAT1 & (1 << u32MsgNum) : can->NDAT2 & (1 << (u32MsgNum-16)))
sahilmgandhi 18:6a4db94011d3 137
sahilmgandhi 18:6a4db94011d3 138
sahilmgandhi 18:6a4db94011d3 139 /*---------------------------------------------------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 140 /* Define CAN functions prototype */
sahilmgandhi 18:6a4db94011d3 141 /*---------------------------------------------------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 142 uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate);
sahilmgandhi 18:6a4db94011d3 143 uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode);
sahilmgandhi 18:6a4db94011d3 144 int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg);
sahilmgandhi 18:6a4db94011d3 145 int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg);
sahilmgandhi 18:6a4db94011d3 146 void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum);
sahilmgandhi 18:6a4db94011d3 147 void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask);
sahilmgandhi 18:6a4db94011d3 148 void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask);
sahilmgandhi 18:6a4db94011d3 149 int32_t CAN_SetMultiRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32MsgCount, uint32_t u32IDType, uint32_t u32ID);
sahilmgandhi 18:6a4db94011d3 150 int32_t CAN_SetRxMsg(CAN_T *tCAN, uint32_t u32MsgNum , uint32_t u32IDType, uint32_t u32ID);
sahilmgandhi 18:6a4db94011d3 151 int32_t CAN_SetTxMsg(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg);
sahilmgandhi 18:6a4db94011d3 152 int32_t CAN_TriggerTxMsg(CAN_T *tCAN, uint32_t u32MsgNum);
sahilmgandhi 18:6a4db94011d3 153 uint32_t CAN_GetCANBitRate(CAN_T *tCAN);
sahilmgandhi 18:6a4db94011d3 154 void CAN_EnterInitMode(CAN_T *tCAN);
sahilmgandhi 18:6a4db94011d3 155 void CAN_LeaveInitMode(CAN_T *tCAN);
sahilmgandhi 18:6a4db94011d3 156 void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask);
sahilmgandhi 18:6a4db94011d3 157 void CAN_LeaveTestMode(CAN_T *tCAN);
sahilmgandhi 18:6a4db94011d3 158
sahilmgandhi 18:6a4db94011d3 159 /*@}*/ /* end of group NUC472_442_CAN_EXPORTED_FUNCTIONS */
sahilmgandhi 18:6a4db94011d3 160
sahilmgandhi 18:6a4db94011d3 161 /*@}*/ /* end of group NUC472_442_CAN_Driver */
sahilmgandhi 18:6a4db94011d3 162
sahilmgandhi 18:6a4db94011d3 163 /*@}*/ /* end of group NUC472_442_Device_Driver */
sahilmgandhi 18:6a4db94011d3 164
sahilmgandhi 18:6a4db94011d3 165 #ifdef __cplusplus
sahilmgandhi 18:6a4db94011d3 166 }
sahilmgandhi 18:6a4db94011d3 167 #endif
sahilmgandhi 18:6a4db94011d3 168
sahilmgandhi 18:6a4db94011d3 169 #endif //__CAN_H__
sahilmgandhi 18:6a4db94011d3 170
sahilmgandhi 18:6a4db94011d3 171 /*** (C) COPYRIGHT 2013 Nuvoton Technology Corp. ***/
sahilmgandhi 18:6a4db94011d3 172
sahilmgandhi 18:6a4db94011d3 173
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sahilmgandhi 18:6a4db94011d3 176