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/*****************************************************************************
* DISCLAIMER
* This software is supplied by Renesas Electronics Corporation and is only
* intended for use with Renesas products. No other uses are authorized. This
* software is owned by Renesas Electronics Corporation and is protected under
* all applicable laws, including copyright laws.
* THIS SOFTWARE IS PROVIDED "AS IS" AND RENESAS MAKES NO WARRANTIES REGARDING
* THIS SOFTWARE, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING BUT NOT
* LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
* AND NON-INFRINGEMENT. ALL SUCH WARRANTIES ARE EXPRESSLY DISCLAIMED.
* TO THE MAXIMUM EXTENT PERMITTED NOT PROHIBITED BY LAW, NEITHER RENESAS
* ELECTRONICS CORPORATION NOR ANY OF ITS AFFILIATED COMPANIES SHALL BE LIABLE
* FOR ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR
* ANY REASON RELATED TO THIS SOFTWARE, EVEN IF RENESAS OR ITS AFFILIATES HAVE
* BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
* Renesas reserves the right, without notice, to make changes to this software
* and to discontinue the availability of this software. By using this software,
* you agree to the additional terms and conditions found by accessing the
* following link:
* http://www.renesas.com/disclaimer
*
* Copyright (C) 2016 Renesas Electronics Corporation. All rights reserved.
*****************************************************************************/
/*******************************************************************************
* File Name : port.h
* Description : This file is for port define.
*************************************************************************z*****/
#ifndef _RSCAN_H_
#define _RSCAN_H_
#include "r_typedefs.h"
/******************************************************************************
Macro definitions
******************************************************************************/
#define RSCAN_BUS_OFF 0x10UL
#define RSCAN_ERR_PASSIVE 0x8UL
#define CAN_GRAMINIT_ON (0x8UL)
#define CAN_GSLPSTS_ON (0x4UL)
#define CAN_GRSTSTS_ON (0x1UL)
#define CAN_CSLPSTS_ON (0x4UL)
#define CAN_CHLTSTS_ON (0x2UL)
#define CAN_CRSTSTS_ON (0x1UL)
#define CAN_TMTRM_ON (0x8U)
#define CAN_TMTR_ON (0x1U)
#define CAN_AFLDAE_ON (0x100UL)
#define CAN_GSLPR_MASK (0x4UL)
#define CAN_GMDC_MASK (0x3UL)
#define CAN_CSLPR_MASK (0x4UL)
#define CAN_CHMDC_MASK (0x3UL)
#define CAN_RFE_MASK (0x1UL)
#define CAN_CFE_MASK (0x1UL)
#define CAN_RFE_ON (0x1UL)
#define CAN_CFE_ON (0x1UL)
/******************************************************************************
Baud rate setting
The bit time can be divided into four segments according to the CAN
specifications, the synchronization segment (Sync_Seg), the propagation time
segment (Prop_Seg), the phase buffer segment 1 (Phase_Seg1), and the phase
buffer segment 2 (Phase_Seg2). The sample point, the point of time at which the
bus level is read and interpreted as the value of that respective bit, is
located at the end of Phase_Seg1.
|<----------------------------- A bit time ---------------------------->|
---------------------------------------------------------------------------
| Sync_Seg | Prop_Seg | Phase_Seg1 | Phase_Seg2 |
---------------------------------------------------------------------------
|<-SJW->| |<-SJW->|
|<- 1 Tq ->|<-------------- T_SEG1 ------------->|<----- T_SEG2 ----->|
^
|
Sampling point
Each segment consists of a programmable number of time quanta(Tq), which is a
multiple of the time quantum that is defined by source clock and a prescaler.
SS = 1 Tq fixed
Set TSEG1 to a range of 4 Tq to 16 Tq
Set TSEG2 to a range of 2 Tq to 8 Tq
Set SJW to a range of 1 Tq to 4 Tq
Set SS + TSEG1 + TSEG2 to a range of 8 Tq to 25 Tq
TSEG1 > TSEG2 >= SJW
The time quantum is configured as
Tq = 1 / (Source Clock Freq / PRESCALER)
-------------------------------------------------------------------------------
Parameter | Description
-------------+-----------------------------------------------------------------
Sync_Seg |The SS is a segment that performs synchronization by monitoring
|the edge from recessive to dominant bits in the Interframe Space.
|Interframe Space consists of Intermission, Suspend Transmission,
|and Bus Idle. All nodes can start transmission during Bus Idle.
-------------+-----------------------------------------------------------------
|Prop_Seg is the part of the bit time that is used to compensate
|for the physical delay times within the network.
Prop_Seg |
& |Phase_Seg1 is used to compensate for edge phase errors before the
Phase_Seg1 |sampling point. Can be lengthened by the resynchronization jump
|width.
|
|T_SEG1 = Prop_Seg + Phase_Seg1
-------------+-----------------------------------------------------------------
|Phase_Seg2 is used to compensate for edge phase errors after the
|sampling point. Can be shortened by the resynchronization jump
Phase_Seg2 |width.
|
|T_SEG2 = Phase_Seg2
-------------+-----------------------------------------------------------------
|The SJW is a length to extend or reduce the time segment to
SJW |compensate for an error in phase due to phase error.
-------------------------------------------------------------------------------
Baud rate = 1 / [(Sync_Seg + Prop_Seg + Phase_Seg1 + Phase_Seg2) Tq)]
= Source Clock Freq / [PRESCALER * (1 + T_SEG1 + T_SEG2)]
******************************************************************************/
#define DIM( X ) (sizeof(X) / sizeof((X)[0]))
typedef void (*CAN0_Data_Ind_Func)(uint32_t Identifier, uint8_t DLC, uint8_t Data[]);
typedef void (*CAN1_Data_Ind_Func)(uint32_t Identifier, uint8_t DLC, uint8_t Data[]);
typedef void (*CAN2_Data_Ind_Func)(uint32_t Identifier, uint8_t DLC, uint8_t Data[]);
typedef enum
{
CAN_Set_Complete = 0,
CAN_Set_ERROR_BUSOFF,
CAN_Set_ERROR_OverMaxLen,
CAN_Set_ERROR_MsgFull,
} CAN_SetState;
typedef enum
{
CANFD_FILTER_N_A = 0,
CANFD_FILTER_ID_LIST,
CANFD_FILTER_ID_RANGE,
} CANFD_Filter_Cfg_Type_en_t;
typedef struct
{
CANFD_Filter_Cfg_Type_en_t CfgType;
uint16_t IDNum;
uint32_t *pIDs;
} CANFD_Filter_Cfg_st_t;
typedef struct
{
CANFD_Filter_Cfg_st_t NM0StdFilter;
CANFD_Filter_Cfg_st_t Diag0StdFilter;
CANFD_Filter_Cfg_st_t Msg0StdFilter;
CANFD_Filter_Cfg_st_t NM0ExtFilter;
CANFD_Filter_Cfg_st_t Diag0ExtFilter;
CANFD_Filter_Cfg_st_t Msg0ExtFilter;
CANFD_Filter_Cfg_st_t NM1StdFilter;
CANFD_Filter_Cfg_st_t Diag1StdFilter;
CANFD_Filter_Cfg_st_t Msg1StdFilter;
CANFD_Filter_Cfg_st_t NM1ExtFilter;
CANFD_Filter_Cfg_st_t Diag1ExtFilter;
CANFD_Filter_Cfg_st_t Msg1ExtFilter;
CANFD_Filter_Cfg_st_t NM2StdFilter;
CANFD_Filter_Cfg_st_t Diag2StdFilter;
CANFD_Filter_Cfg_st_t Msg2StdFilter;
CANFD_Filter_Cfg_st_t NM2ExtFilter;
CANFD_Filter_Cfg_st_t Diag2ExtFilter;
CANFD_Filter_Cfg_st_t Msg2ExtFilter;
CAN0_Data_Ind_Func pfCAN0DataIndCb;
CAN1_Data_Ind_Func pfCAN1DataIndCb;
CAN2_Data_Ind_Func pfCAN2DataIndCb;
} CANFD_Filter_Init_st_t;
//CAN_Data_Ind_Func pfCANDataIndCb;
typedef struct
{
volatile uint32_t ID : 29; /*!< Identifier */
uint32_t RSVD1 : 1; /*!< Reserved bits */
volatile uint32_t RTR : 1; /*!< Remote/Data frame */
volatile uint32_t XTD : 1; /*!< Extended/Standard Identifier */
} CANFD_Rx_Buffer_R0_st_t;
typedef struct
{
volatile uint32_t RXTS : 16; /*!< Rx Timestamp */
uint32_t RSVD1 : 12; /*!< Reserved bits */
volatile uint32_t CFDLC : 4; /*!< Data length */
} CANFD_Rx_Buffer_R1_st_t;
typedef struct stc_canfd_rx_buffer
{
CANFD_Rx_Buffer_R0_st_t R0_f; /*!< Rx buffer element for R0. See #stc_canfd_r0_t. */
CANFD_Rx_Buffer_R1_st_t R1_f; /*!< Rx buffer element for R1. See #stc_canfd_r1_t. */
uint8_t Data[8]; /*!< Rx buffer element for Rn */
} CANFD_Rx_Buffer_st_t;
/*CAN�˲�����*/
typedef struct
{
volatile uint32_t GAFLID : 29; /*!< Filter ID */
volatile uint32_t GAFLLB : 1; /*!< Receive Rule Target Message Select */
volatile uint32_t GAFLRTR : 1; /*!< RTR Select */
volatile uint32_t GAFLIDE : 1; /*!< IDE Select */
} CANFD_ID_F0_st_t;
typedef struct
{
volatile uint32_t GAFLIDM : 29; /*!< ID Mask */
uint32_t RESERVED : 1; /*!< Reserved bits */
volatile uint32_t GAFLRTRM : 1; /*!< RTR Mask */
volatile uint32_t GAFLIDEM : 1; /*!< IDE Mask */
} CANFD_ID_F1_st_t;
typedef struct
{
uint32_t Reserved : 8; /*!< Reserved bits */
volatile uint32_t GAFLRMDP : 7; /*!< Receive Buffer Number Select */
volatile uint32_t GAFLRMV : 1; /*!< Receive Buffer Enable */
volatile uint32_t GAFLPTR : 12; /*!< Receive Rule Label */
volatile uint32_t GAFLDLC : 4; /*!< Receive Rule DLC */
} CANFD_ID_F2_st_t;
typedef struct
{
volatile uint32_t GAFLFDP1 : 8; /*!< Receive FIFO Buffer x Select */
volatile uint32_t GAFLFDP2 : 18; /*!< Transmit/Receive FIFO Buffer k Select */
volatile uint32_t Reserved : 6; /*!< Reserved bits */
} CANFD_ID_F3_st_t;
typedef struct stc_extid_filter
{
CANFD_ID_F0_st_t F0_f; /*!< Message ID Filter Element for F0. See #stc_canfd_f0_t. */
CANFD_ID_F1_st_t F1_f; /*!< Message ID Filter Element for F1. See #stc_canfd_f1_t. */
CANFD_ID_F2_st_t F2_f; /*!< Message ID Filter Element for F2. See #stc_canfd_f2_t. */
CANFD_ID_F3_st_t F3_f; /*!< Message ID Filter Element for F3. See #stc_canfd_f3_t. */
} CANFD_ID_Filter_st_t;
#define CANFD_CH0_MSG_RAM_ADDR ((uint32_t)(&RSCAN0) + 0x00000500UL)
typedef struct
{
uint16_t : 1;
uint16_t ADERR : 1;
uint16_t B0ERR : 1;
uint16_t B1ERR : 1;
uint16_t CERR : 1;
uint16_t AERR : 1;
uint16_t FERR : 1;
uint16_t SERR : 1;
uint16_t ALF : 1;
uint16_t BLF : 1;
uint16_t OVLF : 1;
uint16_t BORF : 1;
uint16_t BOEF : 1;
uint16_t EPF : 1;
uint16_t EWF : 1;
uint16_t BEF : 1;
} ErrorStatus;
#define Standard_ID 0
#define Extended_ID 1
#define Data_frame 0
#define Remote_frame 1
typedef struct
{
uint32_t MsgID;
uint8_t MsgStd;
uint8_t MsgRTR;
uint8_t MsgDLC;
uint8_t Msg[8];
} CAN_Msg_t;
//#define usetx_buffer
#define userx_buffer
#define usetxrx_buffer
/******************************************************************************
Exported global variables and functions (to be accessed by other files)
******************************************************************************/
uint8_t CAN_Send_TxBuf0(uint32_t can_id, uint8_t dlc, uint8_t msg[8]);
uint8_t CAN_Receive_RxBuf0(uint32_t * p_can_id, uint8_t * p_dlc, uint8_t msg[8]);
void CANFD_SetTX_Abort(void);
uint8_t RSCAN0_SendCH0_TxBuf0(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf1(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf2(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf3(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf4(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf5(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf6(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf7(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf8(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf9(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf10(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf11(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf12(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf13(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf14(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t RSCAN0_SendCH0_TxBuf15(uint32_t can_id, uint8_t dlc, uint8_t ide, uint8_t msg[8]);
uint8_t CAN0_Receive_FIFOBuf0(void);
uint32_t Get_CAN0_Status(void);
uint8_t Get_CAN0_TxBuf1_Status(void);
void CAN0_Channel0_To_StopMode(void);
extern void RSCAN0_Init( void );
void RSCAN0_CH_Init (CANFD_Filter_Init_st_t *pFilterInit , uint32_t IDFilterNum);
extern void RSCan0_CH0_Write(CAN_Msg_t * Msg);
extern uint8_t CAN0_Receive_FIFO7(void);
extern uint8_t Get_CH0_ErrPassiveStatus(void);
extern void RSCAN0_FIFO_Rx_ISR(void);
extern void RSCAN0_CH0_Tx_ISR(void);
extern void RSCAN0_CH0_Rx_ISR(void);
extern void RSCAN0_CH0_Err_ISR(void);
extern uint8_t Get_CH0_BusOffStatus(void);
extern void CH0_BusOff_Recovery(void);
extern void RSCAN0_CH0_Wakeup_ISR(void);
extern CAN_SetState CAN_CH0_Data_Request(uint32_t Identifier, uint8_t MsgStd, uint8_t MsgRTR, uint8_t DLC, uint8_t *Data);
extern void RSCAN0_CH1_Err_ISR(void);
extern void RSCAN0_CH2_Err_ISR(void);
extern void RSCAN0_CH1_Rx_ISR(void);
extern void RSCAN0_CH2_Rx_ISR(void);
extern void RSCAN0_CH1_Tx_ISR(void);
extern void RSCAN0_CH2_Tx_ISR(void);
uint8_t Get_CH0_RecStatus(void);
#endif