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Diffstat (limited to '')
-rw-r--r-- | bsps/arm/imxrt/mcux-sdk/drivers/flexcan/fsl_flexcan.h | 2241 |
1 files changed, 2241 insertions, 0 deletions
diff --git a/bsps/arm/imxrt/mcux-sdk/drivers/flexcan/fsl_flexcan.h b/bsps/arm/imxrt/mcux-sdk/drivers/flexcan/fsl_flexcan.h new file mode 100644 index 0000000000..b3d1c46a33 --- /dev/null +++ b/bsps/arm/imxrt/mcux-sdk/drivers/flexcan/fsl_flexcan.h @@ -0,0 +1,2241 @@ +/* + * Copyright (c) 2015, Freescale Semiconductor, Inc. + * Copyright 2016-2022 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. */ +#define FSL_FLEXCAN_DRIVER_VERSION (MAKE_VERSION(2, 9, 2)) +/*@}*/ + +#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 length helper macro. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) +#define DLC_LENGTH_DECODE(dlc) (((dlc) <= 8U) ? (dlc) : (((dlc) <= 12U) ? (((dlc)-6U) * 4U) : (((dlc)-11U) * 16U))) +#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 Legacy 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. */ + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! @brief FlexCAN Enhanced Rx FIFO Filter and Mask helper macro. */ +#define ENHANCED_RX_FIFO_FSCH(x) (((uint32_t)(((uint32_t)(x)) << 30)) & 0xC0000000U) +#define RTR_STD_HIGH(x) (((uint32_t)(((uint32_t)(x)) << 27)) & 0x08000000U) +#define RTR_STD_LOW(x) (((uint32_t)(((uint32_t)(x)) << 11)) & 0x00000800U) +#define RTR_EXT(x) (((uint32_t)(((uint32_t)(x)) << 29)) & 0x40000000U) +#define ID_STD_LOW(id) (((uint32_t)id) & 0x7FFU) +#define ID_STD_HIGH(id) (((uint32_t)(((uint32_t)(id)) << 16)) & 0x07FF0000U) +#define ID_EXT(id) (((uint32_t)id) & 0x1FFFFFFFU) + +/*! Standard ID filter element with filter + mask scheme. */ +#define FLEXCAN_ENHANCED_RX_FIFO_STD_MASK_AND_FILTER(id, rtr, id_mask, rtr_mask) \ + (ENHANCED_RX_FIFO_FSCH(0x0) | RTR_STD_HIGH(rtr) | ID_STD_HIGH(id) | RTR_STD_LOW(rtr_mask) | ID_STD_LOW(id_mask)) +/*! Standard ID filter element with filter range. */ +#define FLEXCAN_ENHANCED_RX_FIFO_STD_FILTER_WITH_RANGE(id_upper, rtr, id_lower, rtr_mask) \ + (ENHANCED_RX_FIFO_FSCH(0x1) | RTR_STD_HIGH(rtr) | ID_STD_HIGH(id_upper) | RTR_STD_LOW(rtr_mask) | \ + ID_STD_LOW(id_lower)) +/*! Standard ID filter element with two filters without masks. */ +#define FLEXCAN_ENHANCED_RX_FIFO_STD_TWO_FILTERS(id1, rtr1, id2, rtr2) \ + (ENHANCED_RX_FIFO_FSCH(0x2) | RTR_STD_HIGH(rtr1) | ID_STD_HIGH(id1) | RTR_STD_LOW(rtr2) | ID_STD_LOW(id2)) +/*! Extended ID filter element with filter + mask scheme low word. */ +#define FLEXCAN_ENHANCED_RX_FIFO_EXT_MASK_AND_FILTER_LOW(id, rtr) \ + (ENHANCED_RX_FIFO_FSCH(0x0) | RTR_EXT(rtr) | ID_EXT(id)) +/*! Extended ID filter element with filter + mask scheme high word. */ +#define FLEXCAN_ENHANCED_RX_FIFO_EXT_MASK_AND_FILTER_HIGH(id_mask, rtr_mask) \ + (ENHANCED_RX_FIFO_FSCH(0x0) | RTR_EXT(rtr_mask) | ID_EXT(id_mask)) +/*! Extended ID filter element with range scheme low word. */ +#define FLEXCAN_ENHANCED_RX_FIFO_EXT_FILTER_WITH_RANGE_LOW(id_upper, rtr) \ + (ENHANCED_RX_FIFO_FSCH(0x1) | RTR_EXT(rtr) | ID_EXT(id_upper)) +/*! Extended ID filter element with range scheme high word. */ +#define FLEXCAN_ENHANCED_RX_FIFO_EXT_FILTER_WITH_RANGE_HIGH(id_lower, rtr_mask) \ + (ENHANCED_RX_FIFO_FSCH(0x1) | RTR_EXT(rtr_mask) | ID_EXT(id_lower)) +/*! Extended ID filter element with two filters without masks low word. */ +#define FLEXCAN_ENHANCED_RX_FIFO_EXT_TWO_FILTERS_LOW(id2, rtr2) \ + (ENHANCED_RX_FIFO_FSCH(0x2) | RTR_EXT(rtr2) | ID_EXT(id2)) +/*! Extended ID filter element with two filters without masks high word. */ +#define FLEXCAN_ENHANCED_RX_FIFO_EXT_TWO_FILTERS_HIGH(id1, rtr1) \ + (ENHANCED_RX_FIFO_FSCH(0x2) | RTR_EXT(rtr1) | ID_EXT(id1)) +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +/*! @brief FlexCAN Pretended Networking ID Mask helper macro. */ +#define FLEXCAN_PN_STD_MASK(id, rtr) \ + ((uint32_t)((uint32_t)(rtr) << CAN_FLT_ID1_FLT_RTR_SHIFT) | \ + FLEXCAN_ID_STD(id)) /*!< Standard Rx Message Buffer Mask helper macro. */ +#define FLEXCAN_PN_EXT_MASK(id, rtr) \ + ((uint32_t)CAN_FLT_ID1_FLT_IDE_MASK | (uint32_t)((uint32_t)(rtr) << CAN_FLT_ID1_FLT_RTR_SHIFT) | \ + FLEXCAN_ID_EXT(id)) /*!< Extend Rx Message Buffer Mask helper macro. */ +#endif + +/*! @brief FlexCAN interrupt/status flag helper macro. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +#define FLEXCAN_PN_INT_MASK(x) (((uint64_t)(((uint64_t)(x)) << 32)) & 0x3000000000000U) +#define FLEXCAN_PN_INT_UNMASK(x) (((uint32_t)(((uint64_t)(x)) >> 32)) & 0x00030000U) +#define FLEXCAN_PN_STATUS_MASK(x) (((uint64_t)(((uint64_t)(x)) << 16)) & 0x300000000U) +#define FLEXCAN_PN_STATUS_UNMASK(x) (((uint32_t)(((uint64_t)(x)) >> 16)) & 0x00030000U) +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +#define FLEXCAN_EFIFO_INT_MASK(x) (((uint64_t)(((uint64_t)(x)) << 32)) & 0xF000000000000000U) +#define FLEXCAN_EFIFO_INT_UNMASK(x) (((uint32_t)(((uint64_t)(x)) >> 32)) & 0xF0000000U) +#define FLEXCAN_EFIFO_STATUS_MASK(x) (((uint64_t)(((uint64_t)(x)) << 32)) & 0xF003000000000000U) +#define FLEXCAN_EFIFO_STATUS_UNMASK(x) (((uint32_t)(((uint64_t)(x)) >> 32)) & 0xF0030000U) +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +#define FLEXCAN_MECR_INT_MASK(x) (((uint64_t)(((uint64_t)(x)) << 16)) & 0xD00000000U) +#define FLEXCAN_MECR_INT_UNMASK(x) (((uint32_t)(((uint64_t)(x)) >> 16)) & 0x000D0000U) +#define FLEXCAN_MECR_STATUS_MASK(x) (((uint64_t)(((uint64_t)(x)) << 34)) & 0x34003400000000U) +#define FLEXCAN_MECR_STATUS_UNMASK(x) (((uint32_t)(((uint64_t)(x)) >> 34)) & 0x000D000DU) +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) +#define FLEXCAN_ERROR_AND_STATUS_INIT_FLAG \ + ((uint32_t)kFLEXCAN_ErrorOverrunFlag | (uint32_t)kFLEXCAN_FDErrorIntFlag | (uint32_t)kFLEXCAN_BusoffDoneIntFlag | \ + (uint32_t)kFLEXCAN_TxWarningIntFlag | (uint32_t)kFLEXCAN_RxWarningIntFlag | (uint32_t)kFLEXCAN_BusOffIntFlag | \ + (uint32_t)kFLEXCAN_ErrorIntFlag | FLEXCAN_MEMORY_ERROR_INIT_FLAG) +#else +#define FLEXCAN_ERROR_AND_STATUS_INIT_FLAG \ + ((uint32_t)kFLEXCAN_TxWarningIntFlag | (uint32_t)kFLEXCAN_RxWarningIntFlag | (uint32_t)kFLEXCAN_BusOffIntFlag | \ + (uint32_t)kFLEXCAN_ErrorIntFlag | FLEXCAN_MEMORY_ERROR_INIT_FLAG) +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +#define FLEXCAN_WAKE_UP_FLAG \ + ((uint32_t)kFLEXCAN_WakeUpIntFlag | (uint64_t)kFLEXCAN_PNMatchIntFlag | (uint64_t)kFLEXCAN_PNTimeoutIntFlag) +#else +#define FLEXCAN_WAKE_UP_FLAG ((uint32_t)kFLEXCAN_WakeUpIntFlag) +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +#define FLEXCAN_MEMORY_ERROR_INIT_FLAG ((uint64_t)kFLEXCAN_AllMemoryErrorFlag) +#else +#define FLEXCAN_MEMORY_ERROR_INIT_FLAG (0U) +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +#define FLEXCAN_MEMORY_ENHANCED_RX_FIFO_INIT_FLAG \ + ((uint64_t)kFLEXCAN_ERxFifoUnderflowIntFlag | (uint64_t)kFLEXCAN_ERxFifoOverflowIntFlag | \ + (uint64_t)kFLEXCAN_ERxFifoWatermarkIntFlag | (uint64_t)kFLEXCAN_ERxFifoDataAvlIntFlag) +#endif +/*! @brief FlexCAN Enhanced Rx FIFO base address helper macro. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +#define E_RX_FIFO(base) ((uint32_t)(base) + 0x2000U) +#else +#define FLEXCAN_MEMORY_ENHANCED_RX_FIFO_INIT_FLAG (0U) +#endif +/*! @brief FlexCAN transfer status. */ +enum +{ + 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_RxFifoDisabled = + MAKE_STATUS(kStatusGroup_FLEXCAN, 10), /*!< Rx Message FIFO is disabled during reading. */ + kStatus_FLEXCAN_ErrorStatus = MAKE_STATUS(kStatusGroup_FLEXCAN, 11), /*!< FlexCAN Module Error and Status. */ + kStatus_FLEXCAN_WakeUp = MAKE_STATUS(kStatusGroup_FLEXCAN, 12), /*!< FlexCAN is waken up from STOP mode. */ + kStatus_FLEXCAN_UnHandled = MAKE_STATUS(kStatusGroup_FLEXCAN, 13), /*!< UnHadled Interrupt asserted. */ + kStatus_FLEXCAN_RxRemote = MAKE_STATUS(kStatusGroup_FLEXCAN, 14), /*!< Rx Remote Message Received in Mail box. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + kStatus_FLEXCAN_RxFifoUnderflow = + MAKE_STATUS(kStatusGroup_FLEXCAN, 15), /*!< Enhanced Rx Message FIFO is underflow. */ +#endif +}; + +/*! @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. + * @deprecated Do not use the kFLEXCAN_ClkSrcOs. It has been superceded kFLEXCAN_ClkSrc0 + * @deprecated Do not use the kFLEXCAN_ClkSrcPeri. It has been superceded kFLEXCAN_ClkSrc1 + */ +typedef enum _flexcan_clock_source +{ + kFLEXCAN_ClkSrcOsc = 0x0U, /*!< FlexCAN Protocol Engine clock from Oscillator. */ + kFLEXCAN_ClkSrcPeri = 0x1U, /*!< FlexCAN Protocol Engine clock from Peripheral Clock. */ + kFLEXCAN_ClkSrc0 = 0x0U, /*!< FlexCAN Protocol Engine clock selected by user as SRC == 0. */ + kFLEXCAN_ClkSrc1 = 0x1U, /*!< FlexCAN Protocol Engine clock selected by user as SRC == 1. */ +} 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 Payload 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; + +/*! + * @brief FlexCAN CAN FD frame supporting data length (available DLC values). + * + * For Tx, when the Data size corresponding to DLC value stored in the MB selected for transmission is larger than the + * MB Payload size, FlexCAN adds the necessary number of bytes with constant 0xCC pattern to complete the expected DLC. + * For Rx, when the Data size corresponding to DLC value received from the CAN bus is larger than the MB Payload size, + * the high order bytes that do not fit the Payload size will lose. + */ +enum _flexcan_fd_frame_length +{ + kFLEXCAN_0BperFrame = 0x0U, /*!< Frame contains 0 valid data bytes. */ + kFLEXCAN_1BperFrame, /*!< Frame contains 1 valid data bytes. */ + kFLEXCAN_2BperFrame, /*!< Frame contains 2 valid data bytes. */ + kFLEXCAN_3BperFrame, /*!< Frame contains 3 valid data bytes. */ + kFLEXCAN_4BperFrame, /*!< Frame contains 4 valid data bytes. */ + kFLEXCAN_5BperFrame, /*!< Frame contains 5 valid data bytes. */ + kFLEXCAN_6BperFrame, /*!< Frame contains 6 valid data bytes. */ + kFLEXCAN_7BperFrame, /*!< Frame contains 7 valid data bytes. */ + kFLEXCAN_8BperFrame, /*!< Frame contains 8 valid data bytes. */ + kFLEXCAN_12BperFrame, /*!< Frame contains 12 valid data bytes. */ + kFLEXCAN_16BperFrame, /*!< Frame contains 16 valid data bytes. */ + kFLEXCAN_20BperFrame, /*!< Frame contains 20 valid data bytes. */ + kFLEXCAN_24Bperrame, /*!< Frame contains 24 valid data bytes. */ + kFLEXCAN_32BperFrame, /*!< Frame contains 32 valid data bytes. */ + kFLEXCAN_48BperFrame, /*!< Frame contains 48 valid data bytes. */ + kFLEXCAN_64BperFrame, /*!< Frame contains 64 valid data bytes. */ +}; +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! @brief FlexCAN Enhanced Rx Fifo DMA transfer per read length enumerations. */ +typedef enum _flexcan_efifo_dma_per_read_length +{ + kFLEXCAN_1WordPerRead = 0x0U, /*!< Transfer 1 32-bit words (CS).*/ + kFLEXCAN_2WordPerRead, /*!< Transfer 2 32-bit words (CS + ID).*/ + kFLEXCAN_3WordPerRead, /*!< Transfer 3 32-bit words (CS + ID + 1~4 bytes data).*/ + kFLEXCAN_4WordPerRead, /*!< Transfer 4 32-bit words (CS + ID + 5~8 bytes data).*/ + kFLEXCAN_5WordPerRead, /*!< Transfer 5 32-bit words (CS + ID + 9~12 bytes data).*/ + kFLEXCAN_6WordPerRead, /*!< Transfer 6 32-bit words (CS + ID + 13~16 bytes data).*/ + kFLEXCAN_7WordPerRead, /*!< Transfer 7 32-bit words (CS + ID + 17~20 bytes data).*/ + kFLEXCAN_8WordPerRead, /*!< Transfer 8 32-bit words (CS + ID + 21~24 bytes data).*/ + kFLEXCAN_9WordPerRead, /*!< Transfer 9 32-bit words (CS + ID + 25~28 bytes data).*/ + kFLEXCAN_10WordPerRead, /*!< Transfer 10 32-bit words (CS + ID + 29~32 bytes data).*/ + kFLEXCAN_11WordPerRead, /*!< Transfer 11 32-bit words (CS + ID + 33~36 bytes data).*/ + kFLEXCAN_12WordPerRead, /*!< Transfer 12 32-bit words (CS + ID + 37~40 bytes data).*/ + kFLEXCAN_13WordPerRead, /*!< Transfer 13 32-bit words (CS + ID + 41~44 bytes data).*/ + kFLEXCAN_14WordPerRead, /*!< Transfer 14 32-bit words (CS + ID + 45~48 bytes data).*/ + kFLEXCAN_15WordPerRead, /*!< Transfer 15 32-bit words (CS + ID + 49~52 bytes data).*/ + kFLEXCAN_16WordPerRead, /*!< Transfer 16 32-bit words (CS + ID + 53~56 bytes data).*/ + kFLEXCAN_17WordPerRead, /*!< Transfer 17 32-bit words (CS + ID + 57~60 bytes data).*/ + kFLEXCAN_18WordPerRead, /*!< Transfer 18 32-bit words (CS + ID + 61~64 bytes data).*/ + kFLEXCAN_19WordPerRead /*!< Transfer 19 32-bit words (CS + ID + 64 bytes data + ID HIT).*/ +} flexcan_efifo_dma_per_read_length_t; +#endif + +/*! + * @brief FlexCAN Enhanced/Legacy Rx FIFO priority. + * + * The matching process starts from the Rx MB(or Enhanced/Legacy Rx FIFO) with higher priority. + * If no MB(or Enhanced/Legacy Rx FIFO filter) is satisfied, the matching process goes on with + * the Enhanced/Legacy 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 Enhanced/Legacy Rx FIFO first. */ +} flexcan_rx_fifo_priority_t; + +/*! + * @brief FlexCAN interrupt enable enumerations. + * + * This provides constants for the FlexCAN interrupt enable enumerations for use in the FlexCAN functions. + * @note FlexCAN Message Buffers and Legacy Rx FIFO interrupts not included in. + */ +enum _flexcan_interrupt_enable +{ + kFLEXCAN_BusOffInterruptEnable = CAN_CTRL1_BOFFMSK_MASK, /*!< Bus Off interrupt, use bit 15. */ + kFLEXCAN_ErrorInterruptEnable = CAN_CTRL1_ERRMSK_MASK, /*!< CAN Error interrupt, use bit 14. */ + kFLEXCAN_TxWarningInterruptEnable = CAN_CTRL1_TWRNMSK_MASK, /*!< Tx Warning interrupt, use bit 11. */ + kFLEXCAN_RxWarningInterruptEnable = CAN_CTRL1_RWRNMSK_MASK, /*!< Rx Warning interrupt, use bit 10. */ + kFLEXCAN_WakeUpInterruptEnable = CAN_MCR_WAKMSK_MASK, /*!< Self Wake Up interrupt, use bit 26. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) + kFLEXCAN_FDErrorInterruptEnable = CAN_CTRL2_ERRMSK_FAST_MASK, /*!< CAN FD Error interrupt, use bit 31. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + /*! PN Match Wake Up interrupt, use high word bit 17. */ + kFLEXCAN_PNMatchWakeUpInterruptEnable = FLEXCAN_PN_INT_MASK(CAN_CTRL1_PN_WTOF_MSK_MASK), + /*! PN Timeout Wake Up interrupt, use high word bit 16. */ + kFLEXCAN_PNTimeoutWakeUpInterruptEnable = FLEXCAN_PN_INT_MASK(CAN_CTRL1_PN_WUMF_MSK_MASK), +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + /*!< Enhanced Rx FIFO Underflow interrupt, use high word bit 31. */ + kFLEXCAN_ERxFifoUnderflowInterruptEnable = FLEXCAN_EFIFO_INT_MASK(CAN_ERFIER_ERFUFWIE_MASK), + /*!< Enhanced Rx FIFO Overflow interrupt, use high word bit 30. */ + kFLEXCAN_ERxFifoOverflowInterruptEnable = FLEXCAN_EFIFO_INT_MASK(CAN_ERFIER_ERFOVFIE_MASK), + /*!< Enhanced Rx FIFO Watermark interrupt, use high word bit 29. */ + kFLEXCAN_ERxFifoWatermarkInterruptEnable = FLEXCAN_EFIFO_INT_MASK(CAN_ERFIER_ERFWMIIE_MASK), + /*!< Enhanced Rx FIFO Data Avilable interrupt, use high word bit 28. */ + kFLEXCAN_ERxFifoDataAvlInterruptEnable = FLEXCAN_EFIFO_INT_MASK(CAN_ERFIER_ERFDAIE_MASK), +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + /*! Host Access With Non-Correctable Errors interrupt, use high word bit 0. */ + kFLEXCAN_HostAccessNCErrorInterruptEnable = FLEXCAN_MECR_INT_MASK(CAN_MECR_HANCEI_MSK_MASK), + /*! FlexCAN Access With Non-Correctable Errors interrupt, use high word bit 2. */ + kFLEXCAN_FlexCanAccessNCErrorInterruptEnable = FLEXCAN_MECR_INT_MASK(CAN_MECR_FANCEI_MSK_MASK), + /*! Host or FlexCAN Access With Correctable Errors interrupt, use high word bit 3. */ + kFLEXCAN_HostOrFlexCanCErrorInterruptEnable = FLEXCAN_MECR_INT_MASK(CAN_MECR_CEI_MSK_MASK), +#endif +}; + +/*! + * @brief FlexCAN status flags. + * + * This provides constants for the FlexCAN status flags for use in the FlexCAN functions. + * @note The CPU read action clears the bits corresponding to the FlEXCAN_ErrorFlag macro, therefore user need to + * read status flags 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_ErrorOverrunFlag = CAN_ESR1_ERROVR_MASK, /*!< Error Overrun Status. */ + kFLEXCAN_FDErrorIntFlag = CAN_ESR1_ERRINT_FAST_MASK, /*!< CAN FD Error Interrupt Flag. */ + kFLEXCAN_BusoffDoneIntFlag = CAN_ESR1_BOFFDONEINT_MASK, /*!< Bus Off process completed Interrupt Flag. */ +#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_IdleFlag = CAN_ESR1_IDLE_MASK, /*!< FlexCAN In IDLE Status. */ + kFLEXCAN_FaultConfinementFlag = CAN_ESR1_FLTCONF_MASK, /*!< FlexCAN Fault Confinement State. */ + 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, /*!< CAN Error Interrupt Flag. */ + kFLEXCAN_WakeUpIntFlag = CAN_ESR1_WAKINT_MASK, /*!< Self Wake-Up Interrupt Flag. */ + kFLEXCAN_ErrorFlag = + (uint32_t)(/*!< All FlexCAN Read Clear 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_TXWRN_MASK | CAN_ESR1_RXWRN_MASK | CAN_ESR1_BIT1ERR_MASK | CAN_ESR1_BIT0ERR_MASK | + CAN_ESR1_ACKERR_MASK | CAN_ESR1_CRCERR_MASK | CAN_ESR1_FRMERR_MASK | CAN_ESR1_STFERR_MASK), +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + kFLEXCAN_PNMatchIntFlag = FLEXCAN_PN_STATUS_MASK(CAN_WU_MTC_WUMF_MASK), /*!< PN Matching Event Interrupt Flag. */ + kFLEXCAN_PNTimeoutIntFlag = FLEXCAN_PN_STATUS_MASK(CAN_WU_MTC_WTOF_MASK), /*!< PN Timeout Event Interrupt Flag. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + kFLEXCAN_ERxFifoUnderflowIntFlag = + FLEXCAN_EFIFO_STATUS_MASK(CAN_ERFSR_ERFUFW_MASK), /*!< Enhanced Rx FIFO underflow Interrupt Flag. */ + kFLEXCAN_ERxFifoOverflowIntFlag = + FLEXCAN_EFIFO_STATUS_MASK(CAN_ERFSR_ERFOVF_MASK), /*!< Enhanced Rx FIFO overflow Interrupt Flag. */ + kFLEXCAN_ERxFifoWatermarkIntFlag = + FLEXCAN_EFIFO_STATUS_MASK(CAN_ERFSR_ERFWMI_MASK), /*!< Enhanced Rx FIFO watermark Interrupt Flag. */ + kFLEXCAN_ERxFifoDataAvlIntFlag = + FLEXCAN_EFIFO_STATUS_MASK(CAN_ERFSR_ERFDA_MASK), /*!< Enhanced Rx FIFO data available Interrupt Flag. */ + kFLEXCAN_ERxFifoEmptyFlag = FLEXCAN_EFIFO_STATUS_MASK(CAN_ERFSR_ERFE_MASK), /*!< Enhanced Rx FIFO empty status. */ + kFLEXCAN_ERxFifoFullFlag = FLEXCAN_EFIFO_STATUS_MASK(CAN_ERFSR_ERFF_MASK), /*!< Enhanced Rx FIFO full status. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + /*! Host Access With Non-Correctable Error Interrupt Flag. */ + kFLEXCAN_HostAccessNonCorrectableErrorIntFlag = FLEXCAN_MECR_INT_MASK(CAN_ERRSR_HANCEIF_MASK), + /*! FlexCAN Access With Non-Correctable Error Interrupt Flag. */ + kFLEXCAN_FlexCanAccessNonCorrectableErrorIntFlag = FLEXCAN_MECR_INT_MASK(CAN_ERRSR_FANCEIF_MASK), + /*! Correctable Error Interrupt Flag. */ + kFLEXCAN_CorrectableErrorIntFlag = FLEXCAN_MECR_INT_MASK(CAN_ERRSR_CEIF_MASK), + /*! Host Access With Non-Correctable Error Interrupt Overrun Flag. */ + kFLEXCAN_HostAccessNonCorrectableErrorOverrunFlag = FLEXCAN_MECR_INT_MASK(CAN_ERRSR_HANCEIOF_MASK), + /*! FlexCAN Access With Non-Correctable Error Interrupt Overrun Flag. */ + kFLEXCAN_FlexCanAccessNonCorrectableErrorOverrunFlag = FLEXCAN_MECR_INT_MASK(CAN_ERRSR_FANCEIOF_MASK), + /*! Correctable Error Interrupt Overrun Flag. */ + kFLEXCAN_CorrectableErrorOverrunFlag = FLEXCAN_MECR_INT_MASK(CAN_ERRSR_CEIOF_MASK), + /*! All Memory Error Flags. */ + kFLEXCAN_AllMemoryErrorFlag = + (kFLEXCAN_HostAccessNonCorrectableErrorIntFlag | kFLEXCAN_FlexCanAccessNonCorrectableErrorIntFlag | + kFLEXCAN_CorrectableErrorIntFlag | kFLEXCAN_HostAccessNonCorrectableErrorOverrunFlag | + kFLEXCAN_FlexCanAccessNonCorrectableErrorOverrunFlag | kFLEXCAN_CorrectableErrorOverrunFlag) +#endif +}; + +/*! + * @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. */ +#endif + kFLEXCAN_TxErrorWarningFlag = CAN_ESR1_TXWRN_MASK, /*!< Tx Error Warning Status. */ + kFLEXCAN_RxErrorWarningFlag = CAN_ESR1_RXWRN_MASK, /*!< Rx Error Warning Status. */ + 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 Legacy Rx FIFO status flags. + * + * The FlexCAN Legacy 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 +{ + 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(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +/*! + * @brief FlexCAN Memory Error Type. + */ +typedef enum _flexcan_memory_error_type +{ + kFLEXCAN_CorrectableError = 0U, /*!< The memory error is correctable which means on bit error. */ + kFLEXCAN_NonCorrectableError /*!< The memory error is non-correctable which means two bit errors. */ +} flexcan_memory_error_type_t; + +/*! + * @brief FlexCAN Memory Access Type. + */ +typedef enum _flexcan_memory_access_type +{ + kFLEXCAN_MoveOutFlexCanAccess = 0U, /*!< The memory error was detected during move-out FlexCAN access. */ + kFLEXCAN_MoveInAccess, /*!< The memory error was detected during move-in FlexCAN access. */ + kFLEXCAN_TxArbitrationAccess, /*!< The memory error was detected during Tx Arbitration FlexCAN access. */ + kFLEXCAN_RxMatchingAccess, /*!< The memory error was detected during Rx Matching FlexCAN access. */ + kFLEXCAN_MoveOutHostAccess /*!< The memory error was detected during Rx Matching Host (CPU) access. */ +} flexcan_memory_access_type_t; + +/*! + * @brief FlexCAN Memory Error Byte Syndrome. + */ +typedef enum _flexcan_byte_error_syndrome +{ + kFLEXCAN_NoError = 0U, /*!< No bit error in this byte. */ + kFLEXCAN_ParityBits0Error = 1U, /*!< Parity bit 0 error in this byte. */ + kFLEXCAN_ParityBits1Error = 2U, /*!< Parity bit 1 error in this byte. */ + kFLEXCAN_ParityBits2Error = 4U, /*!< Parity bit 2 error in this byte. */ + kFLEXCAN_ParityBits3Error = 8U, /*!< Parity bit 3 error in this byte. */ + kFLEXCAN_ParityBits4Error = 16U, /*!< Parity bit 4 error in this byte. */ + kFLEXCAN_DataBits0Error = 28U, /*!< Data bit 0 error in this byte. */ + kFLEXCAN_DataBits1Error = 22U, /*!< Data bit 1 error in this byte. */ + kFLEXCAN_DataBits2Error = 19U, /*!< Data bit 2 error in this byte. */ + kFLEXCAN_DataBits3Error = 25U, /*!< Data bit 3 error in this byte. */ + kFLEXCAN_DataBits4Error = 26U, /*!< Data bit 4 error in this byte. */ + kFLEXCAN_DataBits5Error = 7U, /*!< Data bit 5 error in this byte. */ + kFLEXCAN_DataBits6Error = 21U, /*!< Data bit 6 error in this byte. */ + kFLEXCAN_DataBits7Error = 14U, /*!< Data bit 7 error in this byte. */ + kFLEXCAN_AllZeroError = 6U, /*!< All-zeros non-correctable error in this byte. */ + kFLEXCAN_AllOneError = 31U, /*!< All-ones non-correctable error in this byte. */ + kFLEXCAN_NonCorrectableErrors /*!< Non-correctable error in this byte. */ +} flexcan_byte_error_syndrome_t; + +/*! + * @brief FlexCAN memory error register status structure + * + * This structure contains the memory access properties that caused a memory error access. + * It is used as the parameter of FLEXCAN_GetMemoryErrorReportStatus() function. And user can + * use FLEXCAN_GetMemoryErrorReportStatus to get the status of the last memory error access. + */ +typedef struct _flexcan_memory_error_report_status +{ + flexcan_memory_error_type_t errorType; /*!< The type of memory error that giving rise to the report. */ + flexcan_memory_access_type_t accessType; /*!< The type of memory access that giving rise to the memory error. */ + uint16_t accessAddress; /*!< The address where memory error detected. */ + uint32_t errorData; /*!< The raw data word read from memory with error. */ + struct + { + bool byteIsRead; /*!< The byte n (0~3) was read or not. */ + /*!< The type of error and which bit in byte (n) is affected by the error. */ + flexcan_byte_error_syndrome_t bitAffected; + } byteStatus[4]; +} flexcan_memory_error_report_status_t; +#endif + +#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 data 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 FD message frame structure. + * + * The CAN FD message supporting up to sixty four bytes can be used for a data frame, depending on the length + * selected for the message buffers. The length should be a enumeration member, see @ref _flexcan_fd_frame_length. + */ +typedef struct _flexcan_fd_frame +{ + struct + { + uint32_t timestamp : 16; /*!< FlexCAN internal Free-Running Counter Time Stamp. */ + uint32_t length : 4; /*!< CAN FD frame data length code (DLC), range see @ref _flexcan_fd_frame_length, When the + length <= 8, it equal to the data length, otherwise the number of valid frame data is + not equal to the length value. user can + use DLC_LENGTH_DECODE(length) macro to get the number of valid data bytes. */ + 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 : 6; + 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. */ + }; + }; +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + /*! @note ID HIT offset is changed dynamically according to data length code (DLC), when DLC is 15, they will be + * located below. Using FLEXCAN_FixEnhancedRxFifoFrameIdHit API is recommended to ensure this idhit value is + * correct.*/ + uint32_t idhit; /*!< CAN Enhanced Rx FIFO filter hit id (This value is only used in Enhanced Rx FIFO receive + mode). */ +#endif +} flexcan_fd_frame_t; +#endif + +/*! @brief FlexCAN protocol timing characteristic configuration structure. */ +typedef struct _flexcan_timing_config +{ + uint16_t preDivider; /*!< Classic CAN or CAN FD nominal phase bit rate prescaler. */ + uint8_t rJumpwidth; /*!< Classic CAN or CAN FD nominal phase Re-sync Jump Width. */ + uint8_t phaseSeg1; /*!< Classic CAN or CAN FD nominal phase Segment 1. */ + uint8_t phaseSeg2; /*!< Classic CAN or CAN FD nominal phase Segment 2. */ + uint8_t propSeg; /*!< Classic CAN or CAN FD nominal phase Propagation Segment. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) + uint16_t fpreDivider; /*!< CAN FD data phase bit rate prescaler. */ + uint8_t frJumpwidth; /*!< CAN FD data phase Re-sync Jump Width. */ + uint8_t fphaseSeg1; /*!< CAN FD data phase Phase Segment 1. */ + uint8_t fphaseSeg2; /*!< CAN FD data phase Phase Segment 2. */ + uint8_t fpropSeg; /*!< CAN FD data phase Propagation Segment. */ +#endif +} flexcan_timing_config_t; + +/*! @brief FlexCAN module configuration structure. + * @deprecated Do not use the baudRate. It has been superceded bitRate + * @deprecated Do not use the baudRateFD. It has been superceded bitRateFD + */ +typedef struct _flexcan_config +{ + union + { + struct + { + uint32_t baudRate; /*!< FlexCAN bit rate in bps, for classical CAN or CANFD nominal phase. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) + uint32_t baudRateFD; /*!< FlexCAN FD bit rate in bps, for CANFD data phase. */ +#endif + }; + struct + { + uint32_t bitRate; /*!< FlexCAN bit rate in bps, for classical CAN or CANFD nominal phase. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) + uint32_t bitRateFD; /*!< FlexCAN FD bit rate in bps, for CANFD data phase. */ +#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 and Queue feature. */ + bool disableSelfReception; /*!< Enable or Disable Self Reflection. */ + bool enableListenOnlyMode; /*!< Enable or Disable Listen Only Mode. */ +#if !(defined(FSL_FEATURE_FLEXCAN_HAS_NO_SUPV_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_NO_SUPV_SUPPORT) + bool enableSupervisorMode; /*!< Enable or Disable Supervisor Mode, enable this mode will make registers allow only + Supervisor access. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) + bool enableDoze; /*!< Enable or Disable Doze Mode. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + bool enablePretendedeNetworking; /*!< Enable or Disable the Pretended Networking mode. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + bool enableMemoryErrorControl; /*!< Enable or Disable the memory errors detection and correction mechanism. */ + bool enableNonCorrectableErrorEnterFreeze; /*!< Enable or Disable Non-Correctable Errors In FlexCAN Access Put + Device In Freeze Mode. */ +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) + bool enableTransceiverDelayMeasure; /*!< Enable or Disable the transceiver delay measurement, when it is enabled, + then the secondary sample point position is determined by the sum of the + transceiver delay measurement plus the enhanced TDC offset. */ +#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; + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +/*! @brief FlexCAN Pretended Networking match source selection. */ +typedef enum _flexcan_pn_match_source +{ + kFLEXCAN_PNMatSrcID = 0U, /*!< Message match with ID filtering. */ + kFLEXCAN_PNMatSrcIDAndData, /*!< Message match with ID filtering and payload filtering. */ +} flexcan_pn_match_source_t; + +/*! @brief FlexCAN Pretended Networking mode match type. */ +typedef enum _flexcan_pn_match_mode +{ + kFLEXCAN_PNMatModeEqual = 0x0U, /*!< Match upon ID/Payload contents against an exact target value. */ + kFLEXCAN_PNMatModeGreater, /*!< Match upon an ID/Payload value greater than or equal to a specified target value. + */ + kFLEXCAN_PNMatModeSmaller, /*!< Match upon an ID/Payload value smaller than or equal to a specified target value. + */ + kFLEXCAN_PNMatModeRange, /*!< Match upon an ID/Payload value inside a range, greater than or equal to a specified + lower limit, and smaller than or equal to a specified upper limit */ +} flexcan_pn_match_mode_t; + +/*! + * @brief FlexCAN Pretended Networking configuration structure + * + * This structure is used as the parameter of FLEXCAN_SetPNConfig() function. + * The FLEXCAN_SetPNConfig() function is used to configure FlexCAN Networking work mode. + */ +typedef struct _flexcan_pn_config +{ + bool enableTimeout; /*!< Enable or Disable timeout event trigger wakeup.*/ + uint16_t timeoutValue; /*!< The timeout value that generates a wakeup event, the counter timer is incremented based + on 64 times the CAN Bit Time unit. */ + bool enableMatch; /*!< Enable or Disable match event trigger wakeup.*/ + flexcan_pn_match_source_t matchSrc; /*!< Selects the match source (ID and/or data match) to trigger wakeup. */ + uint8_t matchNum; /*!< The number of times a given message must match the predefined ID and/or data before + generating a wakeup event, range in 0x1 ~ 0xFF. */ + flexcan_pn_match_mode_t idMatchMode; /*!< The ID match type. */ + flexcan_pn_match_mode_t dataMatchMode; /*!< The data match type. */ + uint32_t idLower; /*!< The ID target values 1 which used either for ID match "equal to", "smaller than", + "greater than" comparisons, or as the lower limit value in ID match "range detection". */ + uint32_t idUpper; /*!< The ID target values 2 which used only as the upper limit value in ID match "range + detection" or used to store the ID mask in "equal to". */ + uint8_t lengthLower; /*!< The lower limit for length of data bytes which used only in data match "range + detection". Range in 0x0 ~ 0x8.*/ + uint8_t lengthUpper; /*!< The upper limit for length of data bytes which used only in data match "range + detection". Range in 0x0 ~ 0x8.*/ + union + { + /*!< The data target values 1 which used either for data match "equal to", "smaller than", + "greater than" comparisons, or as the lower limit value in data match "range + detection". */ + struct + { + uint32_t lowerWord0; /*!< CAN Frame payload word0. */ + uint32_t lowerWord1; /*!< CAN Frame payload word1. */ + }; + struct + { + uint8_t lowerByte3; /*!< CAN Frame payload byte3. */ + uint8_t lowerByte2; /*!< CAN Frame payload byte2. */ + uint8_t lowerByte1; /*!< CAN Frame payload byte1. */ + uint8_t lowerByte0; /*!< CAN Frame payload byte0. */ + uint8_t lowerByte7; /*!< CAN Frame payload byte7. */ + uint8_t lowerByte6; /*!< CAN Frame payload byte6. */ + uint8_t lowerByte5; /*!< CAN Frame payload byte5. */ + uint8_t lowerByte4; /*!< CAN Frame payload byte4. */ + }; + }; + union + { + /*!< The data target values 2 which used only as the upper limit value in data match "range + detection" or used to store the data mask in "equal to". */ + struct + { + uint32_t upperWord0; /*!< CAN Frame payload word0. */ + uint32_t upperWord1; /*!< CAN Frame payload word1. */ + }; + struct + { + uint8_t upperByte3; /*!< CAN Frame payload byte3. */ + uint8_t upperByte2; /*!< CAN Frame payload byte2. */ + uint8_t upperByte1; /*!< CAN Frame payload byte1. */ + uint8_t upperByte0; /*!< CAN Frame payload byte0. */ + uint8_t upperByte7; /*!< CAN Frame payload byte7. */ + uint8_t upperByte6; /*!< CAN Frame payload byte6. */ + uint8_t upperByte5; /*!< CAN Frame payload byte5. */ + uint8_t upperByte4; /*!< CAN Frame payload byte4. */ + }; + }; +} flexcan_pn_config_t; +#endif + +/*! @brief FlexCAN Legacy Rx FIFO configuration structure. */ +typedef struct _flexcan_rx_fifo_config +{ + uint32_t *idFilterTable; /*!< Pointer to the FlexCAN Legacy Rx FIFO identifier filter table. */ + uint8_t idFilterNum; /*!< The FlexCAN Legacy Rx FIFO Filter elements quantity. */ + flexcan_rx_fifo_filter_type_t idFilterType; /*!< The FlexCAN Legacy Rx FIFO Filter type. */ + flexcan_rx_fifo_priority_t priority; /*!< The FlexCAN Legacy Rx FIFO receive priority. */ +} flexcan_rx_fifo_config_t; + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! @brief FlexCAN Enhanced Rx FIFO Standard ID filter element structure. */ +typedef struct _flexcan_enhanced_rx_fifo_std_id_filter +{ + uint32_t filterType : 2; /*!< FlexCAN internal Free-Running Counter Time Stamp. */ + uint32_t : 2; + uint32_t rtr1 : 1; /*!< CAN FD frame data length code (DLC), range see @ref _flexcan_fd_frame_length, When the + length <= 8, it equal to the data length, otherwise the number of valid frame data is + not equal to the length value. user can + use DLC_LENGTH_DECODE(length) macro to get the number of valid data bytes. */ + uint32_t std1 : 11; /*!< CAN Frame Type(DATA or REMOTE). */ + uint32_t : 4; + uint32_t rtr2 : 1; /*!< CAN Frame Identifier(STD or EXT format). */ + uint32_t std2 : 11; /*!< Substitute Remote request. */ +} flexcan_enhanced_rx_fifo_std_id_filter_t; + +/*! @brief FlexCAN Enhanced Rx FIFO Extended ID filter element structure. */ +typedef struct _flexcan_enhanced_rx_fifo_ext_id_filter +{ + uint32_t filterType : 2; /*!< FlexCAN internal Free-Running Counter Time Stamp. */ + uint32_t rtr1 : 1; /*!< CAN FD frame data length code (DLC), range see @ref _flexcan_fd_frame_length, When the + length <= 8, it equal to the data length, otherwise the number of valid frame data is + not equal to the length value. user can + use DLC_LENGTH_DECODE(length) macro to get the number of valid data bytes. */ + uint32_t std1 : 29; /*!< CAN Frame Type(DATA or REMOTE). */ + uint32_t : 2; + uint32_t rtr2 : 1; /*!< CAN Frame Identifier(STD or EXT format). */ + uint32_t std2 : 29; /*!< Substitute Remote request. */ +} flexcan_enhanced_rx_fifo_ext_id_filter_t; +/*! @brief FlexCAN Enhanced Rx FIFO configuration structure. */ +typedef struct _flexcan_enhanced_rx_fifo_config +{ + uint32_t *idFilterTable; /*!< Pointer to the FlexCAN Enhanced Rx FIFO identifier filter table, each table member + occupies 32 bit word, table size should be equal to idFilterNum. There are two types of + Enhanced Rx FIFO filter elements that can be stored in table : extended-ID filter element + (1 word, occupie 1 table members) and standard-ID filter element (2 words, occupies 2 table + members), the extended-ID filter element needs to be placed in front of the table. */ + uint8_t idFilterPairNum; /*!< idFilterPairNum is the Enhanced Rx FIFO identifier filter element pair numbers, + each pair of filter elements occupies 2 words and can consist of one extended ID filter + element or two standard ID filter elements. */ + uint8_t extendIdFilterNum; /*!< The number of extended ID filter element items in the FlexCAN enhanced Rx FIFO + identifier filter table, each extended-ID filter element occupies 2 words, + extendIdFilterNum need less than or equal to idFilterPairNum. */ + uint8_t fifoWatermark; /*!< (fifoWatermark + 1) is the minimum number of CAN messages stored in the Enhanced RX FIFO + which can trigger FIFO watermark interrupt or a DMA request. */ + flexcan_efifo_dma_per_read_length_t dmaPerReadLength; /*!< Define the length of each read of the Enhanced RX FIFO + element by the DAM, see @ref _flexcan_fd_frame_length. */ + flexcan_rx_fifo_priority_t priority; /*!< The FlexCAN Enhanced Rx FIFO receive priority. */ +} flexcan_enhanced_rx_fifo_config_t; +#endif + +/*! @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 +{ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + flexcan_fd_frame_t *framefd; /*!< The buffer of CAN Message to be received from Enhanced Rx FIFO. */ +#endif + flexcan_frame_t *frame; /*!< The buffer of CAN Message to be received from Legacy Rx FIFO. */ + size_t frameNum; /*!< Number of CAN Message need to be received from Legacy or Ehanced 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. + */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +#define FLEXCAN_CALLBACK(x) \ + void(x)(CAN_Type * base, flexcan_handle_t * handle, status_t status, uint64_t result, void *userData) +typedef void (*flexcan_transfer_callback_t)( + CAN_Type *base, flexcan_handle_t *handle, status_t status, uint64_t result, void *userData); +#else +#define FLEXCAN_CALLBACK(x) \ + void(x)(CAN_Type * base, flexcan_handle_t * handle, status_t status, uint32_t result, void *userData) +typedef void (*flexcan_transfer_callback_t)( + CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData); +#endif + +/*! @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]; /*!< The buffer for received CAN data from Message Buffers. */ +#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]; /*!< The buffer for received CAN FD data from Message Buffers. */ +#endif + flexcan_frame_t *volatile rxFifoFrameBuf; /*!< The buffer for received CAN data from Legacy Rx FIFO. */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + flexcan_fd_frame_t *volatile rxFifoFDFrameBuf; /*!< The buffer for received CAN FD data from Ehanced Rx FIFO. */ +#endif + size_t rxFifoFrameNum; /*!< The number of CAN messages remaining to be received from Legacy or Ehanced Rx FIFO. */ + size_t rxFifoTransferTotalNum; /*!< Total CAN Message number need to be received from Legacy or Ehanced Rx FIFO. */ + volatile uint8_t mbState[CAN_WORD1_COUNT]; /*!< Message Buffer transfer state. */ + volatile uint8_t rxFifoState; /*!< Rx FIFO transfer state. */ + volatile uint32_t timestamp[CAN_WORD1_COUNT]; /*!< Mailbox transfer timestamp. */ +}; + +/****************************************************************************** + * API + *****************************************************************************/ + +#if defined(__cplusplus) +extern "C" { +#endif + +/*! + * @name Initialization and deinitialization + * @{ + */ + +/*! + * @brief Enter FlexCAN Freeze Mode. + * + * This function makes the FlexCAN work under Freeze Mode. + * + * @param base FlexCAN peripheral base address. + */ +void FLEXCAN_EnterFreezeMode(CAN_Type *base); + +/*! + * @brief Exit FlexCAN Freeze Mode. + * + * This function makes the FlexCAN leave Freeze Mode. + * + * @param base FlexCAN peripheral base address. + */ +void FLEXCAN_ExitFreezeMode(CAN_Type *base); + +/*! + * @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 bit Rates for classical CAN. + * + * This function use to calculates the Classical CAN timing values according to the given bit rate. The Calculated + * timing values will be set in CTRL1/CBT/ENCBT register. The calculation is based on the recommendation of the CiA 301 + * v4.2.0 and previous version document. + * + * @param base FlexCAN peripheral base address. + * @param bitRate The classical CAN speed in bps defined by user, should be less than or equal to 1Mbps. + * @param sourceClock_Hz The Source clock frequency in Hz. + * @param pTimingConfig Pointer to the FlexCAN timing configuration structure. + * + * @return TRUE if timing configuration found, FALSE if failed to find configuration. + */ +bool FLEXCAN_CalculateImprovedTimingValues(CAN_Type *base, + uint32_t bitRate, + uint32_t sourceClock_Hz, + flexcan_timing_config_t *pTimingConfig); + +/*! + * @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_ClkSrc0; + * flexcanConfig.bitRate = 1000000U; + * flexcanConfig.maxMbNum = 16; + * flexcanConfig.enableLoopBack = false; + * flexcanConfig.enableSelfWakeup = false; + * flexcanConfig.enableIndividMask = false; + * flexcanConfig.enableDoze = false; + * flexcanConfig.disableSelfReception = false; + * flexcanConfig.enableListenOnlyMode = false; + * flexcanConfig.timingConfig = timingConfig; + * FLEXCAN_Init(CAN0, &flexcanConfig, 40000000UL); + * @endcode + * + * @param base FlexCAN peripheral base address. + * @param pConfig 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 *pConfig, 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 bit rates for CANFD. + * + * This function use to calculates the CANFD timing values according to the given nominal phase bit rate and data phase + * bit rate. The Calculated timing values will be set in CBT/ENCBT and FDCBT/EDCBT registers. The calculation is based + * on the recommendation of the CiA 1301 v1.0.0 document. + * + * @param base FlexCAN peripheral base address. + * @param bitRate The CANFD bus control speed in bps defined by user. + * @param bitRateFD The CAN FD data phase speed in bps defined by user. Equal to bitRate means disable bit rate + * switching. + * @param sourceClock_Hz The Source clock frequency in Hz. + * @param pTimingConfig Pointer to the FlexCAN timing configuration structure. + * + * @return TRUE if timing configuration found, FALSE if failed to find configuration + */ +bool FLEXCAN_FDCalculateImprovedTimingValues(CAN_Type *base, + uint32_t bitRate, + uint32_t bitRateFD, + uint32_t sourceClock_Hz, + flexcan_timing_config_t *pTimingConfig); +/*! + * @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_ClkSrc0; + * flexcanConfig.bitRate = 1000000U; + * flexcanConfig.bitRateFD = 2000000U; + * flexcanConfig.maxMbNum = 16; + * flexcanConfig.enableLoopBack = false; + * flexcanConfig.enableSelfWakeup = false; + * flexcanConfig.enableIndividMask = false; + * flexcanConfig.disableSelfReception = false; + * flexcanConfig.enableListenOnlyMode = false; + * flexcanConfig.enableDoze = false; + * flexcanConfig.timingConfig = timingConfig; + * FLEXCAN_FDInit(CAN0, &flexcanConfig, 80000000UL, kFLEXCAN_16BperMB, true); + * @endcode + * + * @param base FlexCAN peripheral base address. + * @param pConfig Pointer to the user-defined configuration structure. + * @param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz. + * @param dataSize FlexCAN Message Buffer payload size. The actual transmitted or received CAN FD frame data size needs + * to be less than or equal to this value. + * @param brs True if bit rate switch is enabled in FD mode. + */ +void FLEXCAN_FDInit( + CAN_Type *base, const flexcan_config_t *pConfig, 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_ClkSrc0; + * flexcanConfig->bitRate = 1000000U; + * flexcanConfig->bitRateFD = 2000000U; + * flexcanConfig->maxMbNum = 16; + * flexcanConfig->enableLoopBack = false; + * flexcanConfig->enableSelfWakeup = false; + * flexcanConfig->enableIndividMask = false; + * flexcanConfig->disableSelfReception = false; + * flexcanConfig->enableListenOnlyMode = false; + * flexcanConfig->enableDoze = false; + * flexcanConfig->enableMemoryErrorControl = true; + * flexcanConfig->enableNonCorrectableErrorEnterFreeze = true; + * flexcanConfig.timingConfig = timingConfig; + * + * @param pConfig Pointer to the FlexCAN configuration structure. + */ +void FLEXCAN_GetDefaultConfig(flexcan_config_t *pConfig); + +/* @} */ + +/*! + * @name Configuration. + * @{ + */ + +/*! + * @brief Sets the FlexCAN classical CAN protocol timing characteristic. + * + * This function gives user settings to classical CAN or CAN FD nominal phase timing characteristic. + * The function is for an experienced user. For less experienced users, call the FLEXCAN_SetBitRate() instead. + * + * @note Calling FLEXCAN_SetTimingConfig() overrides the bit rate set in FLEXCAN_Init() or FLEXCAN_SetBitRate(). + * + * @param base FlexCAN peripheral base address. + * @param pConfig Pointer to the timing configuration structure. + */ +void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *pConfig); + +/*! + * @brief Set bit rate of FlexCAN classical CAN frame or CAN FD frame nominal phase. + * + * This function set the bit rate of classical CAN frame or CAN FD frame nominal phase base on + * FLEXCAN_CalculateImprovedTimingValues() API calculated timing values. + * + * @note Calling FLEXCAN_SetBitRate() overrides the bit rate set in FLEXCAN_Init(). + * + * @param base FlexCAN peripheral base address. + * @param sourceClock_Hz Source Clock in Hz. + * @param bitRate_Bps Bit rate in Bps. + * @return kStatus_Success - Set CAN baud rate (only Nominal phase) successfully. + */ +status_t FLEXCAN_SetBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t bitRate_Bps); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) +/*! + * @brief Sets the FlexCAN CANFD data phase timing characteristic. + * + * This function gives user settings to CANFD data phase timing characteristic. + * The function is for an experienced user. For less experienced users, call the FLEXCAN_SetFDBitRate() + * to set both Nominal/Data bit Rate instead. + * + * @note Calling FLEXCAN_SetFDTimingConfig() overrides the data phase bit rate set in + * FLEXCAN_FDInit()/FLEXCAN_SetFDBitRate(). + * + * @param base FlexCAN peripheral base address. + * @param pConfig Pointer to the timing configuration structure. + */ +void FLEXCAN_SetFDTimingConfig(CAN_Type *base, const flexcan_timing_config_t *pConfig); + +/*! + * @brief Set bit rate of FlexCAN FD frame. + * + * This function set the baud rate of FLEXCAN FD base on FLEXCAN_FDCalculateImprovedTimingValues() API calculated timing + * values. + * + * @param base FlexCAN peripheral base address. + * @param sourceClock_Hz Source Clock in Hz. + * @param bitRateN_Bps Nominal bit Rate in Bps. + * @param bitRateD_Bps Data bit Rate in Bps. + * @return kStatus_Success - Set CAN FD bit rate (include Nominal and Data phase) successfully. + */ +status_t FLEXCAN_SetFDBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t bitRateN_Bps, uint32_t bitRateD_Bps); +#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 pRxMbConfig 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 *pRxMbConfig, 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 pRxMbConfig 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 *pRxMbConfig, bool enable); +#endif + +/*! + * @brief Configures the FlexCAN Legacy Rx FIFO. + * + * This function configures the FlexCAN Rx FIFO with given configuration. + * @note Legacy Rx FIFO only can receive classic CAN message. + * + * @param base FlexCAN peripheral base address. + * @param pRxFifoConfig Pointer to the FlexCAN Legacy Rx FIFO configuration structure. Can be NULL when enable parameter + * is false. + * @param enable Enable/disable Legacy Rx FIFO. + * - true: Enable Legacy Rx FIFO. + * - false: Disable Legacy Rx FIFO. + */ +void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *pRxFifoConfig, bool enable); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! + * @brief Configures the FlexCAN Enhanced Rx FIFO. + * + * This function configures the Enhanced Rx FIFO with given configuration. + * @note Enhanced Rx FIFO support receive classic CAN or CAN FD messages, Legacy Rx FIFO and Enhanced Rx FIFO + * cannot be enabled at the same time. + * + * @param base FlexCAN peripheral base address. + * @param pConfig Pointer to the FlexCAN Enhanced Rx FIFO configuration structure. Can be NULL when enable parameter + * is false. + * @param enable Enable/disable Enhanced Rx FIFO. + * - true: Enable Enhanced Rx FIFO. + * - false: Disable Enhanced Rx FIFO. + */ +void FLEXCAN_SetEnhancedRxFifoConfig(CAN_Type *base, const flexcan_enhanced_rx_fifo_config_t *pConfig, bool enable); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +/*! + * @brief Configures the FlexCAN Pretended Networking mode. + * + * This function configures the FlexCAN Pretended Networking mode with given configuration. + * + * @param base FlexCAN peripheral base address. + * @param pConfig Pointer to the FlexCAN Rx FIFO configuration structure. + */ +void FLEXCAN_SetPNConfig(CAN_Type *base, const flexcan_pn_config_t *pConfig); +#endif +/* @} */ + +/*! + * @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. + */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +static inline uint64_t FLEXCAN_GetStatusFlags(CAN_Type *base) +{ + uint64_t tempflag = (uint64_t)base->ESR1; +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + /* Get PN Wake Up status. */ + tempflag |= FLEXCAN_PN_STATUS_MASK(base->WU_MTC); +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + /* Get Enhanced Rx FIFO status. */ + tempflag |= FLEXCAN_EFIFO_STATUS_MASK(base->ERFSR); +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + /* Get Memory Error status. */ + tempflag |= FLEXCAN_MECR_STATUS_MASK(base->ERRSR); +#endif + return tempflag; +} +#else +static inline uint32_t FLEXCAN_GetStatusFlags(CAN_Type *base) +{ + return base->ESR1; +} +#endif +/*! + * @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. + */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +static inline void FLEXCAN_ClearStatusFlags(CAN_Type *base, uint64_t mask) +{ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + /* Clear PN Wake Up status. */ + base->WU_MTC = FLEXCAN_PN_STATUS_UNMASK(mask); +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + /* Clear Enhanced Rx FIFO status. */ + base->ERFSR = FLEXCAN_EFIFO_STATUS_UNMASK(mask); +#endif +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + /* Clear Memory Error status. */ + base->ERRSR = FLEXCAN_MECR_STATUS_UNMASK(mask); +#endif + base->ESR1 = (uint32_t)(mask & 0xFFFFFFFFU); +} +#else +static inline void FLEXCAN_ClearStatusFlags(CAN_Type *base, uint32_t mask) +{ + /* Write 1 to clear status flag. */ + base->ESR1 = mask; +} +#endif +/*! + * @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) + uint64_t tempflag = (uint64_t)base->IFLAG1; + return (tempflag | (((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 +} + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +/*! + * @brief Gets the FlexCAN Memory Error Report registers status. + * + * This function gets the FlexCAN Memory Error Report registers status. + * + * @param base FlexCAN peripheral base address. + * @param errorStatus Pointer to FlexCAN Memory Error Report registers status structure. + */ +void FLEXCAN_GetMemoryErrorReportStatus(CAN_Type *base, flexcan_memory_error_report_status_t *errorStatus); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +/*! + * @brief Gets the FlexCAN Number of Matches when in Pretended Networking. + * + * This function gets the number of times a given message has matched the predefined filtering criteria for ID and/or PL + * before a wakeup event. + * + * @param base FlexCAN peripheral base address. + * @return The number of received wake up msessages. + */ +static inline uint8_t FLEXCAN_GetPNMatchCount(CAN_Type *base) +{ + return (uint8_t)((base->WU_MTC & CAN_WU_MTC_MCOUNTER_MASK) >> CAN_WU_MTC_MCOUNTER_SHIFT); +} +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! + * @brief Gets the number of FlexCAN Enhanced Rx FIFO available frames. + * + * This function gets the number of CAN messages stored in the Enhanced Rx FIFO. + * + * @param base FlexCAN peripheral base address. + * @return The number of available CAN messages stored in the Enhanced Rx FIFO. + */ +static inline uint32_t FLEXCAN_GetEnhancedFifoDataCount(CAN_Type *base) +{ + return (base->ERFSR & CAN_ERFSR_ERFEL_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. + */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +static inline void FLEXCAN_EnableInterrupts(CAN_Type *base, uint64_t mask) +#else +static inline void FLEXCAN_EnableInterrupts(CAN_Type *base, uint32_t mask) +#endif +{ + /* Solve Self Wake Up interrupt. */ + base->MCR |= (uint32_t)(mask & (uint32_t)kFLEXCAN_WakeUpInterruptEnable); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) + if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base)) + { + /* Solve CAN FD frames data phase error interrupt. */ + base->CTRL2 |= (uint32_t)(mask & (uint32_t)kFLEXCAN_FDErrorInterruptEnable); + } +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + /* Solve PN Wake Up interrupt. */ + base->CTRL1_PN |= FLEXCAN_PN_INT_UNMASK(mask); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + /* Solve Enhanced Rx FIFO interrupt. */ + base->ERFIER |= FLEXCAN_EFIFO_INT_UNMASK(mask); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + /* Solve Memory Error interrupt. */ + base->MECR |= FLEXCAN_MECR_INT_UNMASK(mask); +#endif + + /* Solve interrupt enable bits in CTRL1 register. */ + base->CTRL1 |= + (uint32_t)(mask & ((uint32_t)kFLEXCAN_BusOffInterruptEnable | (uint32_t)kFLEXCAN_ErrorInterruptEnable | + (uint32_t)kFLEXCAN_RxWarningInterruptEnable | (uint32_t)kFLEXCAN_TxWarningInterruptEnable)); +} + +/*! + * @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. + */ +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) || \ + (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) +static inline void FLEXCAN_DisableInterrupts(CAN_Type *base, uint64_t mask) +#else +static inline void FLEXCAN_DisableInterrupts(CAN_Type *base, uint32_t mask) +#endif +{ + /* Solve Wake Up Interrupt. */ + base->MCR &= ~(uint32_t)(mask & (uint32_t)kFLEXCAN_WakeUpInterruptEnable); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) + if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base)) + { + /* Solve CAN FD frames data phase error interrupt. */ + base->CTRL2 &= ~(uint32_t)(mask & (uint32_t)kFLEXCAN_FDErrorInterruptEnable); + } +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) + /* Solve PN Wake Up Interrupt. */ + base->CTRL1_PN &= ~FLEXCAN_PN_STATUS_UNMASK(mask); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) + /* Solve Enhanced Rx FIFO interrupt. */ + base->ERFIER &= ~FLEXCAN_EFIFO_INT_UNMASK(mask); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) + /* Solve Memory Error Interrupt. */ + base->MECR &= ~FLEXCAN_MECR_STATUS_UNMASK(mask); +#endif + + /* Solve interrupt enable bits in CTRL1 register. */ + base->CTRL1 &= + ~(uint32_t)(mask & ((uint32_t)kFLEXCAN_BusOffInterruptEnable | (uint32_t)kFLEXCAN_ErrorInterruptEnable | + (uint32_t)kFLEXCAN_RxWarningInterruptEnable | (uint32_t)kFLEXCAN_TxWarningInterruptEnable)); +} + +/*! + * @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 uintptr_t FLEXCAN_GetRxFifoHeadAddr(CAN_Type *base) +{ + return (uintptr_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 pTxFrame 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 *pTxFrame); + +/*! + * @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 pRxFrame 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 *pRxFrame); + +#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 pTxFrame 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 *pTxFrame); + +/*! + * @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 pRxFrame 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 *pRxFrame); +#endif + +/*! + * @brief Reads a FlexCAN Message from Legacy Rx FIFO. + * + * This function reads a CAN message from the FlexCAN Legacy Rx FIFO. + * + * @param base FlexCAN peripheral base address. + * @param pRxFrame 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 *pRxFrame); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! + * @brief Reads a FlexCAN Message from Enhanced Rx FIFO. + * + * This function reads a CAN or CAN FD message from the FlexCAN Enhanced Rx FIFO. + * + * @param base FlexCAN peripheral base address. + * @param pRxFrame Pointer to CAN FD 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_ReadEnhancedRxFifo(CAN_Type *base, flexcan_fd_frame_t *pRxFrame); +#endif + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) +/*! + * @brief Reads a FlexCAN Message from Wake Up MB. + * + * This function reads a CAN message from the FlexCAN Wake up Message Buffers. There are four Wake up Message Buffers + * (WMBs) used to store incoming messages in Pretended Networking mode. The WMB index indicates the arrival order. The + * last message is stored in WMB3. + * + * @param base FlexCAN peripheral base address. + * @param pRxFrame Pointer to CAN message frame structure for reception. + * @param mbIdx The FlexCAN Wake up Message Buffer index. Range in 0x0 ~ 0x3. + * @retval kStatus_Success - Read Message from Wake up Message Buffer successfully. + * @retval kStatus_Fail - Wake up Message Buffer has no valid content. + */ +status_t FLEXCAN_ReadPNWakeUpMB(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *pRxFrame); +#endif +/* @} */ + +/*! + * @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 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 pTxFrame 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 *pTxFrame); + +/*! + * @brief Performs a polling receive transaction on the CAN bus. + * + * @note 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 pRxFrame 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 *pRxFrame); + +/*! + * @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 pMbXfer 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 *pMbXfer); + +/*! + * @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 pMbXfer 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 *pMbXfer); + +/*! + * @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 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 pTxFrame 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 *pTxFrame); + +/*! + * @brief Performs a polling receive transaction on the CAN bus. + * + * @note 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 pRxFrame 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 *pRxFrame); + +/*! + * @brief Performs a polling receive transaction from Legacy Rx FIFO on the CAN bus. + * + * @note A transfer handle does not need to be created before calling this API. + * + * @param base FlexCAN peripheral base pointer. + * @param pRxFrame 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 *pRxFrame); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! + * @brief Performs a polling receive transaction from Enhanced Rx FIFO on the CAN bus. + * + * @note A transfer handle does not need to be created before calling this API. + * + * @param base FlexCAN peripheral base pointer. + * @param pRxFrame Pointer to CAN FD 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_TransferReceiveEnhancedFifoBlocking(CAN_Type *base, flexcan_fd_frame_t *pRxFrame); +#endif + +/*! + * @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 pMbXfer 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 *pMbXfer); + +/*! + * @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 pMbXfer 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 *pMbXfer); + +/*! + * @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 pFifoXfer 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 *pFifoXfer); + +/*! + * @brief Gets the Legacy Rx Fifo transfer status during a interrupt non-blocking receive. + * + * @param base FlexCAN peripheral base address. + * @param handle FlexCAN handle pointer. + * @param count Number of CAN messages receive so far by the non-blocking transaction. + * @retval kStatus_InvalidArgument count is Invalid. + * @retval kStatus_Success Successfully return the count. + */ + +status_t FLEXCAN_TransferGetReceiveFifoCount(CAN_Type *base, flexcan_handle_t *handle, size_t *count); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! + * @brief Receives a message from Enhanced 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 pFifoXfer 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_TransferReceiveEnhancedFifoNonBlocking(CAN_Type *base, + flexcan_handle_t *handle, + flexcan_fifo_transfer_t *pFifoXfer); + +/*! + * @brief Gets the Enhanced Rx Fifo transfer status during a interrupt non-blocking receive. + * + * @param base FlexCAN peripheral base address. + * @param handle FlexCAN handle pointer. + * @param count Number of CAN messages receive so far by the non-blocking transaction. + * @retval kStatus_InvalidArgument count is Invalid. + * @retval kStatus_Success Successfully return the count. + */ + +static inline status_t FLEXCAN_TransferGetReceiveEnhancedFifoCount(CAN_Type *base, + flexcan_handle_t *handle, + size_t *count) +{ + return FLEXCAN_TransferGetReceiveFifoCount(base, handle, count); +} +#endif + +/*! + * @brief Gets the detail index of Mailbox's Timestamp by handle. + * + * Then function can only be used when calling non-blocking Data transfer (TX/RX) API, + * After TX/RX data transfer done (User can get the status by handler's callback function), + * we can get the detail index of Mailbox's timestamp by handle, + * Detail non-blocking data transfer API (TX/RX) contain. + * -FLEXCAN_TransferSendNonBlocking + * -FLEXCAN_TransferFDSendNonBlocking + * -FLEXCAN_TransferReceiveNonBlocking + * -FLEXCAN_TransferFDReceiveNonBlocking + * -FLEXCAN_TransferReceiveFifoNonBlocking + * + * @param handle FlexCAN handle pointer. + * @param mbIdx The FlexCAN Message Buffer index. + * @retval the index of mailbox 's timestamp stored in the handle. + * + */ +uint32_t FLEXCAN_GetTimeStamp(flexcan_handle_t *handle, uint8_t mbIdx); + +/*! + * @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); + +#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) +/*! + * @brief Aborts the interrupt driven message receive from Enhanced Rx FIFO process. + * + * This function aborts the interrupt driven message receive from Enhanced Rx FIFO process. + * + * @param base FlexCAN peripheral base address. + * @param handle FlexCAN handle pointer. + */ +void FLEXCAN_TransferAbortReceiveEnhancedFifo(CAN_Type *base, flexcan_handle_t *handle); +#endif + +/*! + * @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_ */ |