2 ******************************************************************************
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3 * @file stm32f10x_can.h
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4 * @author MCD Application Team
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7 * @brief This file contains all the functions prototypes for the CAN firmware
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9 ******************************************************************************
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12 * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
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13 * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
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14 * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
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15 * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
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16 * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
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17 * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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19 * <h2><center>© COPYRIGHT 2010 STMicroelectronics</center></h2>
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22 /* Define to prevent recursive inclusion -------------------------------------*/
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23 #ifndef __STM32F10x_CAN_H
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24 #define __STM32F10x_CAN_H
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30 /* Includes ------------------------------------------------------------------*/
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31 #include "stm32f10x.h"
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33 /** @addtogroup STM32F10x_StdPeriph_Driver
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41 /** @defgroup CAN_Exported_Types
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45 #define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
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49 * @brief CAN init structure definition
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54 uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum. It ranges from 1 to 1024. */
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56 uint8_t CAN_Mode; /*!< Specifies the CAN operating mode.
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57 This parameter can be a value of @ref CAN_operating_mode */
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59 uint8_t CAN_SJW; /*!< Specifies the maximum number of time quanta the CAN hardware
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60 is allowed to lengthen or shorten a bit to perform resynchronization.
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61 This parameter can be a value of @ref CAN_synchronisation_jump_width */
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63 uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit Segment 1.
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64 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
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66 uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
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67 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
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69 FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode.
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70 This parameter can be set either to ENABLE or DISABLE. */
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72 FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off management.
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73 This parameter can be set either to ENABLE or DISABLE. */
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75 FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode.
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76 This parameter can be set either to ENABLE or DISABLE. */
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78 FunctionalState CAN_NART; /*!< Enable or disable the no-automatic retransmission mode.
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79 This parameter can be set either to ENABLE or DISABLE. */
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81 FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode.
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82 This parameter can be set either to ENABLE or DISABLE. */
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84 FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority.
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85 This parameter can be set either to ENABLE or DISABLE. */
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89 * @brief CAN filter init structure definition
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94 uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit
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95 configuration, first one for a 16-bit configuration).
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96 This parameter can be a value between 0x0000 and 0xFFFF */
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98 uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit
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99 configuration, second one for a 16-bit configuration).
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100 This parameter can be a value between 0x0000 and 0xFFFF */
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102 uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number,
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103 according to the mode (MSBs for a 32-bit configuration,
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104 first one for a 16-bit configuration).
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105 This parameter can be a value between 0x0000 and 0xFFFF */
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107 uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number,
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108 according to the mode (LSBs for a 32-bit configuration,
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109 second one for a 16-bit configuration).
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110 This parameter can be a value between 0x0000 and 0xFFFF */
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112 uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
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113 This parameter can be a value of @ref CAN_filter_FIFO */
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115 uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */
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117 uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized.
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118 This parameter can be a value of @ref CAN_filter_mode */
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120 uint8_t CAN_FilterScale; /*!< Specifies the filter scale.
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121 This parameter can be a value of @ref CAN_filter_scale */
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123 FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter.
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124 This parameter can be set either to ENABLE or DISABLE. */
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125 } CAN_FilterInitTypeDef;
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128 * @brief CAN Tx message structure definition
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133 uint32_t StdId; /*!< Specifies the standard identifier.
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134 This parameter can be a value between 0 to 0x7FF. */
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136 uint32_t ExtId; /*!< Specifies the extended identifier.
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137 This parameter can be a value between 0 to 0x1FFFFFFF. */
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139 uint8_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted.
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140 This parameter can be a value of @ref CAN_identifier_type */
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142 uint8_t RTR; /*!< Specifies the type of frame for the message that will be transmitted.
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143 This parameter can be a value of @ref CAN_remote_transmission_request */
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145 uint8_t DLC; /*!< Specifies the length of the frame that will be transmitted.
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146 This parameter can be a value between 0 to 8 */
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148 uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
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152 * @brief CAN Rx message structure definition
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157 uint32_t StdId; /*!< Specifies the standard identifier.
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158 This parameter can be a value between 0 to 0x7FF. */
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160 uint32_t ExtId; /*!< Specifies the extended identifier.
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161 This parameter can be a value between 0 to 0x1FFFFFFF. */
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163 uint8_t IDE; /*!< Specifies the type of identifier for the message that will be received.
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164 This parameter can be a value of @ref CAN_identifier_type */
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166 uint8_t RTR; /*!< Specifies the type of frame for the received message.
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167 This parameter can be a value of @ref CAN_remote_transmission_request */
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169 uint8_t DLC; /*!< Specifies the length of the frame that will be received.
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170 This parameter can be a value between 0 to 8 */
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172 uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 0xFF. */
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174 uint8_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through.
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175 This parameter can be a value between 0 to 0xFF */
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182 /** @defgroup CAN_Exported_Constants
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186 /** @defgroup CAN_sleep_constants
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190 #define CANINITFAILED ((uint8_t)0x00) /*!< CAN initialization failed */
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191 #define CANINITOK ((uint8_t)0x01) /*!< CAN initialization failed */
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197 /** @defgroup CAN_operating_mode
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201 #define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */
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202 #define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */
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203 #define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */
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204 #define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */
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206 #define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || ((MODE) == CAN_Mode_LoopBack)|| \
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207 ((MODE) == CAN_Mode_Silent) || ((MODE) == CAN_Mode_Silent_LoopBack))
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212 /** @defgroup CAN_synchronisation_jump_width
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216 #define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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217 #define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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218 #define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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219 #define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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221 #define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
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222 ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
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227 /** @defgroup CAN_time_quantum_in_bit_segment_1
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231 #define CAN_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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232 #define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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233 #define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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234 #define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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235 #define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */
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236 #define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */
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237 #define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */
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238 #define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */
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239 #define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */
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240 #define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */
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241 #define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */
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242 #define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */
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243 #define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */
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244 #define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */
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245 #define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */
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246 #define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */
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248 #define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
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253 /** @defgroup CAN_time_quantum_in_bit_segment_2
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257 #define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */
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258 #define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */
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259 #define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */
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260 #define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */
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261 #define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */
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262 #define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */
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263 #define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */
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264 #define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */
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266 #define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)
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272 /** @defgroup CAN_clock_prescaler
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276 #define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
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282 /** @defgroup CAN_filter_number
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285 #ifndef STM32F10X_CL
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286 #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 13)
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288 #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
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289 #endif /* STM32F10X_CL */
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294 /** @defgroup CAN_filter_mode
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298 #define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< id/mask mode */
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299 #define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */
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301 #define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
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302 ((MODE) == CAN_FilterMode_IdList))
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307 /** @defgroup CAN_filter_scale
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311 #define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */
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312 #define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */
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314 #define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
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315 ((SCALE) == CAN_FilterScale_32bit))
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321 /** @defgroup CAN_filter_FIFO
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325 #define CAN_FilterFIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
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326 #define CAN_FilterFIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
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327 #define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
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328 ((FIFO) == CAN_FilterFIFO1))
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334 /** @defgroup Start_bank_filter_for_slave_CAN
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337 #define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
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342 /** @defgroup CAN_Tx
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346 #define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
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347 #define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
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348 #define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
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349 #define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
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355 /** @defgroup CAN_identifier_type
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359 #define CAN_ID_STD ((uint32_t)0x00000000) /*!< Standard Id */
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360 #define CAN_ID_EXT ((uint32_t)0x00000004) /*!< Extended Id */
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361 #define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || ((IDTYPE) == CAN_ID_EXT))
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367 /** @defgroup CAN_remote_transmission_request
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371 #define CAN_RTR_DATA ((uint32_t)0x00000000) /*!< Data frame */
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372 #define CAN_RTR_REMOTE ((uint32_t)0x00000002) /*!< Remote frame */
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373 #define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
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379 /** @defgroup CAN_transmit_constants
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383 #define CANTXFAILED ((uint8_t)0x00) /*!< CAN transmission failed */
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384 #define CANTXOK ((uint8_t)0x01) /*!< CAN transmission succeeded */
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385 #define CANTXPENDING ((uint8_t)0x02) /*!< CAN transmission pending */
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386 #define CAN_NO_MB ((uint8_t)0x04) /*!< CAN cell did not provide an empty mailbox */
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392 /** @defgroup CAN_receive_FIFO_number_constants
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396 #define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO0 used to receive */
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397 #define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO1 used to receive */
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399 #define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
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405 /** @defgroup CAN_sleep_constants
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409 #define CANSLEEPFAILED ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */
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410 #define CANSLEEPOK ((uint8_t)0x01) /*!< CAN entered the sleep mode */
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416 /** @defgroup CAN_wake_up_constants
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420 #define CANWAKEUPFAILED ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */
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421 #define CANWAKEUPOK ((uint8_t)0x01) /*!< CAN leaved the sleep mode */
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427 /** @defgroup CAN_flags
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431 #define CAN_FLAG_EWG ((uint32_t)0x00000001) /*!< Error Warning Flag */
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432 #define CAN_FLAG_EPV ((uint32_t)0x00000002) /*!< Error Passive Flag */
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433 #define CAN_FLAG_BOF ((uint32_t)0x00000004) /*!< Bus-Off Flag */
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435 #define IS_CAN_FLAG(FLAG) (((FLAG) == CAN_FLAG_EWG) || ((FLAG) == CAN_FLAG_EPV) ||\
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436 ((FLAG) == CAN_FLAG_BOF))
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442 /** @defgroup CAN_interrupts
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446 #define CAN_IT_RQCP0 ((uint32_t)0x00000005) /*!< Request completed mailbox 0 */
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447 #define CAN_IT_RQCP1 ((uint32_t)0x00000006) /*!< Request completed mailbox 1 */
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448 #define CAN_IT_RQCP2 ((uint32_t)0x00000007) /*!< Request completed mailbox 2 */
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449 #define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty */
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450 #define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending */
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451 #define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full */
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452 #define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun */
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453 #define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending */
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454 #define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full */
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455 #define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun */
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456 #define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning */
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457 #define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive */
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458 #define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off */
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459 #define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code */
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460 #define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error */
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461 #define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up */
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462 #define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep */
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464 #define IS_CAN_ITConfig(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\
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465 ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\
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466 ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\
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467 ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
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468 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
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469 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
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470 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
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472 #define IS_CAN_ITStatus(IT) (((IT) == CAN_IT_RQCP0) || ((IT) == CAN_IT_RQCP1) ||\
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473 ((IT) == CAN_IT_RQCP2) || ((IT) == CAN_IT_FF0) ||\
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474 ((IT) == CAN_IT_FOV0) || ((IT) == CAN_IT_FF1) ||\
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475 ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
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476 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
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477 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
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486 /** @defgroup CAN_Exported_Macros
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494 /** @defgroup CAN_Exported_Functions
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498 void CAN_DeInit(CAN_TypeDef* CANx);
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499 uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
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500 void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
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501 void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
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502 void CAN_SlaveStartBank(uint8_t CAN_BankNumber);
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503 void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
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504 uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
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505 uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
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506 void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
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507 void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
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508 uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
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509 void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
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510 void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
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511 uint8_t CAN_Sleep(CAN_TypeDef* CANx);
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512 uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
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513 FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
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514 void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
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515 ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
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516 void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);
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522 #endif /* __STM32F10x_CAN_H */
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535 /******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
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