Diff: targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_KPSDK_CODE/hal/can/fsl_flexcan_hal.h

Revision:

149:1fb5f62b92bd

Parent:

146:f64d43ff0c18

Child:

324:406fd2029f23

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_KPSDK_CODE/hal/can/fsl_flexcan_hal.h	Thu Apr 03 11:45:06 2014 +0100
@@ -0,0 +1,880 @@
+/*
+ * Copyright (c) 2013 - 2014, Freescale Semiconductor, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * o Redistributions of source code must retain the above copyright notice, this list
+ *   of conditions and the following disclaimer.
+ *
+ * o Redistributions in binary form must reproduce the above copyright notice, this
+ *   list of conditions and the following disclaimer in the documentation and/or
+ *   other materials provided with the distribution.
+ *
+ * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
+ *   contributors may be used to endorse or promote products derived from this
+ *   software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef __FSL_FLEXCAN_HAL_H__
+#define __FSL_FLEXCAN_HAL_H__
+
+#include <assert.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "fsl_flexcan_features.h"
+#include "fsl_device_registers.h"
+
+/*!
+ * @addtogroup flexcan_hal
+ * @{
+ */
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+
+/*! @brief FlexCAN constants*/
+enum _flexcan_constants
+{
+    kFlexCanMessageSize = 8,               /*!< FlexCAN message buffer data size in bytes*/
+};
+
+/*! @brief The Status enum is used to report current status of the FlexCAN interface.*/
+enum _flexcan_err_status
+{
+    kFlexCan_RxWrn   = 0x0080, /*!< Reached warning level for RX errors*/
+    kFlexCan_TxWrn   = 0x0100, /*!< Reached warning level for TX errors*/
+    kFlexCan_StfErr  = 0x0200, /*!< Stuffing Error*/
+    kFlexCan_FrmErr  = 0x0400, /*!< Form Error*/
+    kFlexCan_CrcErr  = 0x0800, /*!< Cyclic Redundancy Check Error*/
+    kFlexCan_AckErr  = 0x1000, /*!< Received no ACK on transmission*/
+    kFlexCan_Bit0Err = 0x2000, /*!< Unable to send dominant bit*/
+    kFlexCan_Bit1Err = 0x4000, /*!< Unable to send recessive bit*/
+};
+
+/*! @brief FlexCAN status return codes*/
+typedef enum _flexcan_status
+{
+    kStatus_FLEXCAN_Success = 0,
+    kStatus_FLEXCAN_OutOfRange,
+    kStatus_FLEXCAN_UnknownProperty,
+    kStatus_FLEXCAN_InvalidArgument,
+    kStatus_FLEXCAN_Fail,
+    kStatus_FLEXCAN_TimeOut,
+} flexcan_status_t;
+
+
+/*! @brief FlexCAN operation modes*/
+typedef enum _flexcan_operation_modes {
+    kFlexCanNormalMode,        /*!< Normal mode or user mode*/
+    kFlexCanListenOnlyMode,    /*!< Listen-only mode*/
+    kFlexCanLoopBackMode,      /*!< Loop-back mode*/
+    kFlexCanFreezeMode,        /*!< Freeze mode*/
+    kFlexCanDisableMode,       /*!< Module disable mode*/
+} flexcan_operation_modes_t;
+
+/*! @brief FlexCAN message buffer CODE for Rx buffers*/
+typedef enum _flexcan_mb_code_rx {
+    kFlexCanRX_Inactive  = 0x0, /*!< MB is not active.*/
+    kFlexCanRX_Full      = 0x2, /*!< MB is full.*/
+    kFlexCanRX_Empty     = 0x4, /*!< MB is active and empty.*/
+    kFlexCanRX_Overrun   = 0x6, /*!< MB is overwritten into a full buffer.*/
+    kFlexCanRX_Busy      = 0x8, /*!< FlexCAN is updating the contents of the MB.*/
+                                /*!  The CPU must not access the MB.*/
+    kFlexCanRX_Ranswer   = 0xA, /*!< A frame was configured to recognize a Remote Request Frame*/
+                                /*!  and transmit a Response Frame in return.*/
+    kFlexCanRX_NotUsed   = 0xF, /*!< Not used*/
+} flexcan_mb_code_rx_t;
+
+/*! @brief FlexCAN message buffer CODE FOR Tx buffers*/
+typedef enum _flexcan_mb_code_tx {
+    kFlexCanTX_Inactive  = 0x08, /*!< MB is not active.*/
+    kFlexCanTX_Abort     = 0x09, /*!< MB is aborted.*/
+    kFlexCanTX_Data      = 0x0C, /*!< MB is a TX Data Frame(MB RTR must be 0).*/
+    kFlexCanTX_Remote    = 0x1C, /*!< MB is a TX Remote Request Frame (MB RTR must be 1).*/
+    kFlexCanTX_Tanswer   = 0x0E, /*!< MB is a TX Response Request Frame from.*/
+                                 /*!  an incoming Remote Request Frame.*/
+    kFlexCanTX_NotUsed   = 0xF,  /*!< Not used*/
+} flexcan_mb_code_tx_t;
+
+/*! @brief FlexCAN message buffer transmission types*/
+typedef enum _flexcan_mb_transmission_type {
+    kFlexCanMBStatusType_TX,          /*!< Transmit MB*/
+    kFlexCanMBStatusType_TXRemote,    /*!< Transmit remote request MB*/
+    kFlexCanMBStatusType_RX,          /*!< Receive MB*/
+    kFlexCanMBStatusType_RXRemote,    /*!< Receive remote request MB*/
+    kFlexCanMBStatusType_RXTXRemote,  /*!< FlexCAN remote frame receives remote request and*/
+                                      /*!  transmits MB.*/
+} flexcan_mb_transmission_type_t;
+
+typedef enum _flexcan_rx_fifo_id_element_format {
+    kFlexCanRxFifoIdElementFormat_A, /*!< One full ID (standard and extended) per ID Filter Table*/
+                                     /*!  element.*/
+    kFlexCanRxFifoIdElementFormat_B, /*!< Two full standard IDs or two partial 14-bit (standard and*/
+                                     /*!  extended) IDs per ID Filter Table element.*/
+    kFlexCanRxFifoIdElementFormat_C, /*!< Four partial 8-bit Standard IDs per ID Filter Table*/
+                                     /*!  element.*/
+    kFlexCanRxFifoIdElementFormat_D, /*!< All frames rejected.*/
+} flexcan_rx_fifo_id_element_format_t;
+
+/*! @brief FlexCAN Rx FIFO filters number*/
+typedef enum _flexcan_rx_fifo_id_filter_number {
+    kFlexCanRxFifoIDFilters_8   = 0x0,         /*!<   8 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_16  = 0x1,         /*!<  16 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_24  = 0x2,         /*!<  24 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_32  = 0x3,         /*!<  32 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_40  = 0x4,         /*!<  40 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_48  = 0x5,         /*!<  48 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_56  = 0x6,         /*!<  56 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_64  = 0x7,         /*!<  64 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_72  = 0x8,         /*!<  72 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_80  = 0x9,         /*!<  80 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_88  = 0xA,         /*!<  88 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_96  = 0xB,         /*!<  96 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_104 = 0xC,         /*!< 104 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_112 = 0xD,         /*!< 112 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_120 = 0xE,         /*!< 120 Rx FIFO Filters*/
+    kFlexCanRxFifoIDFilters_128 = 0xF          /*!< 128 Rx FIFO Filters*/
+} flexcan_rx_fifo_id_filter_num_t;
+
+/*! @brief FlexCAN RX FIFO ID filter table structure*/
+typedef struct FLEXCANIdTable {
+    bool is_remote_mb;      /*!< Remote frame*/
+    bool is_extended_mb;    /*!< Extended frame*/
+    uint32_t *id_filter;    /*!< Rx FIFO ID filter elements*/
+} flexcan_id_table_t;
+
+/*! @brief FlexCAN RX mask type.*/
+typedef enum _flexcan_rx_mask_type {
+    kFlexCanRxMask_Global,      /*!< Rx global mask*/
+    kFlexCanRxMask_Individual,  /*!< Rx individual mask*/
+} flexcan_rx_mask_type_t;
+
+/*! @brief FlexCAN MB ID type*/
+typedef enum _flexcan_mb_id_type {
+    kFlexCanMbId_Std,         /*!< Standard ID*/
+    kFlexCanMbId_Ext,         /*!< Extended ID*/
+} flexcan_mb_id_type_t;
+
+/*! @brief FlexCAN clock source*/
+typedef enum _flexcan_clk_source {
+    kFlexCanClkSource_Osc,    /*!< Oscillator clock*/
+    kFlexCanClkSource_Ipbus,  /*!< Peripheral clock*/
+} flexcan_clk_source_t;
+
+/*! @brief FlexCAN error interrupt types*/
+typedef enum _flexcan_int_type {
+    kFlexCanInt_Buf,           /*!< OR'd message buffers interrupt*/
+    kFlexCanInt_Err,           /*!< Error interrupt*/
+    kFlexCanInt_Boff,          /*!< Bus off interrupt*/
+    kFlexCanInt_Wakeup,        /*!< Wakeup interrupt*/
+    kFlexCanInt_Txwarning,     /*!< TX warning interrupt*/
+    kFlexCanInt_Rxwarning,     /*!< RX warning interrupt*/
+} flexcan_int_type_t;
+
+/*! @brief FlexCAN bus error counters*/
+typedef struct FLEXCANBerrCounter {
+    uint16_t txerr;           /*!< Transmit error counter*/
+    uint16_t rxerr;           /*!< Receive error counter*/
+} flexcan_berr_counter_t;
+
+/*! @brief FlexCAN MB code and status for transmitting*/
+typedef struct FLEXCANMbCodeStatusTx {
+    flexcan_mb_code_tx_t code;                   /*!< MB code for Tx buffers*/
+    flexcan_mb_id_type_t msg_id_type;            /*!< Type of message ID (standard or extended)*/
+    uint32_t data_length;                        /*!< Length of Data in Bytes*/
+    uint32_t substitute_remote;                  /*!< Substitute remote request (used only in*/
+                                                 /*!  extended format)*/
+    uint32_t remote_transmission;                /*!< Remote transmission request*/
+    bool local_priority_enable;                  /*!< 1 if enable it; 0 if disable it*/
+    uint32_t local_priority_val;                 /*!< Local priority value [0..2]*/
+} flexcan_mb_code_status_tx_t;
+
+/*! @brief FlexCAN MB code and status for receiving*/
+typedef struct FLEXCANMbCodeStatusRx {
+    flexcan_mb_code_rx_t code;                   /*!< MB code for Rx buffers*/
+    flexcan_mb_id_type_t msg_id_type;            /*!< Type of message ID (standard or extended)*/
+    uint32_t data_length;                        /*!< Length of Data in Bytes*/
+    uint32_t substitute_remote;                  /*!< Substitute remote request (used only in*/
+                                                 /*!  extended format)*/
+    uint32_t remote_transmission;                /*!< Remote transmission request*/
+    bool local_priority_enable;                  /*!< 1 if enable it; 0 if disable it*/
+    uint32_t local_priority_val;                 /*!< Local priority value [0..2]*/
+} flexcan_mb_code_status_rx_t;
+
+/*! @brief FlexCAN Rx FIFO configuration*/
+typedef struct FLEXCANRxFifoConfig {
+    flexcan_mb_id_type_t msg_id_type;                     /*!< Type of message ID*/
+                                                          /*! (standard or extended)*/
+    uint32_t data_length;                                 /*!< Length of Data in Bytes*/
+    uint32_t substitute_remote;                           /*!< Substitute remote request (used*/
+                                                          /*!  only in extended format)*/
+    uint32_t remote_transmission;                         /*!< Remote transmission request*/
+    flexcan_rx_fifo_id_element_format_t id_filter_number; /*!< The number of Rx FIFO ID filters*/
+} flexcan_rx_fifo_config_t;
+
+/*! @brief FlexCAN message buffer structure*/
+typedef struct FLEXCANMb {
+    uint32_t cs;                        /*!< Code and Status*/
+    uint32_t msg_id;                    /*!< Message Buffer ID*/
+    uint8_t data[kFlexCanMessageSize];  /*!< Bytes of the FlexCAN message*/
+} flexcan_mb_t;
+
+/*! @brief FlexCAN configuration*/
+typedef struct FLEXCANUserConfig {
+    uint32_t num_mb;                                /*!< The number of Message Buffers needed*/
+    uint32_t max_num_mb;                            /*!< The maximum number of Message Buffers*/
+    flexcan_rx_fifo_id_filter_num_t num_id_filters; /*!< The number of Rx FIFO ID filters needed*/
+    bool is_rx_fifo_needed;                         /*!< 1 if needed; 0 if not*/
+    bool is_rx_mb_needed;                        /*!< 1 if needed; 0 if not*/
+} flexcan_user_config_t;
+
+/*! @brief FlexCAN timing related structures*/
+typedef struct FLEXCANTimeSegment {
+    uint32_t propseg;     /*!< Propagation segment*/
+    uint32_t pseg1;       /*!< Phase segment 1*/
+    uint32_t pseg2;       /*!< Phase segment 2*/
+    uint32_t pre_divider; /*!< Clock pre divider*/
+    uint32_t rjw;         /*!< Resync jump width*/
+} flexcan_time_segment_t;
+
+
+/*******************************************************************************
+ * API
+ ******************************************************************************/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+/*!
+ * @name Configuration
+ * @{
+ */
+
+/*!
+ * @brief Enables FlexCAN controller.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_enable(uint8_t instance);
+
+/*!
+ * @brief Disables FlexCAN controller.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_disable(uint8_t instance);
+
+/*!
+ * @brief Checks whether the FlexCAN is enabled or disabled.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @return  State of FlexCAN enable(0)/disable(1)
+ */
+static inline bool flexcan_hal_is_enabled(uint8_t instance)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+
+    return BR_CAN_MCR_MDIS(instance);
+}
+
+/*!
+ * @brief Resets the FlexCAN controller.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_sw_reset(uint8_t instance);
+
+/*!
+ * @brief Selects the clock source for FlexCAN.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @param   clk         The FlexCAN clock source
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_select_clk(uint8_t instance, flexcan_clk_source_t clk);
+
+/*!
+ * @brief Initializes the FlexCAN controller.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @param   data   The FlexCAN platform data.
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_init(uint8_t instance, const flexcan_user_config_t *data);
+
+/*!
+ * @brief Sets the FlexCAN time segments for setting up bit rate.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @param   time_seg    FlexCAN time segments, which need to be set for the bit rate.
+ * @return  0 if successful; non-zero failed
+ */
+void flexcan_hal_set_time_segments(uint8_t instance, flexcan_time_segment_t *time_seg);
+
+/*!
+ * @brief Gets the  FlexCAN time segments to calculate the bit rate.
+ *
+ * @param   instance    The FlexCAN instance number
+ * @param   time_seg    FlexCAN time segments read for bit rate
+ * @return  0 if successful; non-zero failed
+ */
+void flexcan_hal_get_time_segments(uint8_t instance, flexcan_time_segment_t *time_seg);
+
+/*!
+ * @brief Un freezes the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @return  0 if successful; non-zero failed.
+ */
+void flexcan_hal_exit_freeze_mode(uint8_t instance);
+
+/*!
+ * @brief Freezes the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enter_freeze_mode(uint8_t instance);
+
+/*!
+ * @brief Enables operation mode.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   mode         An operation mode to be enabled
+ * @return  0 if successful; non-zero failed.
+ */
+flexcan_status_t flexcan_hal_enable_operation_mode(
+    uint8_t instance,
+    flexcan_operation_modes_t mode);
+
+/*!
+ * @brief Disables operation mode.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   mode         An operation mode to be disabled
+ * @return  0 if successful; non-zero failed.
+ */
+flexcan_status_t flexcan_hal_disable_operation_mode(
+    uint8_t instance,
+    flexcan_operation_modes_t mode);
+
+/*@}*/
+
+/*!
+ * @name Data transfer
+ * @{
+ */
+
+/*!
+ * @brief Sets the FlexCAN message buffer fields for transmitting.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @param   cs           CODE/status values (TX)
+ * @param   msg_id       ID of the message to transmit
+ * @param   mb_data      Bytes of the FlexCAN message
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_set_mb_tx(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx,
+    flexcan_mb_code_status_tx_t *cs,
+    uint32_t msg_id,
+    uint8_t *mb_data);
+
+/*!
+ * @brief Set the FlexCAN message buffer fields for receiving.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @param   cs           CODE/status values (RX)
+ * @param   msg_id       ID of the message to receive
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_set_mb_rx(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx,
+    flexcan_mb_code_status_rx_t *cs,
+    uint32_t msg_id);
+
+/*!
+ * @brief Gets the FlexCAN message buffer fields.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @param   mb           The fields of the message buffer
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_get_mb(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx,
+    flexcan_mb_t *mb);
+
+/*!
+ * @brief Locks the FlexCAN Rx message buffer.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_lock_rx_mb(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx);
+
+/*!
+ * @brief Unlocks the FlexCAN Rx message buffer.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @return  0 if successful; non-zero failed
+ */
+static inline void flexcan_hal_unlock_rx_mb(uint8_t instance)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+
+    /* Unlock the mailbox */
+    HW_CAN_TIMER_RD(instance);
+}
+
+/*!
+ * @brief Enables the Rx FIFO.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enable_rx_fifo(uint8_t instance);
+
+/*!
+ * @brief Disables the Rx FIFO.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_disable_rx_fifo(uint8_t instance);
+
+/*!
+ * @brief Sets the number of the Rx FIFO filters.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   number       The number of Rx FIFO filters
+ */
+void flexcan_hal_set_rx_fifo_filters_number(uint8_t instance, uint32_t number);
+
+/*!
+ * @brief Sets  the maximum number of Message Buffers.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ */
+void flexcan_hal_set_max_mb_number(
+    uint8_t instance,
+    const flexcan_user_config_t *data);
+
+/*!
+ * @brief Sets the Rx FIFO ID filter table elements.
+ *
+ * @param   instance                The FlexCAN instance number
+ * @param   data                    The FlexCAN platform data
+ * @param   id_format               The format of the Rx FIFO ID Filter Table Elements
+ * @param   id_filter_table         The ID filter table elements which contain if RTR bit,
+ *                                  IDE bit and RX message ID need to be set.
+ * @return  0 if successful; non-zero failed.
+ */
+flexcan_status_t flexcan_hal_set_id_filter_table_elements(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    flexcan_rx_fifo_id_element_format_t id_format,
+    flexcan_id_table_t *id_filter_table);
+
+/*!
+ * @brief Sets the FlexCAN Rx FIFO fields.
+ *
+ * @param   instance                The FlexCAN instance number
+ * @param   data                    The FlexCAN platform data
+ * @param   id_format               The format of the Rx FIFO ID Filter Table Elements
+ * @param   id_filter_table         The ID filter table elements which contain RTR bit, IDE bit,
+ *                                  and RX message ID.
+ * @return  0 if successful; non-zero failed.
+ */
+flexcan_status_t flexcan_hal_set_rx_fifo(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    flexcan_rx_fifo_id_element_format_t id_format,
+    flexcan_id_table_t *id_filter_table);
+
+/*!
+ * @brief Gets the FlexCAN Rx FIFO data.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   rx_fifo      The FlexCAN receive FIFO data
+ * @return  0 if successful; non-zero failed.
+ */
+flexcan_status_t flexcan_hal_read_fifo(
+    uint8_t instance,
+    flexcan_mb_t *rx_fifo);
+
+/*@}*/
+
+/*!
+ * @name Interrupts
+ * @{
+ */
+
+/*!
+ * @brief Enables the FlexCAN Message Buffer interrupt.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_enable_mb_interrupt(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx);
+
+/*!
+ * @brief Disables the FlexCAN Message Buffer interrupt.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @return  0 if successful; non-zero failed
+ */
+flexcan_status_t flexcan_hal_disable_mb_interrupt(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx);
+
+/*!
+ * @brief Enables error interrupt of the FlexCAN module.
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enable_error_interrupt(uint8_t instance);
+
+/*!
+ * @brief Disables error interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_disable_error_interrupt(uint8_t instance);
+
+/*!
+ * @brief Enables Bus off interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enable_bus_off_interrupt(uint8_t instance);
+
+/*!
+ * @brief Disables Bus off interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_disable_bus_off_interrupt(uint8_t instance);
+
+/*!
+ * @brief Enables Wakeup interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enable_wakeup_interrupt(uint8_t instance);
+
+/*!
+ * @brief Disables Wakeup interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_disable_wakeup_interrupt(uint8_t instance);
+
+/*!
+ * @brief Enables TX warning interrupt of the FlexCAN module
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enable_tx_warning_interrupt(uint8_t instance);
+
+/*!
+ * @brief Disables TX warning interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_disable_tx_warning_interrupt(uint8_t instance);
+
+/*!
+ * @brief Enables RX warning interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_enable_rx_warning_interrupt(uint8_t instance);
+
+/*!
+ * @brief Disables RX warning interrupt of the FlexCAN module.
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_disable_rx_warning_interrupt(uint8_t instance);
+
+/*@}*/
+
+/*!
+ * @name Status
+ * @{
+ */
+
+/*!
+ * @brief Gets the value of FlexCAN freeze ACK.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @return  freeze ACK state (1-freeze mode, 0-not in freeze mode).
+ */
+static inline uint32_t flexcan_hal_get_freeze_ack(uint8_t instance)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+    return HW_CAN_MCR(instance).B.FRZACK;
+}
+
+/*!
+ * @brief Gets the individual FlexCAN MB interrupt flag.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @return  the individual MB interrupt flag (0 and 1 are the flag value)
+ */
+uint8_t flexcan_hal_get_mb_int_flag(
+    uint8_t instance,
+    const flexcan_user_config_t *data,
+    uint32_t mb_idx);
+
+/*!
+ * @brief Gets all FlexCAN MB interrupt flags.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @return  all MB interrupt flags
+ */
+static inline uint32_t flexcan_hal_get_all_mb_int_flags(uint8_t instance)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+    return HW_CAN_IFLAG1_RD(instance);
+}
+
+/*!
+ * @brief Clears the interrupt flag of the message buffers.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   reg_val      The value to be written to the interrupt flag1 register.
+ */
+/* See fsl_flexcan_hal.h for documentation of this function.*/
+static inline void flexcan_hal_clear_mb_int_flag(
+    uint8_t instance,
+    uint32_t reg_val)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+
+    /* Clear the corresponding message buffer interrupt flag*/
+    HW_CAN_IFLAG1_SET(instance, reg_val);
+}
+
+/*!
+ * @brief Gets the transmit error counter and receives the error counter.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   err_cnt      Transmit error counter and receive error counter
+ */
+void flexcan_hal_get_err_counter(
+    uint8_t instance,
+    flexcan_berr_counter_t *err_cnt);
+
+/*!
+ * @brief Gets error and status.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @return  The current error and status
+ */
+static inline uint32_t flexcan_hal_get_err_status(uint8_t instance)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+    return HW_CAN_ESR1_RD(instance);
+}
+
+/*!
+ * @brief Clears all other interrupts in ERRSTAT register (Error, Busoff, Wakeup).
+ *
+ * @param   instance     The FlexCAN instance number
+ */
+void flexcan_hal_clear_err_interrupt_status(uint8_t instance);
+
+/*@}*/
+
+/*!
+ * @name Mask
+ * @{
+ */
+
+/*!
+ * @brief Sets the Rx masking type.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   type         The FlexCAN Rx mask type
+ */
+void flexcan_hal_set_mask_type(uint8_t instance, flexcan_rx_mask_type_t type);
+
+/*!
+ * @brief Sets the FlexCAN RX FIFO global standard mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   std_mask     Standard mask
+ */
+void flexcan_hal_set_rx_fifo_global_std_mask(
+    uint8_t instance,
+    uint32_t std_mask);
+
+/*!
+ * @brief Sets the FlexCAN Rx FIFO global extended mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   ext_mask     Extended mask
+ */
+void flexcan_hal_set_rx_fifo_global_ext_mask(
+    uint8_t instance,
+    uint32_t ext_mask);
+
+/*!
+ * @brief Sets the FlexCAN Rx individual standard mask for ID filtering in the Rx MBs and the Rx FIFO.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @param   std_mask     Individual standard mask
+ * @return  0 if successful; non-zero failed
+*/
+flexcan_status_t flexcan_hal_set_rx_individual_std_mask(
+    uint8_t instance,
+    const flexcan_user_config_t * data,
+    uint32_t mb_idx,
+    uint32_t std_mask);
+
+/*!
+ * @brief Sets the FlexCAN Rx individual extended mask for ID filtering in the Rx MBs and the Rx FIFO.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   data         The FlexCAN platform data
+ * @param   mb_idx       Index of the message buffer
+ * @param   ext_mask     Individual extended mask
+ * @return  0 if successful; non-zero failed
+*/
+flexcan_status_t flexcan_hal_set_rx_individual_ext_mask(
+    uint8_t instance,
+    const flexcan_user_config_t * data,
+    uint32_t mb_idx,
+    uint32_t ext_mask);
+
+/*!
+ * @brief Sets the FlexCAN Rx MB global standard mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   std_mask     Standard mask
+ */
+void flexcan_hal_set_rx_mb_global_std_mask(
+    uint8_t instance,
+    uint32_t std_mask);
+
+/*!
+ * @brief Sets the FlexCAN RX MB BUF14 standard mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   std_mask     Standard mask
+ */
+void flexcan_hal_set_rx_mb_buf14_std_mask(
+    uint8_t instance,
+    uint32_t std_mask);
+
+/*!
+ * @brief Sets the FlexCAN Rx MB BUF15 standard mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   std_mask     Standard mask
+ * @return  0 if successful; non-zero failed
+ */
+void flexcan_hal_set_rx_mb_buf15_std_mask(
+    uint8_t instance,
+    uint32_t std_mask);
+
+/*!
+ * @brief Sets the FlexCAN RX MB global extended mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   ext_mask     Extended mask
+ */
+void flexcan_hal_set_rx_mb_global_ext_mask(
+    uint8_t instance,
+    uint32_t ext_mask);
+
+/*!
+ * @brief Sets the FlexCAN RX MB BUF14 extended mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   ext_mask     Extended mask
+ */
+void flexcan_hal_set_rx_mb_buf14_ext_mask(
+    uint8_t instance,
+    uint32_t ext_mask);
+
+/*!
+ * @brief Sets the FlexCAN RX MB BUF15 extended mask.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @param   ext_mask     Extended mask
+ */
+void flexcan_hal_set_rx_mb_buf15_ext_mask(
+    uint8_t instance,
+    uint32_t ext_mask);
+
+/*!
+ * @brief Gets the FlexCAN ID acceptance filter hit indicator on Rx FIFO.
+ *
+ * @param   instance     The FlexCAN instance number
+ * @return  RX FIFO information
+ */
+static inline uint32_t  flexcan_hal_get_rx_fifo_id_acceptance_filter(uint8_t instance)
+{
+    assert(instance < HW_CAN_INSTANCE_COUNT);
+    return BR_CAN_RXFIR_IDHIT(instance);
+}
+
+/*@}*/
+
+#if defined(__cplusplus)
+}
+#endif
+
+/*! @}*/
+
+#endif /* __FSL_FLEXCAN_HAL_H__*/
+
+/*******************************************************************************
+ * EOF
+ ******************************************************************************/
+