mirror of https://github.com/Desuuuu/klipper.git
799 lines
38 KiB
C
799 lines
38 KiB
C
/**
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******************************************************************************
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* @file stm32f1xx_hal_can.h
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* @author MCD Application Team
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* @version V1.1.1
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* @date 12-May-2017
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* @brief Header file of CAN HAL module.
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __STM32F1xx_HAL_CAN_H
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#define __STM32F1xx_HAL_CAN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#if defined(STM32F103x6) || defined(STM32F103xB) || defined(STM32F103xE) || \
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defined(STM32F103xG) || defined(STM32F105xC) || defined(STM32F107xC)
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal_def.h"
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/** @addtogroup STM32F1xx_HAL_Driver
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* @{
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*/
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/** @addtogroup CAN
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* @{
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*/
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/* Exported types ------------------------------------------------------------*/
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/** @defgroup CAN_Exported_Types CAN Exported Types
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* @{
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*/
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/**
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* @brief HAL State structures definition
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*/
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typedef enum
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{
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HAL_CAN_STATE_RESET = 0x00U, /*!< CAN not yet initialized or disabled */
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HAL_CAN_STATE_READY = 0x01U, /*!< CAN initialized and ready for use */
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HAL_CAN_STATE_BUSY = 0x02U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_TX = 0x12U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_RX0 = 0x22U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_RX1 = 0x32U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_TX_RX0 = 0x42U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_TX_RX1 = 0x52U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_RX0_RX1 = 0x62U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_BUSY_TX_RX0_RX1 = 0x72U, /*!< CAN process is ongoing */
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HAL_CAN_STATE_TIMEOUT = 0x03U, /*!< CAN in Timeout state */
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HAL_CAN_STATE_ERROR = 0x04U /*!< CAN error state */
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}HAL_CAN_StateTypeDef;
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/**
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* @brief CAN init structure definition
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*/
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typedef struct
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{
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uint32_t Prescaler; /*!< Specifies the length of a time quantum.
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This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */
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uint32_t Mode; /*!< Specifies the CAN operating mode.
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This parameter can be a value of @ref CAN_operating_mode */
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uint32_t SJW; /*!< Specifies the maximum number of time quanta
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the CAN hardware is allowed to lengthen or
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shorten a bit to perform resynchronization.
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This parameter can be a value of @ref CAN_synchronisation_jump_width */
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uint32_t BS1; /*!< Specifies the number of time quanta in Bit Segment 1.
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This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
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uint32_t BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
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This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
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uint32_t TTCM; /*!< Enable or disable the time triggered communication mode.
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This parameter can be set to ENABLE or DISABLE. */
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uint32_t ABOM; /*!< Enable or disable the automatic bus-off management.
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This parameter can be set to ENABLE or DISABLE */
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uint32_t AWUM; /*!< Enable or disable the automatic wake-up mode.
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This parameter can be set to ENABLE or DISABLE */
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uint32_t NART; /*!< Enable or disable the non-automatic retransmission mode.
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This parameter can be set to ENABLE or DISABLE */
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uint32_t RFLM; /*!< Enable or disable the receive FIFO Locked mode.
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This parameter can be set to ENABLE or DISABLE */
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uint32_t TXFP; /*!< Enable or disable the transmit FIFO priority.
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This parameter can be set to ENABLE or DISABLE */
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}CAN_InitTypeDef;
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/**
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* @brief CAN Tx message structure definition
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*/
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typedef struct
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{
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uint32_t StdId; /*!< Specifies the standard identifier.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
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uint32_t ExtId; /*!< Specifies the extended identifier.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
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uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted.
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This parameter can be a value of @ref CAN_Identifier_Type */
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uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted.
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This parameter can be a value of @ref CAN_remote_transmission_request */
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uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted.
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This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
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uint8_t Data[8]; /*!< Contains the data to be transmitted.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
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}CanTxMsgTypeDef;
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/**
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* @brief CAN Rx message structure definition
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*/
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typedef struct
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{
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uint32_t StdId; /*!< Specifies the standard identifier.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
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uint32_t ExtId; /*!< Specifies the extended identifier.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
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uint32_t IDE; /*!< Specifies the type of identifier for the message that will be received.
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This parameter can be a value of @ref CAN_Identifier_Type */
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uint32_t RTR; /*!< Specifies the type of frame for the received message.
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This parameter can be a value of @ref CAN_remote_transmission_request */
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uint32_t DLC; /*!< Specifies the length of the frame that will be received.
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This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
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uint8_t Data[8]; /*!< Contains the data to be received.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
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uint32_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through.
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This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
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uint32_t FIFONumber; /*!< Specifies the receive FIFO number.
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This parameter can be CAN_FIFO0 or CAN_FIFO1 */
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}CanRxMsgTypeDef;
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/**
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* @brief CAN handle Structure definition
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*/
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typedef struct
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{
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CAN_TypeDef *Instance; /*!< Register base address */
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CAN_InitTypeDef Init; /*!< CAN required parameters */
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CanTxMsgTypeDef* pTxMsg; /*!< Pointer to transmit structure */
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CanRxMsgTypeDef* pRxMsg; /*!< Pointer to reception structure for RX FIFO0 msg */
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CanRxMsgTypeDef* pRx1Msg; /*!< Pointer to reception structure for RX FIFO1 msg */
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__IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */
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HAL_LockTypeDef Lock; /*!< CAN locking object */
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__IO uint32_t ErrorCode; /*!< CAN Error code */
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}CAN_HandleTypeDef;
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/**
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* @}
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*/
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/* Exported constants --------------------------------------------------------*/
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/** @defgroup CAN_Exported_Constants CAN Exported Constants
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* @{
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*/
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/** @defgroup CAN_Error_Code CAN Error Code
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* @{
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*/
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#define HAL_CAN_ERROR_NONE 0x00000000U /*!< No error */
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#define HAL_CAN_ERROR_EWG 0x00000001U /*!< EWG error */
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#define HAL_CAN_ERROR_EPV 0x00000002U /*!< EPV error */
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#define HAL_CAN_ERROR_BOF 0x00000004U /*!< BOF error */
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#define HAL_CAN_ERROR_STF 0x00000008U /*!< Stuff error */
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#define HAL_CAN_ERROR_FOR 0x00000010U /*!< Form error */
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#define HAL_CAN_ERROR_ACK 0x00000020U /*!< Acknowledgment error */
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#define HAL_CAN_ERROR_BR 0x00000040U /*!< Bit recessive */
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#define HAL_CAN_ERROR_BD 0x00000080U /*!< LEC dominant */
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#define HAL_CAN_ERROR_CRC 0x00000100U /*!< LEC transfer error */
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#define HAL_CAN_ERROR_FOV0 0x00000200U /*!< FIFO0 overrun error */
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#define HAL_CAN_ERROR_FOV1 0x00000400U /*!< FIFO1 overrun error */
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#define HAL_CAN_ERROR_TXFAIL 0x00000800U /*!< Transmit failure */
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/**
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* @}
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*/
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/** @defgroup CAN_InitStatus CAN initialization Status
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* @{
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*/
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#define CAN_INITSTATUS_FAILED 0x00000000U /*!< CAN initialization failed */
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#define CAN_INITSTATUS_SUCCESS 0x00000001U /*!< CAN initialization OK */
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/**
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* @}
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*/
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/** @defgroup CAN_operating_mode CAN Operating Mode
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* @{
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*/
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#define CAN_MODE_NORMAL 0x00000000U /*!< Normal mode */
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#define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM) /*!< Loopback mode */
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#define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM) /*!< Silent mode */
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#define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM)) /*!< Loopback combined with silent mode */
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/**
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* @}
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*/
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/** @defgroup CAN_synchronisation_jump_width CAN Synchronization Jump Width
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* @{
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*/
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#define CAN_SJW_1TQ 0x00000000U /*!< 1 time quantum */
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#define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0) /*!< 2 time quantum */
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#define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1) /*!< 3 time quantum */
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#define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW) /*!< 4 time quantum */
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/**
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* @}
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*/
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/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in Bit Segment 1
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* @{
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*/
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#define CAN_BS1_1TQ 0x00000000U /*!< 1 time quantum */
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#define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0) /*!< 2 time quantum */
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#define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1) /*!< 3 time quantum */
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#define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 4 time quantum */
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#define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2) /*!< 5 time quantum */
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#define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 6 time quantum */
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#define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 7 time quantum */
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#define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 8 time quantum */
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#define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3) /*!< 9 time quantum */
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#define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0)) /*!< 10 time quantum */
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#define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1)) /*!< 11 time quantum */
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#define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 12 time quantum */
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#define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2)) /*!< 13 time quantum */
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#define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 14 time quantum */
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#define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 15 time quantum */
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#define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */
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/**
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* @}
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*/
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/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in bit segment 2
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* @{
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*/
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#define CAN_BS2_1TQ 0x00000000U /*!< 1 time quantum */
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#define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0) /*!< 2 time quantum */
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#define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1) /*!< 3 time quantum */
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#define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0)) /*!< 4 time quantum */
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#define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2) /*!< 5 time quantum */
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#define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0)) /*!< 6 time quantum */
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#define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1)) /*!< 7 time quantum */
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#define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2) /*!< 8 time quantum */
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/**
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* @}
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*/
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/** @defgroup CAN_filter_mode CAN Filter Mode
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* @{
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*/
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#define CAN_FILTERMODE_IDMASK ((uint8_t)0x00) /*!< Identifier mask mode */
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#define CAN_FILTERMODE_IDLIST ((uint8_t)0x01) /*!< Identifier list mode */
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/**
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* @}
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*/
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/** @defgroup CAN_filter_scale CAN Filter Scale
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* @{
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*/
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#define CAN_FILTERSCALE_16BIT ((uint8_t)0x00) /*!< Two 16-bit filters */
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#define CAN_FILTERSCALE_32BIT ((uint8_t)0x01) /*!< One 32-bit filter */
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/**
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* @}
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*/
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/** @defgroup CAN_filter_FIFO CAN Filter FIFO
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* @{
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*/
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#define CAN_FILTER_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
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#define CAN_FILTER_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
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/**
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* @}
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*/
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/** @defgroup CAN_Identifier_Type CAN Identifier Type
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* @{
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*/
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#define CAN_ID_STD 0x00000000U /*!< Standard Id */
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#define CAN_ID_EXT 0x00000004U /*!< Extended Id */
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/**
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* @}
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*/
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/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request
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* @{
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*/
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#define CAN_RTR_DATA 0x00000000U /*!< Data frame */
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#define CAN_RTR_REMOTE 0x00000002U /*!< Remote frame */
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/**
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* @}
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*/
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/** @defgroup CAN_transmit_constants CAN Transmit Constants
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* @{
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*/
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#define CAN_TXSTATUS_NOMAILBOX ((uint8_t)0x04) /*!< CAN cell did not provide CAN_TxStatus_NoMailBox */
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/**
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* @}
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*/
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/** @defgroup CAN_receive_FIFO_number_constants CAN Receive FIFO Number
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* @{
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*/
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#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */
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#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */
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/**
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* @}
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*/
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/** @defgroup CAN_flags CAN Flags
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* @{
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*/
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/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
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and CAN_ClearFlag() functions. */
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/* If the flag is 0x1XXXXXXX, it means that it can only be used with
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CAN_GetFlagStatus() function. */
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/* Transmit Flags */
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#define CAN_FLAG_RQCP0 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_RQCP0_BIT_POSITION)) /*!< Request MailBox0 flag */
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#define CAN_FLAG_RQCP1 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_RQCP1_BIT_POSITION)) /*!< Request MailBox1 flag */
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#define CAN_FLAG_RQCP2 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_RQCP2_BIT_POSITION)) /*!< Request MailBox2 flag */
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#define CAN_FLAG_TXOK0 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TXOK0_BIT_POSITION)) /*!< Transmission OK MailBox0 flag */
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#define CAN_FLAG_TXOK1 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TXOK1_BIT_POSITION)) /*!< Transmission OK MailBox1 flag */
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#define CAN_FLAG_TXOK2 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_RQCP0_BIT_POSITION)) /*!< Transmission OK MailBox2 flag */
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#define CAN_FLAG_TME0 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TME0_BIT_POSITION)) /*!< Transmit mailbox 0 empty flag */
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#define CAN_FLAG_TME1 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TME1_BIT_POSITION)) /*!< Transmit mailbox 0 empty flag */
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#define CAN_FLAG_TME2 ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TME2_BIT_POSITION)) /*!< Transmit mailbox 0 empty flag */
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/* Receive Flags */
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#define CAN_FLAG_FF0 ((uint32_t)((RF0R_REGISTER_INDEX << 8U) | CAN_RF0R_FF0_BIT_POSITION)) /*!< FIFO 0 Full flag */
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#define CAN_FLAG_FOV0 ((uint32_t)((RF0R_REGISTER_INDEX << 8U) | CAN_RF0R_FOV0_BIT_POSITION)) /*!< FIFO 0 Overrun flag */
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#define CAN_FLAG_FF1 ((uint32_t)((RF1R_REGISTER_INDEX << 8U) | CAN_RF1R_FF1_BIT_POSITION)) /*!< FIFO 1 Full flag */
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#define CAN_FLAG_FOV1 ((uint32_t)((RF1R_REGISTER_INDEX << 8U) | CAN_RF1R_FOV1_BIT_POSITION)) /*!< FIFO 1 Overrun flag */
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/* Operating Mode Flags */
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#define CAN_FLAG_WKU ((uint32_t)((MSR_REGISTER_INDEX << 8U) | CAN_MSR_WKU_BIT_POSITION)) /*!< Wake up flag */
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#define CAN_FLAG_SLAK ((uint32_t)((MSR_REGISTER_INDEX << 8U) | CAN_MSR_SLAK_BIT_POSITION)) /*!< Sleep acknowledge flag */
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#define CAN_FLAG_SLAKI ((uint32_t)((MSR_REGISTER_INDEX << 8U) | CAN_MSR_SLAKI_BIT_POSITION)) /*!< Sleep acknowledge flag */
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/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
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In this case the SLAK bit can be polled.*/
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/* Error Flags */
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#define CAN_FLAG_EWG ((uint32_t)((ESR_REGISTER_INDEX << 8U) | CAN_ESR_EWG_BIT_POSITION)) /*!< Error warning flag */
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#define CAN_FLAG_EPV ((uint32_t)((ESR_REGISTER_INDEX << 8U) | CAN_ESR_EPV_BIT_POSITION)) /*!< Error passive flag */
|
|
#define CAN_FLAG_BOF ((uint32_t)((ESR_REGISTER_INDEX << 8U) | CAN_ESR_BOF_BIT_POSITION)) /*!< Bus-Off flag */
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @defgroup CAN_Interrupts CAN Interrupts
|
|
* @{
|
|
*/
|
|
#define CAN_IT_TME ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */
|
|
|
|
/* Receive Interrupts */
|
|
#define CAN_IT_FMP0 ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */
|
|
#define CAN_IT_FF0 ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */
|
|
#define CAN_IT_FOV0 ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */
|
|
#define CAN_IT_FMP1 ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */
|
|
#define CAN_IT_FF1 ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */
|
|
#define CAN_IT_FOV1 ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */
|
|
|
|
/* Operating Mode Interrupts */
|
|
#define CAN_IT_WKU ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */
|
|
#define CAN_IT_SLK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */
|
|
|
|
/* Error Interrupts */
|
|
#define CAN_IT_EWG ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */
|
|
#define CAN_IT_EPV ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */
|
|
#define CAN_IT_BOF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */
|
|
#define CAN_IT_LEC ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */
|
|
#define CAN_IT_ERR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @defgroup CAN_Private_Constants CAN Private Constants
|
|
* @{
|
|
*/
|
|
|
|
/* CAN intermediate shift values used for CAN flags */
|
|
#define TSR_REGISTER_INDEX 0x5U
|
|
#define RF0R_REGISTER_INDEX 0x2U
|
|
#define RF1R_REGISTER_INDEX 0x4U
|
|
#define MSR_REGISTER_INDEX 0x1U
|
|
#define ESR_REGISTER_INDEX 0x3U
|
|
|
|
/* CAN flags bits position into their respective register (TSR, RF0R, RF1R or MSR regsiters) */
|
|
/* Transmit Flags */
|
|
#define CAN_TSR_RQCP0_BIT_POSITION 0x00000000U
|
|
#define CAN_TSR_RQCP1_BIT_POSITION 0x00000008U
|
|
#define CAN_TSR_RQCP2_BIT_POSITION 0x00000010U
|
|
#define CAN_TSR_TXOK0_BIT_POSITION 0x00000001U
|
|
#define CAN_TSR_TXOK1_BIT_POSITION 0x00000009U
|
|
#define CAN_TSR_TXOK2_BIT_POSITION 0x00000011U
|
|
#define CAN_TSR_TME0_BIT_POSITION 0x0000001AU
|
|
#define CAN_TSR_TME1_BIT_POSITION 0x0000001BU
|
|
#define CAN_TSR_TME2_BIT_POSITION 0x0000001CU
|
|
|
|
/* Receive Flags */
|
|
#define CAN_RF0R_FF0_BIT_POSITION 0x00000003U
|
|
#define CAN_RF0R_FOV0_BIT_POSITION 0x00000004U
|
|
|
|
#define CAN_RF1R_FF1_BIT_POSITION 0x00000003U
|
|
#define CAN_RF1R_FOV1_BIT_POSITION 0x00000004U
|
|
|
|
/* Operating Mode Flags */
|
|
#define CAN_MSR_WKU_BIT_POSITION 0x00000003U
|
|
#define CAN_MSR_SLAK_BIT_POSITION 0x00000001U
|
|
#define CAN_MSR_SLAKI_BIT_POSITION 0x00000004U
|
|
|
|
/* Error Flags */
|
|
#define CAN_ESR_EWG_BIT_POSITION 0x00000000U
|
|
#define CAN_ESR_EPV_BIT_POSITION 0x00000001U
|
|
#define CAN_ESR_BOF_BIT_POSITION 0x00000002U
|
|
|
|
/* Mask used by macro to get/clear CAN flags*/
|
|
#define CAN_FLAG_MASK 0x000000FFU
|
|
|
|
/* Mailboxes definition */
|
|
#define CAN_TXMAILBOX_0 ((uint8_t)0x00)
|
|
#define CAN_TXMAILBOX_1 ((uint8_t)0x01)
|
|
#define CAN_TXMAILBOX_2 ((uint8_t)0x02)
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* Exported macros -----------------------------------------------------------*/
|
|
/** @defgroup CAN_Exported_Macros CAN Exported Macros
|
|
* @{
|
|
*/
|
|
|
|
/** @brief Reset CAN handle state
|
|
* @param __HANDLE__: CAN handle.
|
|
* @retval None
|
|
*/
|
|
#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
|
|
|
|
/**
|
|
* @brief Enable the specified CAN interrupts
|
|
* @param __HANDLE__: CAN handle.
|
|
* @param __INTERRUPT__: CAN Interrupt.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_IT_TME: Transmit mailbox empty interrupt enable
|
|
* @arg CAN_IT_FMP0: FIFO 0 message pending interrupt
|
|
* @arg CAN_IT_FF0 : FIFO 0 full interrupt
|
|
* @arg CAN_IT_FOV0: FIFO 0 overrun interrupt
|
|
* @arg CAN_IT_FMP1: FIFO 1 message pending interrupt
|
|
* @arg CAN_IT_FF1 : FIFO 1 full interrupt
|
|
* @arg CAN_IT_FOV1: FIFO 1 overrun interrupt
|
|
* @arg CAN_IT_WKU : Wake-up interrupt
|
|
* @arg CAN_IT_SLK : Sleep acknowledge interrupt
|
|
* @arg CAN_IT_EWG : Error warning interrupt
|
|
* @arg CAN_IT_EPV : Error passive interrupt
|
|
* @arg CAN_IT_BOF : Bus-off interrupt
|
|
* @arg CAN_IT_LEC : Last error code interrupt
|
|
* @arg CAN_IT_ERR : Error Interrupt
|
|
* @retval None.
|
|
*/
|
|
#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))
|
|
|
|
/**
|
|
* @brief Disable the specified CAN interrupts
|
|
* @param __HANDLE__: CAN handle.
|
|
* @param __INTERRUPT__: CAN Interrupt.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_IT_TME: Transmit mailbox empty interrupt enable
|
|
* @arg CAN_IT_FMP0: FIFO 0 message pending interrupt
|
|
* @arg CAN_IT_FF0 : FIFO 0 full interrupt
|
|
* @arg CAN_IT_FOV0: FIFO 0 overrun interrupt
|
|
* @arg CAN_IT_FMP1: FIFO 1 message pending interrupt
|
|
* @arg CAN_IT_FF1 : FIFO 1 full interrupt
|
|
* @arg CAN_IT_FOV1: FIFO 1 overrun interrupt
|
|
* @arg CAN_IT_WKU : Wake-up interrupt
|
|
* @arg CAN_IT_SLK : Sleep acknowledge interrupt
|
|
* @arg CAN_IT_EWG : Error warning interrupt
|
|
* @arg CAN_IT_EPV : Error passive interrupt
|
|
* @arg CAN_IT_BOF : Bus-off interrupt
|
|
* @arg CAN_IT_LEC : Last error code interrupt
|
|
* @arg CAN_IT_ERR : Error Interrupt
|
|
* @retval None.
|
|
*/
|
|
#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
|
|
|
|
/**
|
|
* @brief Return the number of pending received messages.
|
|
* @param __HANDLE__: CAN handle.
|
|
* @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
|
|
* @retval The number of pending message.
|
|
*/
|
|
#define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
|
|
((uint8_t)((__HANDLE__)->Instance->RF0R & 0x03U)) : ((uint8_t)((__HANDLE__)->Instance->RF1R & 0x03U)))
|
|
|
|
/** @brief Check whether the specified CAN flag is set or not.
|
|
* @param __HANDLE__: specifies the CAN Handle.
|
|
* @param __FLAG__: specifies the flag to check.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_TSR_RQCP0: Request MailBox0 Flag
|
|
* @arg CAN_TSR_RQCP1: Request MailBox1 Flag
|
|
* @arg CAN_TSR_RQCP2: Request MailBox2 Flag
|
|
* @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
|
|
* @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
|
|
* @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
|
|
* @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
|
|
* @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
|
|
* @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
|
|
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
|
|
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag
|
|
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
|
|
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
|
|
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag
|
|
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
|
|
* @arg CAN_FLAG_WKU: Wake up Flag
|
|
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
|
|
* @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
|
|
* @arg CAN_FLAG_EWG: Error Warning Flag
|
|
* @arg CAN_FLAG_EPV: Error Passive Flag
|
|
* @arg CAN_FLAG_BOF: Bus-Off Flag
|
|
* @retval The new state of __FLAG__ (TRUE or FALSE).
|
|
*/
|
|
#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
|
|
((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
(((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
(((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
(((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))))
|
|
|
|
/** @brief Clear the specified CAN pending flag.
|
|
* @param __HANDLE__: specifies the CAN Handle.
|
|
* @param __FLAG__: specifies the flag to check.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_TSR_RQCP0: Request MailBox0 Flag
|
|
* @arg CAN_TSR_RQCP1: Request MailBox1 Flag
|
|
* @arg CAN_TSR_RQCP2: Request MailBox2 Flag
|
|
* @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
|
|
* @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
|
|
* @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
|
|
* @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
|
|
* @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
|
|
* @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
|
|
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
|
|
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag
|
|
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
|
|
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
|
|
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag
|
|
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
|
|
* @arg CAN_FLAG_WKU: Wake up Flag
|
|
* @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
|
|
* @retval The new state of __FLAG__ (TRUE or FALSE).
|
|
*/
|
|
#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
|
|
((((__FLAG__) >> 8U) == TSR_REGISTER_INDEX) ? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
(((__FLAG__) >> 8U) == RF0R_REGISTER_INDEX)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
(((__FLAG__) >> 8U) == RF1R_REGISTER_INDEX)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
|
|
(((__FLAG__) >> 8U) == MSR_REGISTER_INDEX) ? (((__HANDLE__)->Instance->MSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U)
|
|
|
|
/** @brief Check if the specified CAN interrupt source is enabled or disabled.
|
|
* @param __HANDLE__: specifies the CAN Handle.
|
|
* @param __INTERRUPT__: specifies the CAN interrupt source to check.
|
|
* This parameter can be one of the following values:
|
|
* @arg CAN_IT_TME: Transmit mailbox empty interrupt enable
|
|
* @arg CAN_IT_FMP0: FIFO 0 message pending interrupt
|
|
* @arg CAN_IT_FF0 : FIFO 0 full interrupt
|
|
* @arg CAN_IT_FOV0: FIFO 0 overrun interrupt
|
|
* @arg CAN_IT_FMP1: FIFO 1 message pending interrupt
|
|
* @arg CAN_IT_FF1 : FIFO 1 full interrupt
|
|
* @arg CAN_IT_FOV1: FIFO 1 overrun interrupt
|
|
* @arg CAN_IT_WKU : Wake-up interrupt
|
|
* @arg CAN_IT_SLK : Sleep acknowledge interrupt
|
|
* @arg CAN_IT_EWG : Error warning interrupt
|
|
* @arg CAN_IT_EPV : Error passive interrupt
|
|
* @arg CAN_IT_BOF : Bus-off interrupt
|
|
* @arg CAN_IT_LEC : Last error code interrupt
|
|
* @arg CAN_IT_ERR : Error Interrupt
|
|
* @retval The new state of __IT__ (TRUE or FALSE).
|
|
*/
|
|
#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
|
|
|
|
/**
|
|
* @brief Check the transmission status of a CAN Frame.
|
|
* @param __HANDLE__: specifies the CAN Handle.
|
|
* @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission.
|
|
* @retval The new status of transmission (TRUE or FALSE).
|
|
*/
|
|
#define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\
|
|
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TME0)) :\
|
|
((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TME1)) :\
|
|
((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TME2)))
|
|
|
|
/**
|
|
* @brief Release the specified receive FIFO.
|
|
* @param __HANDLE__: CAN handle.
|
|
* @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
|
|
* @retval None.
|
|
*/
|
|
#define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
|
|
((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1))
|
|
|
|
/**
|
|
* @brief Cancel a transmit request.
|
|
* @param __HANDLE__: specifies the CAN Handle.
|
|
* @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission.
|
|
* @retval None.
|
|
*/
|
|
#define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\
|
|
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\
|
|
((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\
|
|
((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2))
|
|
|
|
/**
|
|
* @brief Enable or disables the DBG Freeze for CAN.
|
|
* @param __HANDLE__: specifies the CAN Handle.
|
|
* @param __NEWSTATE__: new state of the CAN peripheral.
|
|
* This parameter can be: ENABLE (CAN reception/transmission is frozen
|
|
* during debug. Reception FIFOs can still be accessed/controlled normally)
|
|
* or DISABLE (CAN is working during debug).
|
|
* @retval None
|
|
*/
|
|
#define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \
|
|
((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF))
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* Include CAN HAL Extension module */
|
|
#include "stm32f1xx_hal_can_ex.h"
|
|
|
|
/* Exported functions --------------------------------------------------------*/
|
|
/** @addtogroup CAN_Exported_Functions
|
|
* @{
|
|
*/
|
|
|
|
/** @addtogroup CAN_Exported_Functions_Group1
|
|
* @brief Initialization and Configuration functions
|
|
* @{
|
|
*/
|
|
/* Initialization and de-initialization functions *****************************/
|
|
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
|
|
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
|
|
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
|
|
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
|
|
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @addtogroup CAN_Exported_Functions_Group2
|
|
* @brief I/O operation functions
|
|
* @{
|
|
*/
|
|
/* I/O operation functions *****************************************************/
|
|
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
|
|
HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
|
|
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
|
|
HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
|
|
HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
|
|
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
|
|
void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
|
|
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
|
|
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
|
|
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @addtogroup CAN_Exported_Functions_Group3
|
|
* @brief CAN Peripheral State functions
|
|
* @{
|
|
*/
|
|
/* Peripheral State and Error functions ***************************************/
|
|
uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
|
|
HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan);
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* Private macros --------------------------------------------------------*/
|
|
/** @defgroup CAN_Private_Macros CAN Private Macros
|
|
* @{
|
|
*/
|
|
|
|
#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
|
|
((MODE) == CAN_MODE_LOOPBACK)|| \
|
|
((MODE) == CAN_MODE_SILENT) || \
|
|
((MODE) == CAN_MODE_SILENT_LOOPBACK))
|
|
#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \
|
|
((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
|
|
#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ)
|
|
#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ)
|
|
#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U))
|
|
|
|
#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
|
|
((MODE) == CAN_FILTERMODE_IDLIST))
|
|
#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
|
|
((SCALE) == CAN_FILTERSCALE_32BIT))
|
|
#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
|
|
((FIFO) == CAN_FILTER_FIFO1))
|
|
#define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28U)
|
|
|
|
#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
|
|
#define IS_CAN_STDID(STDID) ((STDID) <= 0x00007FFU)
|
|
#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU)
|
|
#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
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#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \
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((IDTYPE) == CAN_ID_EXT))
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#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
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#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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#endif /* STM32F103x6) || STM32F103xB || STM32F103xE || STM32F103xG) || STM32F105xC || STM32F107xC */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __STM32F1xx_HAL_CAN_H */
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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