resync with FreeRTOS_BSP_1.0.1_iMX7D

1 files changed, 279 insertions, 228 deletions

diff --git a/platform/drivers/inc/flexcan.h b/platform/drivers/inc/flexcan.h
index 8f27315..016952b 100644
--- a/platform/drivers/inc/flexcan.h
+++ b/platform/drivers/inc/flexcan.h
@@ -36,6 +36,18 @@
 #include <assert.h>
 #include "device_imx.h"
 
+/* Start of section using anonymous unions. */
+#if defined(__ARMCC_VERSION)
+  #pragma push
+  #pragma anon_unions
+#elif defined(__GNUC__)
+  /* anonymous unions are enabled by default */
+#elif defined(__IAR_SYSTEMS_ICC__)
+  #pragma language=extended
+#else
+  #error Not supported compiler type
+#endif
+
 /*!
  * @addtogroup flexcan_driver
  * @{
@@ -45,124 +57,133 @@
  * Definitions
  ******************************************************************************/
 
-/*! @brief FlexCAN message buffer CODE for Rx buffers */
-enum _flexcan_msgbuf_code_rx {
-    flexcanRxInactive                = 0x0,    /*!< MB is not active. */
-    flexcanRxFull                    = 0x2,    /*!< MB is full. */
-    flexcanRxEmpty                   = 0x4,    /*!< MB is active and empty. */
-    flexcanRxOverrun                 = 0x6,    /*!< MB is overwritten into a full buffer. */
-    flexcanRxBusy                    = 0x8,    /*!< FlexCAN is updating the contents of the MB. */
-                                               /*!  The CPU must not access the MB. */
-    flexcanRxRanswer                 = 0xA,    /*!< A frame was configured to recognize a Remote Request Frame */
-                                               /*!  and transmit a Response Frame in return. */
-    flexcanRxNotUsed                 = 0xF     /*!< Not used */
+/*! @brief FlexCAN message buffer CODE for Rx buffers. */
+enum _flexcan_msgbuf_code_rx
+{
+    flexcanRxInactive = 0x0, /*!< MB is not active. */
+    flexcanRxFull     = 0x2, /*!< MB is full. */
+    flexcanRxEmpty    = 0x4, /*!< MB is active and empty. */
+    flexcanRxOverrun  = 0x6, /*!< MB is overwritten into a full buffer. */
+    flexcanRxBusy     = 0x8, /*!< FlexCAN is updating the contents of the MB. */
+                             /*!  The CPU must not access the MB. */
+    flexcanRxRanswer  = 0xA, /*!< A frame was configured to recognize a Remote Request Frame */
+                             /*!  and transmit a Response Frame in return. */
+    flexcanRxNotUsed  = 0xF, /*!< Not used. */
 };
 
-/*! @brief FlexCAN message buffer CODE FOR Tx buffers */
-enum _flexcan_msgbuf_code_tx {
-    flexcanTxInactive                = 0x8,    /*!< MB is not active. */
-    flexcanTxAbort                   = 0x9,    /*!< MB is aborted. */
-    flexcanTxDataOrRemte             = 0xC,    /*!< MB is a TX Data Frame(when MB RTR = 0) or */
-                                               /*!< MB is a TX Remote Request Frame (when MB RTR = 1). */
-    flexcanTxTanswer                 = 0xE,    /*!< MB is a TX Response Request Frame from. */
-                                               /*!  an incoming Remote Request Frame. */
-    flexcanTxNotUsed                 = 0xF     /*!< Not used */
+/*! @brief FlexCAN message buffer CODE FOR Tx buffers. */
+enum _flexcan_msgbuf_code_tx
+{
+    flexcanTxInactive    = 0x8, /*!< MB is not active. */
+    flexcanTxAbort       = 0x9, /*!< MB is aborted. */
+    flexcanTxDataOrRemte = 0xC, /*!< MB is a TX Data Frame(when MB RTR = 0) or */
+                                /*!< MB is a TX Remote Request Frame (when MB RTR = 1). */
+    flexcanTxTanswer     = 0xE, /*!< MB is a TX Response Request Frame from. */
+                                /*!  an incoming Remote Request Frame. */
+    flexcanTxNotUsed     = 0xF, /*!< Not used. */
 };
 
-/*! @brief FlexCAN operation modes */
-enum _flexcan_operatining_modes {
-    flexCanNormalMode                = 0x1,    /*!< Normal mode or user mode @internal gui name="Normal" */
-    flexcanListenOnlyMode            = 0x2,    /*!< Listen-only mode @internal gui name="Listen-only" */
-    flexcanLoopBackMode              = 0x4,    /*!< Loop-back mode @internal gui name="Loop back" */
+/*! @brief FlexCAN operation modes. */
+enum _flexcan_operatining_modes
+{
+    flexCanNormalMode     = 0x1, /*!< Normal mode or user mode @internal gui name="Normal". */
+    flexcanListenOnlyMode = 0x2, /*!< Listen-only mode @internal gui name="Listen-only". */
+    flexcanLoopBackMode   = 0x4, /*!< Loop-back mode @internal gui name="Loop back". */
 };
 
-/*! @brief FlexCAN RX mask mode.*/
-enum _flexcan_rx_mask_mode {
-    flexcanRxMaskGlobal              = 0x0,    /*!< Rx global mask*/
-    flexcanRxMaskIndividual          = 0x1     /*!< Rx individual mask*/
+/*! @brief FlexCAN RX mask mode. */
+enum _flexcan_rx_mask_mode
+{
+    flexcanRxMaskGlobal     = 0x0, /*!< Rx global mask. */
+    flexcanRxMaskIndividual = 0x1, /*!< Rx individual mask. */
 };
 
 /*! @brief The ID type used in rx matching process. */
-enum _flexcan_rx_mask_id_type {
-    flexcanRxMaskIdStd               = 0x0,    /*!< Standard ID*/
-    flexcanRxMaskIdExt               = 0x1     /*!< Extended ID*/
+enum _flexcan_rx_mask_id_type
+{
+    flexcanRxMaskIdStd = 0x0, /*!< Standard ID. */
+    flexcanRxMaskIdExt = 0x1, /*!< Extended ID. */
 };
 
-/*! @brief Flexcan error interrupt source enumeration. */
-enum _flexcan_interrutpt {
-    flexcanIntRxWarning              = 0x01,
-    flexcanIntTxWarning              = 0x02,
-    flexcanIntWakeUp                 = 0x04,
-    flexcanIntBusOff                 = 0x08,
-    flexcanIntError                  = 0x10,
+/*! @brief FlexCAN error interrupt source enumeration. */
+enum _flexcan_interrutpt
+{
+    flexcanIntRxWarning = 0x01, /*!< Tx Warning interrupt source. */
+    flexcanIntTxWarning = 0x02, /*!< Tx Warning interrupt source. */
+    flexcanIntWakeUp    = 0x04, /*!< Wake Up interrupt source. */
+    flexcanIntBusOff    = 0x08, /*!< Bus Off interrupt source.  */
+    flexcanIntError     = 0x10, /*!< Error interrupt source. */
 };
 
-/*! @brief Flexcan error interrupt flags. */
-enum _flexcan_status_flag {
-    flexcanStatusSynch               = CAN_ESR1_SYNCH_MASK,
-    flexcanStatusTxWarningInt        = CAN_ESR1_TWRN_INT_MASK,
-    flexcanStatusRxWarningInt        = CAN_ESR1_RWRN_INT_MASK,
-    flexcanStatusBit1Err             = CAN_ESR1_BIT1_ERR_MASK,
-    flexcanStatusBit0Err             = CAN_ESR1_BIT0_ERR_MASK,
-    flexcanStatusAckErr              = CAN_ESR1_ACK_ERR_MASK,
-    flexcanStatusCrcErr              = CAN_ESR1_CRC_ERR_MASK,
-    flexcanStatusFrameErr            = CAN_ESR1_FRM_ERR_MASK,
-    flexcanStatusStuffingErr         = CAN_ESR1_FRM_ERR_MASK,
-    flexcanStatusTxWarning           = CAN_ESR1_TX_WRN_MASK,
-    flexcanStatusRxWarning           = CAN_ESR1_RX_WRN_MASK,
-    flexcanStatusIdle                = CAN_ESR1_IDLE_MASK,
-    flexcanStatusTransmitting        = CAN_ESR1_TX_MASK,
-    flexcanStatusFltConf             = CAN_ESR1_FLT_CONF_MASK,
-    flexcanStatusReceiving           = CAN_ESR1_RX_MASK,
-    flexcanStatusBusOff              = CAN_ESR1_BOFF_INT_MASK,
-    flexcanStatusError               = CAN_ESR1_ERR_INT_MASK,
-    flexcanStatusWake                = CAN_ESR1_WAK_INT_MASK
+/*! @brief FlexCAN error interrupt flags. */
+enum _flexcan_status_flag
+{
+    flexcanStatusSynch        = CAN_ESR1_SYNCH_MASK,    /*!< Bus Synchronized flag. */
+    flexcanStatusTxWarningInt = CAN_ESR1_TWRN_INT_MASK, /*!< Tx Warning initerrupt flag. */
+    flexcanStatusRxWarningInt = CAN_ESR1_RWRN_INT_MASK, /*!< Tx Warning initerrupt flag. */
+    flexcanStatusBit1Err      = CAN_ESR1_BIT1_ERR_MASK, /*!< Bit0 Error flag. */
+    flexcanStatusBit0Err      = CAN_ESR1_BIT0_ERR_MASK, /*!< Bit1 Error flag. */
+    flexcanStatusAckErr       = CAN_ESR1_ACK_ERR_MASK,  /*!< Ack Error flag. */
+    flexcanStatusCrcErr       = CAN_ESR1_CRC_ERR_MASK,  /*!< CRC Error flag. */
+    flexcanStatusFrameErr     = CAN_ESR1_FRM_ERR_MASK,  /*!< Frame Error flag. */
+    flexcanStatusStuffingErr  = CAN_ESR1_STF_ERR_MASK,  /*!< Stuffing Error flag. */
+    flexcanStatusTxWarning    = CAN_ESR1_TX_WRN_MASK,   /*!< Tx Warning flag. */
+    flexcanStatusRxWarning    = CAN_ESR1_RX_WRN_MASK,   /*!< Rx Warning flag. */
+    flexcanStatusIdle         = CAN_ESR1_IDLE_MASK,     /*!< FlexCAN Idle flag. */
+    flexcanStatusTransmitting = CAN_ESR1_TX_MASK,       /*!< Trasmitting flag. */
+    flexcanStatusFltConf      = CAN_ESR1_FLT_CONF_MASK, /*!< Fault Config flag. */
+    flexcanStatusReceiving    = CAN_ESR1_RX_MASK,       /*!< Receiving flag. */
+    flexcanStatusBusOff       = CAN_ESR1_BOFF_INT_MASK, /*!< Bus Off interrupt flag. */
+    flexcanStatusError        = CAN_ESR1_ERR_INT_MASK,  /*!< Error interrupt flag. */
+    flexcanStatusWake         = CAN_ESR1_WAK_INT_MASK,  /*!< Wake Up interrupt flag. */
 };
 
 /*! @brief The id filter element type selection. */
-enum _flexcan_rx_fifo_id_element_format {
-    flexcanFxFifoIdElementFormatA    = 0x0,    /*!< One full ID (standard and extended) per ID Filter Table*/
-                                               /*!  element.*/
-    flexcanFxFifoIdElementFormatB    = 0x1,    /*!< Two full standard IDs or two partial 14-bit (standard and*/
-                                               /*!  extended) IDs per ID Filter Table element.*/
-    flexcanFxFifoIdElementFormatC    = 0x2,    /*!< Four partial 8-bit Standard IDs per ID Filter Table*/
-                                               /*!  element.*/
-    flexcanFxFifoIdElementFormatD    = 0x3     /*!< All frames rejected.*/
+enum _flexcan_rx_fifo_id_element_format
+{
+    flexcanRxFifoIdElementFormatA = 0x0, /*!< One full ID (standard and extended) per ID Filter Table element. */
+    flexcanRxFifoIdElementFormatB = 0x1, /*!< Two full standard IDs or two partial 14-bit (standard and extended) IDs per ID Filter Table element. */
+    flexcanRxFifoIdElementFormatC = 0x2, /*!< Four partial 8-bit Standard IDs per ID Filter Table element. */
+    flexcanRxFifoIdElementFormatD = 0x3, /*!< All frames rejected. */
 };
 
-/*! @brief FlexCAN Rx FIFO filters number*/
+/*! @brief FlexCAN Rx FIFO filters number. */
 enum _flexcan_rx_fifo_filter_id_number
 {
-    flexcanRxFifoIdFilterNum8        = 0x0,    /*!<   8 Rx FIFO Filters. @internal gui name="8 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum16       = 0x1,    /*!<  16 Rx FIFO Filters. @internal gui name="16 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum24       = 0x2,    /*!<  24 Rx FIFO Filters. @internal gui name="24 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum32       = 0x3,    /*!<  32 Rx FIFO Filters. @internal gui name="32 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum40       = 0x4,    /*!<  40 Rx FIFO Filters. @internal gui name="40 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum48       = 0x5,    /*!<  48 Rx FIFO Filters. @internal gui name="48 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum56       = 0x6,    /*!<  56 Rx FIFO Filters. @internal gui name="56 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum64       = 0x7,    /*!<  64 Rx FIFO Filters. @internal gui name="64 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum72       = 0x8,    /*!<  72 Rx FIFO Filters. @internal gui name="72 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum80       = 0x9,    /*!<  80 Rx FIFO Filters. @internal gui name="80 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum88       = 0xA,    /*!<  88 Rx FIFO Filters. @internal gui name="88 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum96       = 0xB,    /*!<  96 Rx FIFO Filters. @internal gui name="96 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum104      = 0xC,    /*!< 104 Rx FIFO Filters. @internal gui name="104 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum112      = 0xD,    /*!< 112 Rx FIFO Filters. @internal gui name="112 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum120      = 0xE,    /*!< 120 Rx FIFO Filters. @internal gui name="120 Rx FIFO Filters" */
-    flexcanRxFifoIdFilterNum128      = 0xF,    /*!< 128 Rx FIFO Filters. @internal gui name="128 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum8   = 0x0, /*!<   8 Rx FIFO Filters. @internal gui name="8 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum16  = 0x1, /*!<  16 Rx FIFO Filters. @internal gui name="16 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum24  = 0x2, /*!<  24 Rx FIFO Filters. @internal gui name="24 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum32  = 0x3, /*!<  32 Rx FIFO Filters. @internal gui name="32 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum40  = 0x4, /*!<  40 Rx FIFO Filters. @internal gui name="40 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum48  = 0x5, /*!<  48 Rx FIFO Filters. @internal gui name="48 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum56  = 0x6, /*!<  56 Rx FIFO Filters. @internal gui name="56 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum64  = 0x7, /*!<  64 Rx FIFO Filters. @internal gui name="64 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum72  = 0x8, /*!<  72 Rx FIFO Filters. @internal gui name="72 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum80  = 0x9, /*!<  80 Rx FIFO Filters. @internal gui name="80 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum88  = 0xA, /*!<  88 Rx FIFO Filters. @internal gui name="88 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum96  = 0xB, /*!<  96 Rx FIFO Filters. @internal gui name="96 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum104 = 0xC, /*!< 104 Rx FIFO Filters. @internal gui name="104 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum112 = 0xD, /*!< 112 Rx FIFO Filters. @internal gui name="112 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum120 = 0xE, /*!< 120 Rx FIFO Filters. @internal gui name="120 Rx FIFO Filters" */
+    flexcanRxFifoIdFilterNum128 = 0xF, /*!< 128 Rx FIFO Filters. @internal gui name="128 Rx FIFO Filters" */
 };
 
-/*! @brief FlexCAN RX FIFO ID filter table structure*/
-typedef struct FLEXCANIdTable {
-    bool isRemoteFrame;      /*!< Remote frame*/
-    bool isExtendedFrame;    /*!< Extended frame*/
-    uint32_t *idFilter;      /*!< Rx FIFO ID filter elements*/
+/*! @brief FlexCAN RX FIFO ID filter table structure. */
+typedef struct FLEXCANIdTable
+{
+    uint32_t *idFilter;   /*!< Rx FIFO ID filter elements. */
+    bool isRemoteFrame;   /*!< Remote frame. */
+    bool isExtendedFrame; /*!< Extended frame. */
 } flexcan_id_table_t;
 
-/*! @brief FlexCAN message buffer structure*/
-typedef struct _flexcan_msgbuf {
-    union {
-        uint32_t cs;    /*!< Code and Status*/
-        struct {
+/*! @brief FlexCAN message buffer structure. */
+typedef struct _flexcan_msgbuf
+{
+    union
+    {
+        uint32_t cs; /*!< Code and Status. */
+        struct
+        {
             uint32_t timeStamp : 16;
             uint32_t dlc       : 4;
             uint32_t rtr       : 1;
@@ -174,18 +195,22 @@ typedef struct _flexcan_msgbuf {
         };
     };
 
-    union{
-        uint32_t id;    /*!< Message Buffer ID*/
-        struct {
+    union
+    {
+        uint32_t id; /*!< Message Buffer ID. */
+        struct
+        {
             uint32_t idExt     : 18;
             uint32_t idStd     : 11;
             uint32_t prio      : 3;
         };
     };
 
-    union{
-        uint32_t word0;    /*!< Bytes of the FlexCAN message*/
-        struct {
+    union
+    {
+        uint32_t word0; /*!< Bytes of the FlexCAN message. */
+        struct
+        {
             uint8_t data3;
             uint8_t data2;
             uint8_t data1;
@@ -193,9 +218,11 @@ typedef struct _flexcan_msgbuf {
         };
     };
 
-    union{
-        uint32_t word1;    /*!< Bytes of the FlexCAN message*/
-        struct {
+    union
+    {
+        uint32_t word1; /*!< Bytes of the FlexCAN message. */
+        struct
+        {
             uint8_t data7;
             uint8_t data6;
             uint8_t data5;
@@ -204,20 +231,22 @@ typedef struct _flexcan_msgbuf {
     };
 } flexcan_msgbuf_t;
 
-/*! @brief FlexCAN timing related structures*/
-typedef struct _flexcan_timing {
-    uint32_t preDiv;       /*!< Clock pre divider*/
-    uint32_t rJumpwidth;   /*!< Resync jump width*/
-    uint32_t phaseSeg1;    /*!< Phase segment 1*/
-    uint32_t phaseSeg2;    /*!< Phase segment 1*/
-    uint32_t propSeg;      /*!< Propagation segment*/
+/*! @brief FlexCAN timing-related structures. */
+typedef struct _flexcan_timing
+{
+    uint32_t preDiv;     /*!< Clock pre divider. */
+    uint32_t rJumpwidth; /*!< Resync jump width. */
+    uint32_t phaseSeg1;  /*!< Phase segment 1. */
+    uint32_t phaseSeg2;  /*!< Phase segment 2. */
+    uint32_t propSeg;    /*!< Propagation segment. */
 } flexcan_timing_t;
 
-/*! @brief Flexcan module initialize structure. */
-typedef struct _flexcan_init_config {
-    flexcan_timing_t timing;           /*!< Desired Flexcan module timing configuration. */
-    uint32_t         operatingMode;    /*!< Desired Flexcan module operating mode. */
-    uint8_t          maxMsgBufNum;     /*!< The maximal number of available message buffer. */
+/*! @brief FlexCAN module initialize structure. */
+typedef struct _flexcan_init_config
+{
+    flexcan_timing_t timing;        /*!< Desired FlexCAN module timing configuration. */
+    uint32_t         operatingMode; /*!< Desired FlexCAN module operating mode. */
+    uint8_t          maxMsgBufNum;  /*!< The maximal number of available message buffer. */
 } flexcan_init_config_t;
 
 /*******************************************************************************
@@ -234,29 +263,29 @@ extern "C" {
  */
 
 /*!
- * @brief Initialize Flexcan module with given initialize structure.
+ * @brief Initialize FlexCAN module with given initialize structure.
  *
  * @param base CAN base pointer.
- * @param initConfig CAN initialize structure(see flexcan_init_config_t above).
+ * @param initConfig CAN initialize structure (see @ref flexcan_init_config_t structure).
  */
-void FLEXCAN_Init(CAN_Type* base, flexcan_init_config_t* initConfig);
+void FLEXCAN_Init(CAN_Type* base, const flexcan_init_config_t* initConfig);
 
 /*!
- * @brief This function reset Flexcan module register content to its default value.
+ * @brief This function reset FlexCAN module register content to its default value.
  *
  * @param base FlexCAN base pointer.
  */
 void FLEXCAN_Deinit(CAN_Type* base);
 
 /*!
- * @brief This function is used to Enable the Flexcan Module.
+ * @brief This function is used to Enable the FlexCAN Module.
  *
  * @param base FlexCAN base pointer.
  */
 void FLEXCAN_Enable(CAN_Type* base);
 
 /*!
- * @brief This function is used to Disable the CAN Module.
+ * @brief This function is used to Disable the FlexCAN Module.
  *
  * @param base FlexCAN base pointer.
  */
@@ -265,33 +294,33 @@ void FLEXCAN_Disable(CAN_Type* base);
 /*!
  * @brief Sets the FlexCAN time segments for setting up bit rate.
  *
- * @param   base FlexCAN base pointer.
- * @param   timing FlexCAN time segments, which need to be set for the bit rate.
+ * @param base FlexCAN base pointer.
+ * @param timing FlexCAN time segments, which need to be set for the bit rate (See @ref flexcan_timing_t structure).
  */
-void FLEXCAN_SetTiming(CAN_Type* base, flexcan_timing_t* timing);
+void FLEXCAN_SetTiming(CAN_Type* base, const flexcan_timing_t* timing);
 
 /*!
  * @brief Set operation mode.
  *
- * @param   base FlexCAN base pointer.
- * @param   mode Set an operation mode.
+ * @param base FlexCAN base pointer.
+ * @param mode Set an operation mode.
  */
 void FLEXCAN_SetOperatingMode(CAN_Type* base, uint8_t mode);
 
 /*!
  * @brief Set the maximum number of Message Buffers.
  *
- * @param   base FlexCAN base pointer.
- * @param   bufNum Maximum number of message buffers
+ * @param base FlexCAN base pointer.
+ * @param bufNum Maximum number of message buffers.
  */
 void FLEXCAN_SetMaxMsgBufNum(CAN_Type* base, uint32_t bufNum);
 
 /*!
- * @brief Get the working status of Flexcan module.
+ * @brief Get the working status of FlexCAN module.
  *
- * @param   base FlexCAN base pointer.
- * @return  true  : FLEXCAN module is either in Normal Mode, Listen-Only Mode or Loop-Back Mode
- *          false : FLEXCAN module is either in Disable Mode, Stop Mode or Freeze Mode
+ * @param base FlexCAN base pointer.
+ * @return - true: FLEXCAN module is either in Normal Mode, Listen-Only Mode or Loop-Back Mode.
+ *         - false: FLEXCAN module is either in Disable Mode, Stop Mode or Freeze Mode.
  */
 static inline bool FLEXCAN_IsModuleReady(CAN_Type* base)
 {
@@ -299,63 +328,66 @@ static inline bool FLEXCAN_IsModuleReady(CAN_Type* base)
 }
 
 /*!
- * @brief Set the Transmit abort feature enablement.
+ * @brief Set the Transmit Abort feature enablement.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : Enable Transmit Abort feature.
- *                 - false : Disable Transmit Abort feature.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable Transmit Abort feature.
+ *               - true: Enable Transmit Abort feature.
+ *               - false: Disable Transmit Abort feature.
  */
 void FLEXCAN_SetAbortCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Set the local transmit priority enablement.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : transmit MB with highest local priority.
- *                 - false : transmit MB with lowest MB number.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable local transmit periority.
+ *               - true: Transmit MB with highest local priority.
+ *               - false: Transmit MB with lowest MB number.
  */
 void FLEXCAN_SetLocalPrioCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Set the Rx matching process priority.
  *
- * @param   base FlexCAN base pointer.
- * @param   priority - true  : Matching starts from Mailboxes and continues on Rx FIFO.
- *                   - false : Matching starts from Rx FIFO and continues on Mailboxes.
+ * @param base FlexCAN base pointer.
+ * @param priority Set Rx matching process priority.
+ *                 - true: Matching starts from Mailboxes and continues on Rx FIFO.
+ *                 - false: Matching starts from Rx FIFO and continues on Mailboxes.
  */
 void FLEXCAN_SetMatchPrioCmd(CAN_Type* base, bool priority);
 
 /*@}*/
 
 /*!
- * @name Flexcan Message buffer control functions
+ * @name FlexCAN Message buffer control functions
  * @{
  */
 
 /*!
  * @brief Get message buffer pointer for transition.
  *
- * @param   base FlexCAN base pointer.
- * @param   msgBufIdx message buffer index.
- * @return  message buffer pointer.
+ * @param base FlexCAN base pointer.
+ * @param msgBufIdx message buffer index.
+ * @return message buffer pointer.
  */
 flexcan_msgbuf_t* FLEXCAN_GetMsgBufPtr(CAN_Type* base, uint8_t msgBufIdx);
 
 /*!
  * @brief Locks the FlexCAN Rx message buffer.
  *
- * @param   base FlexCAN base pointer.
- * @param   msgBuffIdx Index of the message buffer
- * @return  true  : if successful; 
- *          false : failed.
+ * @param base FlexCAN base pointer.
+ * @param msgBufIdx Index of the message buffer
+ * @return - true: Lock Rx Message Buffer successful. 
+ *         - false: Lock Rx Message Buffer failed.
  */
 bool FLEXCAN_LockRxMsgBuf(CAN_Type* base, uint8_t msgBufIdx);
 
 /*!
  * @brief Unlocks the FlexCAN Rx message buffer.
  *
- * @param   base FlexCAN base pointer.
- * @return  current free run timer counter value.
+ * @param base FlexCAN base pointer.
+ * @return current free run timer counter value.
  */
 uint16_t FLEXCAN_UnlockAllRxMsgBuf(CAN_Type* base);
 
@@ -369,61 +401,64 @@ uint16_t FLEXCAN_UnlockAllRxMsgBuf(CAN_Type* base);
 /*!
  * @brief Enables/Disables the FlexCAN Message Buffer interrupt.
  *
- * @param   base FlexCAN base pointer.
- * @param   msgBuffIdx Index of the message buffer.
- * @param   enable Choose enable or disable.
+ * @param base FlexCAN base pointer.
+ * @param msgBufIdx Index of the message buffer.
+ * @param enable Enables/Disables interrupt.
+ *               - true: Enable Message Buffer interrupt.
+ *               - disable: Disable Message Buffer interrupt.
  */
 void FLEXCAN_SetMsgBufIntCmd(CAN_Type* base, uint8_t msgBufIdx, bool enable);
 
 /*!
  * @brief Gets the individual FlexCAN MB interrupt flag.
  *
- * @param   base FlexCAN base pointer.
- * @param   msgBuffIdx Index of the message buffer.
- * @return  the individual Message Buffer interrupt flag (true and false are the flag value).
+ * @param base FlexCAN base pointer.
+ * @param msgBufIdx Index of the message buffer.
+ * @retval true: Message Buffer Interrupt is pending.
+ * @retval false: There is no Message Buffer Interrupt.
  */
 bool FLEXCAN_GetMsgBufStatusFlag(CAN_Type* base, uint8_t msgBufIdx);
 
 /*!
  * @brief Clears the interrupt flag of the message buffers.
  *
- * @param   base FlexCAN base pointer.
- * @param   msgBuffIdx Index of the message buffer.
+ * @param base FlexCAN base pointer.
+ * @param msgBufIdx Index of the message buffer.
  */
 void FLEXCAN_ClearMsgBufStatusFlag(CAN_Type* base, uint32_t msgBufIdx);
 
 /*!
  * @brief Enables error interrupt of the FlexCAN module.
  *
- * @param   base FlexCAN base pointer.
- * @param   errorSrc The interrupt source.
- * @param   enable Choose enable or disable.
+ * @param base FlexCAN base pointer.
+ * @param errorSrc The interrupt source (see @ref _flexcan_interrutpt enumeration).
+ * @param enable Choose enable or disable.
  */
 void FLEXCAN_SetErrIntCmd(CAN_Type* base, uint32_t errorSrc, bool enable);
 
 /*!
  * @brief Gets the FlexCAN module interrupt flag.
  *
- * @param   base FlexCAN base pointer.
- * @param   errFlags Flexcan error flags.
- * @return  the individual Message Buffer interrupt flag (0 and 1 are the flag value)
+ * @param base FlexCAN base pointer.
+ * @param errFlags FlexCAN error flags (see @ref _flexcan_status_flag enumeration).
+ * @return The individual Message Buffer interrupt flag (0 and 1 are the flag value)
  */
 uint32_t FLEXCAN_GetErrStatusFlag(CAN_Type* base, uint32_t errFlags);
 
 /*!
  * @brief Clears the interrupt flag of the FlexCAN module.
  *
- * @param   base FlexCAN base pointer.
- * @param   errFlags The value to be written to the interrupt flag1 register.
+ * @param base FlexCAN base pointer.
+ * @param errFlags The value to be written to the interrupt flag1 register (see @ref _flexcan_status_flag enumeration).
  */
 void FLEXCAN_ClearErrStatusFlag(CAN_Type* base, uint32_t errFlags);
 
 /*!
  * @brief Get the error counter of FlexCAN module.
  *
- * @param   base FlexCAN base pointer.
- * @param   txError Tx_Err_Counter pointer.
- * @param   rxError Rx_Err_Counter pointer.
+ * @param base FlexCAN base pointer.
+ * @param txError Tx_Err_Counter pointer.
+ * @param rxError Rx_Err_Counter pointer.
  */
 void FLEXCAN_GetErrCounter(CAN_Type* base, uint8_t* txError, uint8_t* rxError);
 
@@ -437,40 +472,40 @@ void FLEXCAN_GetErrCounter(CAN_Type* base, uint8_t* txError, uint8_t* rxError);
 /*!
  * @brief Enables the Rx FIFO.
  *
- * @param   base FlexCAN base pointer.
- * @param   numOfFilters The number of Rx FIFO filters
+ * @param base FlexCAN base pointer.
+ * @param numOfFilters The number of Rx FIFO filters
  */
 void FLEXCAN_EnableRxFifo(CAN_Type* base, uint8_t numOfFilters);
 
 /*!
  * @brief Disables the Rx FIFO.
  *
- * @param   base FlexCAN base pointer.
+ * @param base FlexCAN base pointer.
  */
 void FLEXCAN_DisableRxFifo(CAN_Type* base);
 
 /*!
  * @brief Set the number of the Rx FIFO filters.
  *
- * @param   base FlexCAN base pointer.
- * @param   number The number of Rx FIFO filters.
+ * @param base FlexCAN base pointer.
+ * @param numOfFilters The number of Rx FIFO filters.
  */
 void FLEXCAN_SetRxFifoFilterNum(CAN_Type* base, uint32_t numOfFilters);
 
 /*!
  * @brief Set the FlexCAN Rx FIFO fields.
  *
- * @param   base FlexCAN base pointer.
- * @param   idFormat The format of the Rx FIFO ID Filter Table Elements
- * @param   idFilterTable The ID filter table elements which contain RTR bit, IDE bit and RX message ID.
+ * @param base FlexCAN base pointer.
+ * @param idFormat The format of the Rx FIFO ID Filter Table Elements
+ * @param idFilterTable The ID filter table elements which contain RTR bit, IDE bit and RX message ID.
  */
 void FLEXCAN_SetRxFifoFilter(CAN_Type* base, uint32_t idFormat, flexcan_id_table_t *idFilterTable);
 
 /*!
  * @brief Gets the FlexCAN Rx FIFO data pointer.
  *
- * @param   base FlexCAN base pointer.
- * @return  Rx FIFO data pointer.
+ * @param base FlexCAN base pointer.
+ * @return Rx FIFO data pointer.
  */
 flexcan_msgbuf_t* FLEXCAN_GetRxFifoPtr(CAN_Type* base);
 
@@ -478,8 +513,8 @@ flexcan_msgbuf_t* FLEXCAN_GetRxFifoPtr(CAN_Type* base);
  * @brief Gets the FlexCAN Rx FIFO information.
  *        The return value indicates which Identifier Acceptance Filter
  *        (see Rx FIFO Structure) was hit by the received message.
- * @param   base FlexCAN base pointer.
- * @return  Rx FIFO filter number.
+ * @param base FlexCAN base pointer.
+ * @return Rx FIFO filter number.
  */
 uint16_t FLEXCAN_GetRxFifoInfo(CAN_Type* base);
 
@@ -493,58 +528,59 @@ uint16_t FLEXCAN_GetRxFifoInfo(CAN_Type* base);
 /*!
  * @brief Set the Rx masking mode.
  *
- * @param   base FlexCAN base pointer.
- * @param   mode The FlexCAN Rx mask mode: can be set to global mode and individual mode.
+ * @param base FlexCAN base pointer.
+ * @param mode The FlexCAN Rx mask mode (see @ref _flexcan_rx_mask_mode enumeration).
  */
 void FLEXCAN_SetRxMaskMode(CAN_Type* base, uint32_t mode);
 
 /*!
  * @brief Set the remote trasmit request mask enablement.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : Enable RTR matching judgement.
- *                   false : Disable RTR matching judgement.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable remote trasmit request mask.
+ *               - true: Enable RTR matching judgement.
+ *               - false: Disable RTR matching judgement.
  */
-void FLEXCAN_SetRxMaskRtrCmd(CAN_Type* base, uint32_t enable);
+void FLEXCAN_SetRxMaskRtrCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Set the FlexCAN RX global mask.
  *
- * @param   base FlexCAN base pointer.
- * @param   mask Rx Global mask.
+ * @param base FlexCAN base pointer.
+ * @param mask Rx Global mask.
  */
 void FLEXCAN_SetRxGlobalMask(CAN_Type* base, uint32_t mask);
 
 /*!
  * @brief Set the FlexCAN Rx individual mask for ID filtering in the Rx MBs and the Rx FIFO.
  *
- * @param   base FlexCAN base pointer.
- * @param   msgBufIdx Index of the message buffer.
- * @param   mask Individual mask
+ * @param base FlexCAN base pointer.
+ * @param msgBufIdx Index of the message buffer.
+ * @param mask Individual mask
  */
 void FLEXCAN_SetRxIndividualMask(CAN_Type* base, uint32_t msgBufIdx, uint32_t mask);
 
 /*!
  * @brief Set the FlexCAN RX Message Buffer BUF14 mask.
  *
- * @param   base FlexCAN base pointer.
- * @param   mask Message Buffer BUF14 mask.
+ * @param base FlexCAN base pointer.
+ * @param mask Message Buffer BUF14 mask.
  */
 void FLEXCAN_SetRxMsgBuff14Mask(CAN_Type* base, uint32_t mask);
 
 /*!
  * @brief Set the FlexCAN RX Message Buffer BUF15 mask.
  *
- * @param   base FlexCAN base pointer.
- * @param   mask Message Buffer BUF15 mask.
+ * @param base FlexCAN base pointer.
+ * @param mask Message Buffer BUF15 mask.
  */
 void FLEXCAN_SetRxMsgBuff15Mask(CAN_Type* base, uint32_t mask);
 
 /*!
  * @brief Set the FlexCAN RX Fifo global mask.
  *
- * @param   base FlexCAN base pointer.
- * @param   mask Rx Fifo Global mask.
+ * @param base FlexCAN base pointer.
+ * @param mask Rx Fifo Global mask.
  */
 void FLEXCAN_SetRxFifoGlobalMask(CAN_Type* base, uint32_t mask);
 
@@ -558,62 +594,67 @@ void FLEXCAN_SetRxFifoGlobalMask(CAN_Type* base, uint32_t mask);
 /*!
  * @brief Enable/disable the FlexCAN self wakeup feature.
  *
- * @param   base FlexCAN base pointer.
- * @param   lpfEnable The low pass filter for Rx self wakeup feature enablement.
- * @param   enable The self wakeup feature enablement.
+ * @param base FlexCAN base pointer.
+ * @param lpfEnable The low pass filter for Rx self wakeup feature enablement.
+ * @param enable The self wakeup feature enablement.
  */
 void FLEXCAN_SetSelfWakeUpCmd(CAN_Type* base, bool lpfEnable, bool enable);
 
 /*!
- * @brief Enable/disable the FlexCAN self reception feature.
+ * @brief Enable/Disable the FlexCAN self reception feature.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : enable self reception feature.
- *                   false : disable self reception feature.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable self reception feature.
+ *               - true: Enable self reception feature.
+ *               - false: Disable self reception feature.
  */
 void FLEXCAN_SetSelfReceptionCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Enable/disable the enhance FlexCAN Rx vote.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : Three samples are used to determine the value of the received bit.
- *                   false : Just one sample is used to determine the bit value.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable FlexCAN Rx vote mechanism
+ *               - true: Three samples are used to determine the value of the received bit.
+ *               - false: Just one sample is used to determine the bit value.
  */
 void FLEXCAN_SetRxVoteCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Enable/disable the Auto Busoff recover feature.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : Enable Auto Bus Off recover feature.
- *                   false : Disable Auto Bus Off recover feature.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable Auto Busoff Recover
+ *               - true: Enable Auto Bus Off recover feature.
+ *               - false: Disable Auto Bus Off recover feature.
  */
 void FLEXCAN_SetAutoBusOffRecoverCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Enable/disable the Time Sync feature.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : Enable Time Sync feature.
- *                   false : Disable Time Sync feature.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable the Time Sync
+ *               - true: Enable Time Sync feature.
+ *               - false: Disable Time Sync feature.
  */
 void FLEXCAN_SetTimeSyncCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Enable/disable the Auto Remote Response feature.
  *
- * @param   base FlexCAN base pointer.
- * @param   enable - true  : Enable Auto Remote Response feature.
- *                   false : Disable Auto Remote Response feature.
+ * @param base FlexCAN base pointer.
+ * @param enable Enable/Disable the Auto Remote Response feature
+ *               - true: Enable Auto Remote Response feature.
+ *               - false: Disable Auto Remote Response feature.
  */
 void FLEXCAN_SetAutoRemoteResponseCmd(CAN_Type* base, bool enable);
 
 /*!
  * @brief Enable/disable the Glitch Filter Width when FLEXCAN enters the STOP mode.
  *
- * @param   base FlexCAN base pointer.
- * @param   filterWidth The Glitch Filter Width.
+ * @param base FlexCAN base pointer.
+ * @param filterWidth The Glitch Filter Width.
  */
 static inline void FLEXCAN_SetGlitchFilterWidth(CAN_Type* base, uint8_t filterWidth)
 {
@@ -623,10 +664,10 @@ static inline void FLEXCAN_SetGlitchFilterWidth(CAN_Type* base, uint8_t filterWi
 /*!
  * @brief Get the lowest inactive message buffer number.
  *
- * @param   base FlexCAN base pointer.
- * @return  bit 22-16 : the lowest number inactive Mailbox.
- *          bit 14    : indicates whether the number content is valid or not.
- *          bit 13    : this bit indicates whether there is any inactive Mailbox.
+ * @param base FlexCAN base pointer.
+ * @return bit 22-16 : The lowest number inactive Mailbox.
+ *         bit 14    : Indicates whether the number content is valid or not.
+ *         bit 13    : This bit indicates whether there is any inactive Mailbox.
  */
 static inline uint32_t FLEXCAN_GetLowestInactiveMsgBuf(CAN_Type* base)
 {
@@ -636,10 +677,10 @@ static inline uint32_t FLEXCAN_GetLowestInactiveMsgBuf(CAN_Type* base)
 /*!
  * @brief Set the Tx Arbitration Start Delay number.
  *        This function is used to optimize the transmit performance.
- *        For more information about to set this value, please refer to RM.
+ *        For more information about to set this value, see the Chip Reference Manual.
  *
- * @param   base FlexCAN base pointer.
- * @return  tasd The lowest number inactive Mailbox.
+ * @param base FlexCAN base pointer.
+ * @param tasd The lowest number inactive Mailbox.
  */
 static inline void FLEXCAN_SetTxArbitrationStartDelay(CAN_Type* base, uint8_t tasd)
 {
@@ -655,6 +696,16 @@ static inline void FLEXCAN_SetTxArbitrationStartDelay(CAN_Type* base, uint8_t ta
 
 /*! @}*/
 
+#if defined(__ARMCC_VERSION)
+  #pragma pop
+#elif defined(__GNUC__)
+  /* leave anonymous unions enabled */
+#elif defined(__IAR_SYSTEMS_ICC__)
+  #pragma language=default
+#else
+  #error Not supported compiler type
+#endif
+
 #endif /* __FLEXCAN_H__ */
 /*******************************************************************************
  * EOF