Heavy quarks are produced in the early stage of heavy ion collisions due to their large mass, and experience the entire evolution of the QCD medium. The baryon-to-meson ratio provides valuable information on charm hadronisation mechanisms, testing the role of coalescence in the Quark-Gluon Plasma created in PbPb collisions. In $p$Pb collisions, heavy quarks are essential to study cold nuclear matter effects, which include the modification of nuclear parton distribution functions, energy loss in the nucleus, and other effects, providing a crucial baseline for interpreting PbPb measurements. Here, we present precision measurements of open charm production from a set of charmed hadrons in $p$Pb collisions at 5.02 and 8.16 TeV, including the first measurement of $\Xi^+_c$ baryons in heavy ion collisions. The nuclear modification factor R$_{p\textrm{Pb}}$, forward-backward ratio R$_{\textrm{FB}}$ and particle production ratios of charm baryons and mesons are discussed and compared to models.