450 lines
14 KiB
C
450 lines
14 KiB
C
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// can.h - Defines and Macros for the CAN controller.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2006-2014 Texas Instruments Incorporated. All rights reserved.
|
||
|
|
// Software License Agreement
|
||
|
|
//
|
||
|
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
//
|
||
|
|
// Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
//
|
||
|
|
// 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.
|
||
|
|
//
|
||
|
|
// Neither the name of Texas Instruments Incorporated 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
|
||
|
|
// OWNER 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.
|
||
|
|
//
|
||
|
|
// This is part of revision 2.1.0.12573 of the Tiva Peripheral Driver Library.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
#ifndef __DRIVERLIB_CAN_H__
|
||
|
|
#define __DRIVERLIB_CAN_H__
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! \addtogroup can_api
|
||
|
|
//! @{
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// If building with a C++ compiler, make all of the definitions in this header
|
||
|
|
// have a C binding.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C"
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// Miscellaneous defines for Message ID Types
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// These are the flags used by the tCANMsgObject.ui32Flags value when calling
|
||
|
|
// the CANMessageSet() and CANMessageGet() functions.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that transmit interrupts are enabled.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_TX_INT_ENABLE 0x00000001
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that receive interrupts are enabled.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_RX_INT_ENABLE 0x00000002
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that a message object is using an extended identifier.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_EXTENDED_ID 0x00000004
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that a message object is using filtering based on the
|
||
|
|
//! object's message identifier.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_USE_ID_FILTER 0x00000008
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that new data was available in the message object.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_NEW_DATA 0x00000080
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that data was lost since this message object was last
|
||
|
|
//! read.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_DATA_LOST 0x00000100
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that a message object uses or is using filtering
|
||
|
|
//! based on the direction of the transfer. If the direction filtering is
|
||
|
|
//! used, then ID filtering must also be enabled.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_USE_DIR_FILTER (0x00000010 | MSG_OBJ_USE_ID_FILTER)
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that a message object uses or is using message
|
||
|
|
//! identifier filtering based on the extended identifier. If the extended
|
||
|
|
//! identifier filtering is used, then ID filtering must also be enabled.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_USE_EXT_FILTER (0x00000020 | MSG_OBJ_USE_ID_FILTER)
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that a message object is a remote frame.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_REMOTE_FRAME 0x00000040
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that this message object is part of a FIFO structure and
|
||
|
|
//! not the final message object in a FIFO.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_FIFO 0x00000200
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This indicates that a message object has no flags set.
|
||
|
|
//
|
||
|
|
#define MSG_OBJ_NO_FLAGS 0x00000000
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! This define is used with the flag values to allow checking only status
|
||
|
|
//! flags and not configuration flags.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define MSG_OBJ_STATUS_MASK (MSG_OBJ_NEW_DATA | MSG_OBJ_DATA_LOST)
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! The structure used for encapsulating all the items associated with a CAN
|
||
|
|
//! message object in the CAN controller.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
//
|
||
|
|
//! The CAN message identifier used for 11 or 29 bit identifiers.
|
||
|
|
//
|
||
|
|
uint32_t ui32MsgID;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! The message identifier mask used when identifier filtering is enabled.
|
||
|
|
//
|
||
|
|
uint32_t ui32MsgIDMask;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This value holds various status flags and settings specified by
|
||
|
|
//! tCANObjFlags.
|
||
|
|
//
|
||
|
|
uint32_t ui32Flags;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This value is the number of bytes of data in the message object.
|
||
|
|
//
|
||
|
|
uint32_t ui32MsgLen;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This is a pointer to the message object's data.
|
||
|
|
//
|
||
|
|
uint8_t *pui8MsgData;
|
||
|
|
}
|
||
|
|
tCANMsgObject;
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! This structure is used for encapsulating the values associated with setting
|
||
|
|
//! up the bit timing for a CAN controller. The structure is used when calling
|
||
|
|
//! the CANGetBitTiming and CANSetBitTiming functions.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
//
|
||
|
|
//! This value holds the sum of the Synchronization, Propagation, and Phase
|
||
|
|
//! Buffer 1 segments, measured in time quanta. The valid values for this
|
||
|
|
//! setting range from 2 to 16.
|
||
|
|
//
|
||
|
|
uint32_t ui32SyncPropPhase1Seg;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This value holds the Phase Buffer 2 segment in time quanta. The valid
|
||
|
|
//! values for this setting range from 1 to 8.
|
||
|
|
//
|
||
|
|
uint32_t ui32Phase2Seg;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This value holds the Resynchronization Jump Width in time quanta. The
|
||
|
|
//! valid values for this setting range from 1 to 4.
|
||
|
|
//
|
||
|
|
uint32_t ui32SJW;
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This value holds the CAN_CLK divider used to determine time quanta.
|
||
|
|
//! The valid values for this setting range from 1 to 1023.
|
||
|
|
//
|
||
|
|
uint32_t ui32QuantumPrescaler;
|
||
|
|
}
|
||
|
|
tCANBitClkParms;
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! This data type is used to identify the interrupt status register. This is
|
||
|
|
//! used when calling the CANIntStatus() function.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
typedef enum
|
||
|
|
{
|
||
|
|
//
|
||
|
|
//! Read the CAN interrupt status information.
|
||
|
|
//
|
||
|
|
CAN_INT_STS_CAUSE,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Read a message object's interrupt status.
|
||
|
|
//
|
||
|
|
CAN_INT_STS_OBJECT
|
||
|
|
}
|
||
|
|
tCANIntStsReg;
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! This data type is used to identify which of several status registers to
|
||
|
|
//! read when calling the CANStatusGet() function.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
typedef enum
|
||
|
|
{
|
||
|
|
//
|
||
|
|
//! Read the full CAN controller status.
|
||
|
|
//
|
||
|
|
CAN_STS_CONTROL,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Read the full 32-bit mask of message objects with a transmit request
|
||
|
|
//! set.
|
||
|
|
//
|
||
|
|
CAN_STS_TXREQUEST,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Read the full 32-bit mask of message objects with new data available.
|
||
|
|
//
|
||
|
|
CAN_STS_NEWDAT,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Read the full 32-bit mask of message objects that are enabled.
|
||
|
|
//
|
||
|
|
CAN_STS_MSGVAL
|
||
|
|
}
|
||
|
|
tCANStsReg;
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// These definitions are used to specify interrupt sources to CANIntEnable()
|
||
|
|
// and CANIntDisable().
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! This flag is used to allow a CAN controller to generate error
|
||
|
|
//! interrupts.
|
||
|
|
//
|
||
|
|
#define CAN_INT_ERROR 0x00000008
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This flag is used to allow a CAN controller to generate status
|
||
|
|
//! interrupts.
|
||
|
|
//
|
||
|
|
#define CAN_INT_STATUS 0x00000004
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This flag is used to allow a CAN controller to generate any CAN
|
||
|
|
//! interrupts. If this is not set, then no interrupts are generated
|
||
|
|
//! by the CAN controller.
|
||
|
|
//
|
||
|
|
#define CAN_INT_MASTER 0x00000002
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! This definition is used to determine the type of message object that is
|
||
|
|
//! set up via a call to the CANMessageSet() API.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
typedef enum
|
||
|
|
{
|
||
|
|
//
|
||
|
|
//! Transmit message object.
|
||
|
|
//
|
||
|
|
MSG_OBJ_TYPE_TX,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Transmit remote request message object
|
||
|
|
//
|
||
|
|
MSG_OBJ_TYPE_TX_REMOTE,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Receive message object.
|
||
|
|
//
|
||
|
|
MSG_OBJ_TYPE_RX,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Receive remote request message object.
|
||
|
|
//
|
||
|
|
MSG_OBJ_TYPE_RX_REMOTE,
|
||
|
|
|
||
|
|
//
|
||
|
|
//! Remote frame receive remote, with auto-transmit message object.
|
||
|
|
//
|
||
|
|
MSG_OBJ_TYPE_RXTX_REMOTE
|
||
|
|
}
|
||
|
|
tMsgObjType;
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following enumeration contains all error or status indicators that can
|
||
|
|
// be returned when calling the CANStatusGet() function.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! CAN controller has entered a Bus Off state.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_BUS_OFF 0x00000080
|
||
|
|
|
||
|
|
//
|
||
|
|
//! CAN controller error level has reached warning level.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_EWARN 0x00000040
|
||
|
|
|
||
|
|
//
|
||
|
|
//! CAN controller error level has reached error passive level.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_EPASS 0x00000020
|
||
|
|
|
||
|
|
//
|
||
|
|
//! A message was received successfully since the last read of this status.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_RXOK 0x00000010
|
||
|
|
|
||
|
|
//
|
||
|
|
//! A message was transmitted successfully since the last read of this
|
||
|
|
//! status.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_TXOK 0x00000008
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This is the mask for the last error code field.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_MSK 0x00000007
|
||
|
|
|
||
|
|
//
|
||
|
|
//! There was no error.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_NONE 0x00000000
|
||
|
|
|
||
|
|
//
|
||
|
|
//! A bit stuffing error has occurred.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_STUFF 0x00000001
|
||
|
|
|
||
|
|
//
|
||
|
|
//! A formatting error has occurred.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_FORM 0x00000002
|
||
|
|
|
||
|
|
//
|
||
|
|
//! An acknowledge error has occurred.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_ACK 0x00000003
|
||
|
|
|
||
|
|
//
|
||
|
|
//! The bus remained a bit level of 1 for longer than is allowed.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_BIT1 0x00000004
|
||
|
|
|
||
|
|
//
|
||
|
|
//! The bus remained a bit level of 0 for longer than is allowed.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_BIT0 0x00000005
|
||
|
|
|
||
|
|
//
|
||
|
|
//! A CRC error has occurred.
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_CRC 0x00000006
|
||
|
|
|
||
|
|
//
|
||
|
|
//! This is the mask for the CAN Last Error Code (LEC).
|
||
|
|
//
|
||
|
|
#define CAN_STATUS_LEC_MASK 0x00000007
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// Close the Doxygen group.
|
||
|
|
//! @}
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// API Function prototypes
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
extern void CANBitTimingGet(uint32_t ui32Base, tCANBitClkParms *psClkParms);
|
||
|
|
extern void CANBitTimingSet(uint32_t ui32Base, tCANBitClkParms *psClkParms);
|
||
|
|
extern uint32_t CANBitRateSet(uint32_t ui32Base, uint32_t ui32SourceClock,
|
||
|
|
uint32_t ui32BitRate);
|
||
|
|
extern void CANDisable(uint32_t ui32Base);
|
||
|
|
extern void CANEnable(uint32_t ui32Base);
|
||
|
|
extern bool CANErrCntrGet(uint32_t ui32Base, uint32_t *pui32RxCount,
|
||
|
|
uint32_t *pui32TxCount);
|
||
|
|
extern void CANInit(uint32_t ui32Base);
|
||
|
|
extern void CANIntClear(uint32_t ui32Base, uint32_t ui32IntClr);
|
||
|
|
extern void CANIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags);
|
||
|
|
extern void CANIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags);
|
||
|
|
extern void CANIntRegister(uint32_t ui32Base, void (*pfnHandler)(void));
|
||
|
|
extern uint32_t CANIntStatus(uint32_t ui32Base, tCANIntStsReg eIntStsReg);
|
||
|
|
extern void CANIntUnregister(uint32_t ui32Base);
|
||
|
|
extern void CANMessageClear(uint32_t ui32Base, uint32_t ui32ObjID);
|
||
|
|
extern void CANMessageGet(uint32_t ui32Base, uint32_t ui32ObjID,
|
||
|
|
tCANMsgObject *psMsgObject, bool bClrPendingInt);
|
||
|
|
extern void CANMessageSet(uint32_t ui32Base, uint32_t ui32ObjID,
|
||
|
|
tCANMsgObject *psMsgObject, tMsgObjType eMsgType);
|
||
|
|
extern bool CANRetryGet(uint32_t ui32Base);
|
||
|
|
extern void CANRetrySet(uint32_t ui32Base, bool bAutoRetry);
|
||
|
|
extern uint32_t CANStatusGet(uint32_t ui32Base, tCANStsReg eStatusReg);
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// Mark the end of the C bindings section for C++ compilers.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif // __DRIVERLIB_CAN_H__
|