416 lines
17 KiB
C
416 lines
17 KiB
C
//###########################################################################
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//
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// FILE: can.h
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//
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// TITLE: Defines and Macros for the CAN controller.
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//
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//###########################################################################
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// $TI Release: F2837xD Support Library v3.05.00.00 $
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// $Release Date: Tue Jun 26 03:15:23 CDT 2018 $
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// $Copyright:
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// Copyright (C) 2013-2018 Texas Instruments Incorporated - http://www.ti.com/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (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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#ifndef __CAN_H__
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#define __CAN_H__
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//*****************************************************************************
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//! \addtogroup can_api
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//! @{
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//*****************************************************************************
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//*****************************************************************************
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// If building with a C++ compiler, make all of the definitions in this header
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// have a C binding.
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//*****************************************************************************
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define CAN_INDEX_TO_BASE(idx) ((idx == 0) ? CAN_A_BASE : CAN_B_BASE)
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#define CAN_INDEX_TO_MSG_RAM_BASE(idx) ((idx == 0) ? CAN_A_MSG_RAM : CAN_B_MSG_RAM)
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#define CAN_REG_WORD_MASK (0xFFFFU)
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//****************************************************************************
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// These are the Defines to select CAN pin muxing when calling the functions
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// ConfigCanPinMuxing(), ConfigGpioCanA() & ConfigGpioCanB() in F2837x_Can.c
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//****************************************************************************
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#define CAN_A_GPIO4_GPIO5 1 //switch case 1
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#define CAN_A_GPIO19_GPIO18 2 //switch case 2
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#define CAN_A_GPIO31_GPIO30 3 //switch case 3
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#define CAN_A_GPIO37_GPIO36 4 //switch case 4
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#define CAN_A_GPIO63_GPIO62 5 //switch case 5
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#define CAN_A_GPIO71_GPIO70 6 //switch case 6
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#define CAN_B_GPIO6_GPIO7 1 //switch case 1
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#define CAN_B_GPIO8_GPIO10 2 //switch case 2
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#define CAN_B_GPIO12_GPIO13 3 //switch case 3
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#define CAN_B_GPIO16_GPIO17 4 //switch case 4
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#define CAN_B_GPIO20_GPIO21 5 //switch case 5
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#define CAN_B_GPIO38_GPIO39 6 //switch case 6
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#define CAN_B_GPIO72_GPIO73 7 //switch case 7
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//*****************************************************************************
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// Miscellaneous defines for Message ID Types
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//*****************************************************************************
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//*****************************************************************************
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// These are the flags used by the tCANMsgObject.ui32Flags value when calling the
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// CANMessageSet() and CANMessageGet() functions.
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//*****************************************************************************
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//! This definition is used with the tCANMsgObject ui32Flags value and indicates
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//! that transmit interrupts should be enabled, or are enabled.
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#define MSG_OBJ_TX_INT_ENABLE 0x00000001
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//! This indicates that receive interrupts should be enabled, or are
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//! enabled.
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#define MSG_OBJ_RX_INT_ENABLE 0x00000002
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//! This indicates that a message object will use or is using an extended
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//! identifier.
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#define MSG_OBJ_EXTENDED_ID 0x00000004
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//! This indicates that a message object will use or is using filtering
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//! based on the object's message identifier.
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#define MSG_OBJ_USE_ID_FILTER 0x00000008
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//! This indicates that new data was available in the message object.
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#define MSG_OBJ_NEW_DATA 0x00000080
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//! This indicates that data was lost since this message object was last
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//! read.
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#define MSG_OBJ_DATA_LOST 0x00000100
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//! This indicates that a message object will use or is using filtering
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//! based on the direction of the transfer. If the direction filtering is
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//! used, then ID filtering must also be enabled.
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#define MSG_OBJ_USE_DIR_FILTER (0x00000010 | MSG_OBJ_USE_ID_FILTER)
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//! This indicates that a message object will use or is using message
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//! identifier filtering based on the extended identifier. If the extended
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//! identifier filtering is used, then ID filtering must also be enabled.
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#define MSG_OBJ_USE_EXT_FILTER (0x00000020 | MSG_OBJ_USE_ID_FILTER)
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//! This indicates that a message object is a remote frame.
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#define MSG_OBJ_REMOTE_FRAME 0x00000040
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//! This indicates that this message object is part of a FIFO structure and
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//! not the final message object in a FIFO.
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#define MSG_OBJ_FIFO 0x00000200
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//! This indicates that a message object has no flags set.
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#define MSG_OBJ_NO_FLAGS 0x00000000
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//*****************************************************************************
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//! This define is used with the flag values to allow checking only status
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//! flags and not configuration flags.
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//*****************************************************************************
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#define MSG_OBJ_STATUS_MASK (MSG_OBJ_NEW_DATA | MSG_OBJ_DATA_LOST)
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//*****************************************************************************
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//! The structure used for encapsulating all the items associated with a CAN
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//! message object in the CAN controller.
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//*****************************************************************************
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typedef struct
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{
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//! The CAN message identifier used for 11 or 29 bit identifiers.
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uint32_t ui32MsgID;
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//! The message identifier mask used when identifier filtering is enabled.
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uint32_t ui32MsgIDMask;
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//! This value holds various status flags and settings specified by
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//! tCANObjFlags.
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uint32_t ui32Flags;
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//! This value is the number of bytes of data in the message object.
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uint32_t ui32MsgLen;
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//! This is a pointer to the message object's data.
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unsigned char *pucMsgData;
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}
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tCANMsgObject;
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//*****************************************************************************
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//! This structure is used for encapsulating the values associated with setting
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//! up the bit timing for a CAN controller. The structure is used when calling
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//! the CANGetBitTiming and CANSetBitTiming functions.
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//*****************************************************************************
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typedef struct
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{
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//! This value holds the sum of the Synchronization, Propagation, and Phase
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//! Buffer 1 segments, measured in time quanta. The valid values for this
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//! setting range from 2 to 16.
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uint16_t uSyncPropPhase1Seg;
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//! This value holds the Phase Buffer 2 segment in time quanta. The valid
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//! values for this setting range from 1 to 8.
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uint16_t uPhase2Seg;
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//! This value holds the Resynchronization Jump Width in time quanta. The
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//! valid values for this setting range from 1 to 4.
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uint16_t uSJW;
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//! This value holds the CAN_CLK divider used to determine time quanta.
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//! The valid values for this setting range from 1 to 1023.
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uint16_t uQuantumPrescaler;
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}
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tCANBitClkParms;
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//*****************************************************************************
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//! This data type is used to identify the interrupt status register. This is
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//! used when calling the CANIntStatus() function.
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//*****************************************************************************
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typedef enum
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{
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//! Read the CAN interrupt status information.
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CAN_INT_STS_CAUSE,
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//! Read a message object's interrupt status.
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CAN_INT_STS_OBJECT
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}
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tCANIntStsReg;
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//*****************************************************************************
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//! This data type is used to identify which of several status registers to
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//! read when calling the CANStatusGet() function.
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//*****************************************************************************
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typedef enum
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{
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//! Read the full CAN controller status.
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CAN_STS_CONTROL,
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//! Read the full 32-bit mask of message objects with a transmit request
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//! set.
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CAN_STS_TXREQUEST,
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//! Read the full 32-bit mask of message objects with new data available.
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CAN_STS_NEWDAT,
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//! Read the full 32-bit mask of message objects that are enabled.
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CAN_STS_MSGVAL
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}
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tCANStsReg;
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//*****************************************************************************
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// These definitions are used to specify interrupt sources to CANIntEnable()
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// and CANIntDisable().
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//*****************************************************************************
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//! This flag is used to allow a CAN controller to generate error
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//! interrupts.
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#define CAN_INT_ERROR 0x00000008
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//! This flag is used to allow a CAN controller to generate status
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//! interrupts.
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#define CAN_INT_STATUS 0x00000004
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//! This flag is used to allow a CAN controller to generate interrupts
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//! on interrupt line 0
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#define CAN_INT_IE0 0x00000002
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//! This flag is used to allow a CAN controller to generate interrupts
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//! on interrupt line 1
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#define CAN_INT_IE1 0x00020000
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// Defined to maintain compatibility with Stellaris Examples
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#define CAN_INT_MASTER CAN_INT_IE0
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//*****************************************************************************
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// These definitions are used to specify the clock source to
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// CANClkSourceSelect()
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//*****************************************************************************
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//! This flag is used to clock the CAN controller Selected CPU SYSCLKOUT
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//! (CPU1.Sysclk or CPU2.Sysclk).
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#define CAN_CLK_CPU_SYSCLKOUT 0 // PERx.SYSCLK (default on reset)
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//! This flag is used to clock the CAN controller with the X1/X2 oscillator
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//! clock.
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#define CAN_CLK_EXT_OSC 1 // External Oscillator (XTAL)
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//! This flag is used to clock the CAN controller with the clock from
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//! AUXCLKIN (from GPIO)
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#define CAN_CLK_AUXCLKIN 2 // AUXCLKIN (from GPIO)
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//*****************************************************************************
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//! This definition is used to determine the type of message object that will
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//! be set up via a call to the CANMessageSet() API.
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//*****************************************************************************
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typedef enum
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{
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//! Transmit message object.
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MSG_OBJ_TYPE_TX,
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//! Transmit remote request message object
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MSG_OBJ_TYPE_TX_REMOTE,
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//! Receive message object.
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MSG_OBJ_TYPE_RX,
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//! Receive remote request message object.
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MSG_OBJ_TYPE_RX_REMOTE,
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//! Remote frame receive remote, with auto-transmit message object.
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MSG_OBJ_TYPE_RXTX_REMOTE
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}
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tMsgObjType;
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//*****************************************************************************
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// The following enumeration contains all error or status indicators that can
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// be returned when calling the CANStatusGet() function.
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//*****************************************************************************
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//! CAN controller is in local power down mode.
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#define CAN_STATUS_PDA 0x00000400
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//! CAN controller has initiated a system wakeup.
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#define CAN_STATUS_WAKE_UP 0x00000200
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//! CAN controller has detected a parity error.
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#define CAN_STATUS_PERR 0x00000100
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//! CAN controller has entered a Bus Off state.
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#define CAN_STATUS_BUS_OFF 0x00000080
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//! CAN controller error level has reached warning level.
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#define CAN_STATUS_EWARN 0x00000040
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//! CAN controller error level has reached error passive level.
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#define CAN_STATUS_EPASS 0x00000020
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//! A message was received successfully since the last read of this status.
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#define CAN_STATUS_RXOK 0x00000010
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//! A message was transmitted successfully since the last read of this
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//! status.
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#define CAN_STATUS_TXOK 0x00000008
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//! This is the mask for the last error code field.
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#define CAN_STATUS_LEC_MSK 0x00000007
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//! There was no error.
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#define CAN_STATUS_LEC_NONE 0x00000000
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//! A bit stuffing error has occurred.
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#define CAN_STATUS_LEC_STUFF 0x00000001
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//! A formatting error has occurred.
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#define CAN_STATUS_LEC_FORM 0x00000002
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//! An acknowledge error has occurred.
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#define CAN_STATUS_LEC_ACK 0x00000003
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//! The bus remained a bit level of 1 for longer than is allowed.
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#define CAN_STATUS_LEC_BIT1 0x00000004
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//! The bus remained a bit level of 0 for longer than is allowed.
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#define CAN_STATUS_LEC_BIT0 0x00000005
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//! A CRC error has occurred.
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#define CAN_STATUS_LEC_CRC 0x00000006
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//*****************************************************************************
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// The following macros are added for the new Global Interrupt EN/FLG/CLR
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// register
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//*****************************************************************************
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//CANINT0 global interrupt bit
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#define CAN_GLOBAL_INT_CANINT0 0x00000001
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//CANINT1 global interrupt bit
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#define CAN_GLOBAL_INT_CANINT1 0x00000002
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//*****************************************************************************
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// The following macros are missing in hw_can.h because of scripting
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// but driverlib can.c needs them
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//*****************************************************************************
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#define CAN_INT_INT0ID_STATUS 0x8000
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#define CAN_IF1ARB_STD_ID_S 18
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#define CAN_IF1ARB_STD_ID_M 0x1FFC0000 // Standard Message Identifier
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#define CAN_IF2ARB_STD_ID_S 18
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#define CAN_IF2ARB_STD_ID_M 0x1FFC0000 // Standard Message Identifier
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//*****************************************************************************
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// API Function prototypes
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//*****************************************************************************
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extern void CANClkSourceSelect(uint32_t ui32Base, uint16_t ucSource);
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extern void CANBitTimingGet(uint32_t ui32Base, tCANBitClkParms *pClkParms);
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extern void CANBitTimingSet(uint32_t ui32Base, tCANBitClkParms *pClkParms);
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extern uint32_t CANBitRateSet(uint32_t ui32Base, uint32_t ui32SourceClock,
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uint32_t ui32BitRate);
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extern void CANDisable(uint32_t ui32Base);
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extern void CANEnable(uint32_t ui32Base);
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extern bool CANErrCntrGet(uint32_t ui32Base, uint32_t *pui32RxCount,
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uint32_t *pui32TxCount);
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extern void CANInit(uint32_t ui32Base);
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extern void CANIntClear(uint32_t ui32Base, uint32_t ui32IntClr);
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extern void CANIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags);
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extern void CANIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags);
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extern void CANIntRegister(uint32_t ui32Base, unsigned char ucIntNumber,
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void (*pfnHandler)(void));
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extern uint32_t CANIntStatus(uint32_t ui32Base, tCANIntStsReg eIntStsReg);
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extern void CANIntUnregister(uint32_t ui32Base, unsigned char ucIntNumber);
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extern void CANMessageClear(uint32_t ui32Base, uint32_t ui32ObjID);
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extern void CANMessageGet(uint32_t ui32Base, uint32_t ui32ObjID,
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tCANMsgObject *pMsgObject, bool bClrPendingInt);
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extern void CANMessageSet(uint32_t ui32Base, uint32_t ui32ObjID,
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tCANMsgObject *pMsgObject, tMsgObjType eMsgType);
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extern bool CANRetryGet(uint32_t ui32Base);
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extern void CANRetrySet(uint32_t ui32Base, bool bAutoRetry);
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extern uint32_t CANStatusGet(uint32_t ui32Base, tCANStsReg eStatusReg);
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extern void CANGlobalIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags);
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extern void CANGlobalIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags);
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extern void CANGlobalIntClear(uint32_t ui32Base, uint32_t ui32IntFlags);
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extern bool CANGlobalIntstatusGet(uint32_t ui32Base, uint32_t ui32IntFlags);
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//*****************************************************************************
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// Mark the end of the C bindings section for C++ compilers.
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//*****************************************************************************
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#ifdef __cplusplus
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}
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#endif
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//*****************************************************************************
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// Close the Doxygen group.
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//! @}
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//*****************************************************************************
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#endif // __CAN_H__
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