451 lines
14 KiB
C
451 lines
14 KiB
C
//*****************************************************************************
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//
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// can.h - Defines and Macros for the CAN controller.
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//
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// Copyright (c) 2006-2010 Texas Instruments Incorporated. All rights reserved.
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// Software License Agreement
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//
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// Texas Instruments (TI) is supplying this software for use solely and
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// exclusively on TI's microcontroller products. The software is owned by
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// TI and/or its suppliers, and is protected under applicable copyright
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// laws. You may not combine this software with "viral" open-source
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// software in order to form a larger program.
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//
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// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
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// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
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// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
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// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
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// DAMAGES, FOR ANY REASON WHATSOEVER.
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//
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// This is part of revision 6459 of the Stellaris Peripheral Driver Library.
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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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//
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//! \addtogroup can_api
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//! @{
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//
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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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//*****************************************************************************
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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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//*****************************************************************************
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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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//*****************************************************************************
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//
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// These are the flags used by the tCANMsgObject.ulFlags value when calling the
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// CANMessageSet() and CANMessageGet() functions.
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//
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//*****************************************************************************
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//
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//! This definition is used with the tCANMsgObject ulFlags value and indicates
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//! that transmit interrupts should be enabled, or are enabled.
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//
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#define MSG_OBJ_TX_INT_ENABLE 0x00000001
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//
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//! This indicates that receive interrupts should be enabled, or are
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//! enabled.
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//
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#define MSG_OBJ_RX_INT_ENABLE 0x00000002
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//
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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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//
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#define MSG_OBJ_EXTENDED_ID 0x00000004
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//
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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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//
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#define MSG_OBJ_USE_ID_FILTER 0x00000008
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//
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//! This indicates that new data was available in the message object.
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//
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#define MSG_OBJ_NEW_DATA 0x00000080
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//
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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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//
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#define MSG_OBJ_DATA_LOST 0x00000100
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//
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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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//
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#define MSG_OBJ_USE_DIR_FILTER (0x00000010 | MSG_OBJ_USE_ID_FILTER)
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//
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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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//
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#define MSG_OBJ_USE_EXT_FILTER (0x00000020 | MSG_OBJ_USE_ID_FILTER)
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//
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//! This indicates that a message object is a remote frame.
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//
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#define MSG_OBJ_REMOTE_FRAME 0x00000040
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//
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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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//
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#define MSG_OBJ_FIFO 0x00000200
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//
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//! This indicates that a message object has no flags set.
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//
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#define MSG_OBJ_NO_FLAGS 0x00000000
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//*****************************************************************************
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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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//*****************************************************************************
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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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//
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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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//*****************************************************************************
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typedef struct
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{
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//
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//! The CAN message identifier used for 11 or 29 bit identifiers.
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//
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unsigned long ulMsgID;
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//
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//! The message identifier mask used when identifier filtering is enabled.
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//
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unsigned long ulMsgIDMask;
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//
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//! This value holds various status flags and settings specified by
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//! tCANObjFlags.
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//
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unsigned long ulFlags;
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//
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//! This value is the number of bytes of data in the message object.
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//
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unsigned long ulMsgLen;
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//
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//! This is a pointer to the message object's data.
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//
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unsigned char *pucMsgData;
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}
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tCANMsgObject;
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//*****************************************************************************
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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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//*****************************************************************************
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typedef struct
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{
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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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//
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unsigned int uSyncPropPhase1Seg;
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//
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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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//
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unsigned int uPhase2Seg;
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//
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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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//
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unsigned int uSJW;
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//
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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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//
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unsigned int uQuantumPrescaler;
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}
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tCANBitClkParms;
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//*****************************************************************************
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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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//*****************************************************************************
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typedef enum
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{
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//
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//! Read the CAN interrupt status information.
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//
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CAN_INT_STS_CAUSE,
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//
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//! Read a message object's interrupt status.
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//
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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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//
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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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//*****************************************************************************
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typedef enum
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{
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//
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//! Read the full CAN controller status.
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//
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CAN_STS_CONTROL,
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//
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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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//
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CAN_STS_TXREQUEST,
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//
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//! Read the full 32-bit mask of message objects with new data available.
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//
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CAN_STS_NEWDAT,
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//
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//! Read the full 32-bit mask of message objects that are enabled.
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//
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CAN_STS_MSGVAL
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}
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tCANStsReg;
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//*****************************************************************************
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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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//*****************************************************************************
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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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//
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#define CAN_INT_ERROR 0x00000008
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//
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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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//
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#define CAN_INT_STATUS 0x00000004
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//
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//! This flag is used to allow a CAN controller to generate any CAN
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//! interrupts. If this is not set, then no interrupts will be generated
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//! by the CAN controller.
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//
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#define CAN_INT_MASTER 0x00000002
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//*****************************************************************************
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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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//*****************************************************************************
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typedef enum
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{
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//
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//! Transmit message object.
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//
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MSG_OBJ_TYPE_TX,
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//
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//! Transmit remote request message object
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//
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MSG_OBJ_TYPE_TX_REMOTE,
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//
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//! Receive message object.
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//
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MSG_OBJ_TYPE_RX,
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//
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//! Receive remote request message object.
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//
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MSG_OBJ_TYPE_RX_REMOTE,
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//
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//! Remote frame receive remote, with auto-transmit message object.
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//
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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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//
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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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//*****************************************************************************
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//
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//! CAN controller has entered a Bus Off state.
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//
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#define CAN_STATUS_BUS_OFF 0x00000080
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//
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//! CAN controller error level has reached warning level.
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//
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#define CAN_STATUS_EWARN 0x00000040
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//
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//! CAN controller error level has reached error passive level.
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//
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#define CAN_STATUS_EPASS 0x00000020
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//
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//! A message was received successfully since the last read of this status.
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//
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#define CAN_STATUS_RXOK 0x00000010
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//
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//! A message was transmitted successfully since the last read of this
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//! status.
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//
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#define CAN_STATUS_TXOK 0x00000008
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//
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//! This is the mask for the last error code field.
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//
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#define CAN_STATUS_LEC_MSK 0x00000007
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//
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//! There was no error.
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//
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#define CAN_STATUS_LEC_NONE 0x00000000
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//
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//! A bit stuffing error has occurred.
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//
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#define CAN_STATUS_LEC_STUFF 0x00000001
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//
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//! A formatting error has occurred.
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//
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#define CAN_STATUS_LEC_FORM 0x00000002
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//
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//! An acknowledge error has occurred.
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//
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#define CAN_STATUS_LEC_ACK 0x00000003
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//
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//! The bus remained a bit level of 1 for longer than is allowed.
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//
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#define CAN_STATUS_LEC_BIT1 0x00000004
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//
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//! The bus remained a bit level of 0 for longer than is allowed.
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//
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#define CAN_STATUS_LEC_BIT0 0x00000005
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//
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//! A CRC error has occurred.
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//
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#define CAN_STATUS_LEC_CRC 0x00000006
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//
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//! This is the mask for the CAN Last Error Code (LEC).
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//
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#define CAN_STATUS_LEC_MASK 0x00000007
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//*****************************************************************************
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//
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// API Function prototypes
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//
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//*****************************************************************************
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extern void CANBitTimingGet(unsigned long ulBase, tCANBitClkParms *pClkParms);
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extern void CANBitTimingSet(unsigned long ulBase, tCANBitClkParms *pClkParms);
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extern unsigned long CANBitRateSet(unsigned long ulBase,
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unsigned long ulSourceClock,
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unsigned long ulBitRate);
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extern void CANDisable(unsigned long ulBase);
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extern void CANEnable(unsigned long ulBase);
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extern tBoolean CANErrCntrGet(unsigned long ulBase, unsigned long *pulRxCount,
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unsigned long *pulTxCount);
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extern void CANInit(unsigned long ulBase);
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extern void CANIntClear(unsigned long ulBase, unsigned long ulIntClr);
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extern void CANIntDisable(unsigned long ulBase, unsigned long ulIntFlags);
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extern void CANIntEnable(unsigned long ulBase, unsigned long ulIntFlags);
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extern void CANIntRegister(unsigned long ulBase, void (*pfnHandler)(void));
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extern unsigned long CANIntStatus(unsigned long ulBase,
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tCANIntStsReg eIntStsReg);
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extern void CANIntUnregister(unsigned long ulBase);
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extern void CANMessageClear(unsigned long ulBase, unsigned long ulObjID);
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extern void CANMessageGet(unsigned long ulBase, unsigned long ulObjID,
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tCANMsgObject *pMsgObject, tBoolean bClrPendingInt);
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extern void CANMessageSet(unsigned long ulBase, unsigned long ulObjID,
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tCANMsgObject *pMsgObject, tMsgObjType eMsgType);
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extern tBoolean CANRetryGet(unsigned long ulBase);
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extern void CANRetrySet(unsigned long ulBase, tBoolean bAutoRetry);
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extern unsigned long CANStatusGet(unsigned long ulBase, tCANStsReg eStatusReg);
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//*****************************************************************************
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//
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// Several CAN APIs have been renamed, with the original function name being
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// deprecated. These defines provide backward compatibility.
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//
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//*****************************************************************************
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#ifndef DEPRECATED
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#define CANSetBitTiming(a, b) CANBitTimingSet(a, b)
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#define CANGetBitTiming(a, b) CANBitTimingGet(a, b)
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#endif
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//*****************************************************************************
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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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//*****************************************************************************
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#ifdef __cplusplus
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}
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#endif
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//*****************************************************************************
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//
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// Close the Doxygen group.
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//! @}
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//
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//*****************************************************************************
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#endif // __CAN_H__
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