| //***************************************************************************** | |
| // | |
| // can.h - Defines and Macros for the CAN controller. | |
| // | |
| // Copyright (c) 2006-2008 Luminary Micro, Inc. All rights reserved. | |
| // | |
| // Software License Agreement | |
| // | |
| // Luminary Micro, Inc. (LMI) is supplying this software for use solely and | |
| // exclusively on LMI's microcontroller products. | |
| // | |
| // The software is owned by LMI and/or its suppliers, and is protected under | |
| // applicable copyright laws. All rights are reserved. You may not combine | |
| // this software with "viral" open-source software in order to form a larger | |
| // program. Any use in violation of the foregoing restrictions may subject | |
| // the user to criminal sanctions under applicable laws, as well as to civil | |
| // liability for the breach of the terms and conditions of this license. | |
| // | |
| // THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED | |
| // OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF | |
| // MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. | |
| // LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR | |
| // CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. | |
| // | |
| // This is part of revision 2523 of the Stellaris Peripheral Driver Library. | |
| // | |
| //***************************************************************************** | |
| #ifndef __CAN_H__ | |
| #define __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 variable when calling the | |
| //! CANMessageSet() and CANMessageGet() functions. | |
| // | |
| //***************************************************************************** | |
| typedef enum | |
| { | |
| // | |
| //! This indicates that transmit interrupts should be enabled, or are | |
| //! enabled. | |
| // | |
| MSG_OBJ_TX_INT_ENABLE = 0x00000001, | |
| // | |
| //! This indicates that receive interrupts should be enabled, or are | |
| //! enabled. | |
| // | |
| MSG_OBJ_RX_INT_ENABLE = 0x00000002, | |
| // | |
| //! This indicates that a message object will use or is using an extended | |
| //! identifier. | |
| // | |
| MSG_OBJ_EXTENDED_ID = 0x00000004, | |
| // | |
| //! This indicates that a message object will use or is using filtering | |
| //! based on the object's message identifier. | |
| // | |
| MSG_OBJ_USE_ID_FILTER = 0x00000008, | |
| // | |
| //! This indicates that new data was available in the message object. | |
| // | |
| MSG_OBJ_NEW_DATA = 0x00000080, | |
| // | |
| //! This indicates that data was lost since this message object was last | |
| //! read. | |
| // | |
| MSG_OBJ_DATA_LOST = 0x00000100, | |
| // | |
| //! This indicates that a message object will use or is using filtering | |
| //! based on the direction of the transfer. If the direction filtering is | |
| //! used, then ID filtering must also be enabled. | |
| // | |
| MSG_OBJ_USE_DIR_FILTER = (0x00000010 | MSG_OBJ_USE_ID_FILTER), | |
| // | |
| //! This indicates that a message object will use 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. | |
| // | |
| MSG_OBJ_USE_EXT_FILTER = (0x00000020 | MSG_OBJ_USE_ID_FILTER), | |
| // | |
| //! This indicates that a message object is a remote frame. | |
| // | |
| MSG_OBJ_REMOTE_FRAME = 0x00000040, | |
| // | |
| //! This indicates that a message object has no flags set. | |
| // | |
| MSG_OBJ_NO_FLAGS = 0x00000000 | |
| } | |
| tCANObjFlags; | |
| //***************************************************************************** | |
| // | |
| //! This define is used with the #tCANObjFlags enumerated 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. | |
| // | |
| unsigned long ulMsgID; | |
| // | |
| //! The message identifier mask used when identifier filtering is enabled. | |
| // | |
| unsigned long ulMsgIDMask; | |
| // | |
| //! This value holds various status flags and settings specified by | |
| //! tCANObjFlags. | |
| // | |
| unsigned long ulFlags; | |
| // | |
| //! This value is the number of bytes of data in the message object. | |
| // | |
| unsigned long ulMsgLen; | |
| // | |
| //! This is a pointer to the message object's data. | |
| // | |
| unsigned char *pucMsgData; | |
| } | |
| 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. | |
| // | |
| unsigned int uSyncPropPhase1Seg; | |
| // | |
| //! This value holds the Phase Buffer 2 segment in time quanta. The valid | |
| //! values for this setting range from 1 to 8. | |
| // | |
| unsigned int uPhase2Seg; | |
| // | |
| //! This value holds the Resynchronization Jump Width in time quanta. The | |
| //! valid values for this setting range from 1 to 4. | |
| // | |
| unsigned int uSJW; | |
| // | |
| //! This value holds the CAN_CLK divider used to determine time quanta. | |
| //! The valid values for this setting range from 1 to 1023. | |
| // | |
| unsigned int uQuantumPrescaler; | |
| } | |
| 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(). | |
| // | |
| //***************************************************************************** | |
| typedef enum | |
| { | |
| // | |
| //! This flag is used to allow a CAN controller to generate error | |
| //! interrupts. | |
| // | |
| CAN_INT_ERROR = 0x00000008, | |
| // | |
| //! This flag is used to allow a CAN controller to generate status | |
| //! interrupts. | |
| // | |
| 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 will be generated | |
| //! by the CAN controller. | |
| // | |
| CAN_INT_MASTER = 0x00000002 | |
| } | |
| tCANIntFlags; | |
| //***************************************************************************** | |
| // | |
| //! This definition is used to determine the type of message object that will | |
| //! be 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. | |
| // | |
| //***************************************************************************** | |
| typedef enum | |
| { | |
| // | |
| //! CAN controller has entered a Bus Off state. | |
| // | |
| CAN_STATUS_BUS_OFF = 0x00000080, | |
| // | |
| //! CAN controller error level has reached warning level. | |
| // | |
| CAN_STATUS_EWARN = 0x00000040, | |
| // | |
| //! CAN controller error level has reached error passive level. | |
| // | |
| CAN_STATUS_EPASS = 0x00000020, | |
| // | |
| //! A message was received successfully since the last read of this status. | |
| // | |
| CAN_STATUS_RXOK = 0x00000010, | |
| // | |
| //! A message was transmitted successfully since the last read of this | |
| //! status. | |
| // | |
| CAN_STATUS_TXOK = 0x00000008, | |
| // | |
| //! This is the mask for the last error code field. | |
| // | |
| CAN_STATUS_LEC_MSK = 0x00000007, | |
| // | |
| //! There was no error. | |
| // | |
| CAN_STATUS_LEC_NONE = 0x00000000, | |
| // | |
| //! A bit stuffing error has occurred. | |
| // | |
| CAN_STATUS_LEC_STUFF = 0x00000001, | |
| // | |
| //! A formatting error has occurred. | |
| // | |
| CAN_STATUS_LEC_FORM = 0x00000002, | |
| // | |
| //! An acknowledge error has occurred. | |
| // | |
| CAN_STATUS_LEC_ACK = 0x00000003, | |
| // | |
| //! The bus remained a bit level of 1 for longer than is allowed. | |
| // | |
| CAN_STATUS_LEC_BIT1 = 0x00000004, | |
| // | |
| //! The bus remained a bit level of 0 for longer than is allowed. | |
| // | |
| CAN_STATUS_LEC_BIT0 = 0x00000005, | |
| // | |
| //! A CRC error has occurred. | |
| // | |
| CAN_STATUS_LEC_CRC = 0x00000006, | |
| // | |
| //! This is the mask for the CAN Last Error Code (LEC). | |
| // | |
| CAN_STATUS_LEC_MASK = 0x00000007 | |
| } | |
| tCANStatusCtrl; | |
| //***************************************************************************** | |
| // | |
| // API Function prototypes | |
| // | |
| //***************************************************************************** | |
| extern void CANInit(unsigned long ulBase); | |
| extern void CANEnable(unsigned long ulBase); | |
| extern void CANDisable(unsigned long ulBase); | |
| extern void CANSetBitTiming(unsigned long ulBase, tCANBitClkParms *pClkParms); | |
| extern void CANGetBitTiming(unsigned long ulBase, tCANBitClkParms *pClkParms); | |
| extern unsigned long CANReadReg(unsigned long ulRegAddress); | |
| extern void CANWriteReg(unsigned long ulRegAddress, unsigned long ulRegValue); | |
| extern void CANMessageSet(unsigned long ulBase, unsigned long ulObjID, | |
| tCANMsgObject *pMsgObject, tMsgObjType eMsgType); | |
| extern void CANMessageGet(unsigned long ulBase, unsigned long ulObjID, | |
| tCANMsgObject *pMsgObject, tBoolean bClrPendingInt); | |
| extern unsigned long CANStatusGet(unsigned long ulBase, tCANStsReg eStatusReg); | |
| extern void CANMessageClear(unsigned long ulBase, unsigned long ulObjID); | |
| extern void CANIntRegister(unsigned long ulBase, void (*pfnHandler)(void)); | |
| extern void CANIntUnregister(unsigned long ulBase); | |
| extern void CANIntEnable(unsigned long ulBase, unsigned long ulIntFlags); | |
| extern void CANIntDisable(unsigned long ulBase, unsigned long ulIntFlags); | |
| extern void CANIntClear(unsigned long ulBase, unsigned long ulIntClr); | |
| extern unsigned long CANIntStatus(unsigned long ulBase, | |
| tCANIntStsReg eIntStsReg); | |
| extern tBoolean CANRetryGet(unsigned long ulBase); | |
| extern void CANRetrySet(unsigned long ulBase, tBoolean bAutoRetry); | |
| extern tBoolean CANErrCntrGet(unsigned long ulBase, unsigned long *pulRxCount, | |
| unsigned long *pulTxCount); | |
| extern long CANGetIntNumber(unsigned long ulBase); | |
| extern void CANReadDataReg(unsigned char *pucData, unsigned long *pulRegister, | |
| int iSize); | |
| extern void CANWriteDataReg(unsigned char *pucData, unsigned long *pulRegister, | |
| int iSize); | |
| //***************************************************************************** | |
| // | |
| // Mark the end of the C bindings section for C++ compilers. | |
| // | |
| //***************************************************************************** | |
| #ifdef __cplusplus | |
| } | |
| #endif | |
| //***************************************************************************** | |
| // | |
| // Close the Doxygen group. | |
| //! @} | |
| // | |
| //***************************************************************************** | |
| #endif // __CAN_H__ |