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Diffstat (limited to 'driverlib/can.h')
| -rw-r--r-- | driverlib/can.h | 465 |
1 files changed, 465 insertions, 0 deletions
diff --git a/driverlib/can.h b/driverlib/can.h new file mode 100644 index 0000000..f2c032a --- /dev/null +++ b/driverlib/can.h @@ -0,0 +1,465 @@ +//*****************************************************************************
+//
+// can.h - Defines and Macros for the CAN controller.
+//
+// Copyright (c) 2006-2012 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 9453 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.ulFlags value when calling the
+// CANMessageSet() and CANMessageGet() functions.
+//
+//*****************************************************************************
+
+//
+//! This definition is used with the tCANMsgObject ulFlags value and indicates
+//! that transmit interrupts should be enabled, or are enabled.
+//
+#define MSG_OBJ_TX_INT_ENABLE 0x00000001
+
+//
+//! This indicates that receive interrupts should be enabled, or are
+//! enabled.
+//
+#define MSG_OBJ_RX_INT_ENABLE 0x00000002
+
+//
+//! This indicates that a message object will use or is using an extended
+//! identifier.
+//
+#define MSG_OBJ_EXTENDED_ID 0x00000004
+
+//
+//! This indicates that a message object will use or 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 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.
+//
+#define 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.
+//
+#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.
+ //
+ 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 long ulSyncPropPhase1Seg;
+
+ //
+ //! This value holds the Phase Buffer 2 segment in time quanta. The valid
+ //! values for this setting range from 1 to 8.
+ //
+ unsigned long ulPhase2Seg;
+
+ //
+ //! This value holds the Resynchronization Jump Width in time quanta. The
+ //! valid values for this setting range from 1 to 4.
+ //
+ unsigned long ulSJW;
+
+ //
+ //! This value holds the CAN_CLK divider used to determine time quanta.
+ //! The valid values for this setting range from 1 to 1023.
+ //
+ unsigned long ulQuantumPrescaler;
+}
+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 will be generated
+//! by the CAN controller.
+//
+#define CAN_INT_MASTER 0x00000002
+
+//*****************************************************************************
+//
+//! 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.
+//
+//*****************************************************************************
+//
+//! 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
+
+//*****************************************************************************
+//
+// API Function prototypes
+//
+//*****************************************************************************
+extern void CANBitTimingGet(unsigned long ulBase, tCANBitClkParms *pClkParms);
+extern void CANBitTimingSet(unsigned long ulBase, tCANBitClkParms *pClkParms);
+extern unsigned long CANBitRateSet(unsigned long ulBase,
+ unsigned long ulSourceClock,
+ unsigned long ulBitRate);
+extern void CANDisable(unsigned long ulBase);
+extern void CANEnable(unsigned long ulBase);
+extern tBoolean CANErrCntrGet(unsigned long ulBase, unsigned long *pulRxCount,
+ unsigned long *pulTxCount);
+extern void CANInit(unsigned long ulBase);
+extern void CANIntClear(unsigned long ulBase, unsigned long ulIntClr);
+extern void CANIntDisable(unsigned long ulBase, unsigned long ulIntFlags);
+extern void CANIntEnable(unsigned long ulBase, unsigned long ulIntFlags);
+extern void CANIntRegister(unsigned long ulBase, void (*pfnHandler)(void));
+extern unsigned long CANIntStatus(unsigned long ulBase,
+ tCANIntStsReg eIntStsReg);
+extern void CANIntUnregister(unsigned long ulBase);
+extern void CANMessageClear(unsigned long ulBase, unsigned long ulObjID);
+extern void CANMessageGet(unsigned long ulBase, unsigned long ulObjID,
+ tCANMsgObject *pMsgObject, tBoolean bClrPendingInt);
+extern void CANMessageSet(unsigned long ulBase, unsigned long ulObjID,
+ tCANMsgObject *pMsgObject, tMsgObjType eMsgType);
+extern tBoolean CANRetryGet(unsigned long ulBase);
+extern void CANRetrySet(unsigned long ulBase, tBoolean bAutoRetry);
+extern unsigned long CANStatusGet(unsigned long ulBase, tCANStsReg eStatusReg);
+
+//*****************************************************************************
+//
+// Several CAN APIs have been renamed, with the original function name being
+// deprecated. These defines provide backward compatibility.
+//
+//*****************************************************************************
+#ifndef DEPRECATED
+#define CANSetBitTiming(a, b) CANBitTimingSet(a, b)
+#define CANGetBitTiming(a, b) CANBitTimingGet(a, b)
+#endif
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+//*****************************************************************************
+//
+// Close the Doxygen group.
+//! @}
+//
+//*****************************************************************************
+
+#endif // __CAN_H__
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