From 44b979ac3dc53b29ee8176517b7d9a10935630c0 Mon Sep 17 00:00:00 2001 From: Yuval Adam Date: Mon, 29 Oct 2012 21:36:23 +0200 Subject: Initial code --- driverlib/can.h | 465 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 465 insertions(+) create mode 100644 driverlib/can.h (limited to 'driverlib/can.h') 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__ -- cgit v1.3.1