EBIKE-FreeRTOS/Common/drivers/LuminaryMicro/can.h

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//*****************************************************************************
//
// 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__