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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef __CANDRIVER__
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#define __CANDRIVER__
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//#include DEBUG_CAN
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#include <can.h>
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#include <objdictdef.h>
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/*
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The CAN message received are stored in a fifo stack
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We consider one stack for all the 5 can devices. It is a choice !
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*/
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/* Be free to change this value */
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#define MAX_STACK_MSG_RCV 5
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/* Number of incomings and outcomings CAN Line. The layer CanOpen must be
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used only for ONE line CAN. But you may used one or more CAN drivers, without
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a CanOpen layer.
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Only 2 lines are implemented. If more lines are needed, copy void __attribute__((interrupt)) can0HdlRcv (void) to void __attribute__((interrupt)) canXHdlRcv (void) and make
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changes : [0] to [x], CAN0 to CANX, etc
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*/
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#define NB_LINE_CAN 1
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/* Whose hardware HCS12 CAN block is used for CanOpen ? Chose between CAN0, ..., CAN4
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If you use CANOPEN_LINE_NUMBER_USED = CANI, the value of NB_LINE_CAN must be
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more or equal to I + 1
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Value other than CAN0 not tested, but should work fine.
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*/
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#define CANOPEN_LINE_NUMBER_USED CAN0
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/* Stack of received messages
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MSG received on CAN0 module is stored in stackMsgRcv[0], etc
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*/
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extern volatile Message stackMsgRcv[NB_LINE_CAN][MAX_STACK_MSG_RCV];
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/* Copy from the stack of the message to treat */
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extern Message msgRcv;
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/* To move on the stack of messages
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*/
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typedef struct {
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UNS8 w ; /* received */
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UNS8 r ; /* To transmit */
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} t_pointerStack;
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/* Pointer for write or read a message in/from the reception stack */
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extern volatile t_pointerStack ptrMsgRcv[NB_LINE_CAN];
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/*
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Parameters to define the clock system for the CAN bus
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example :
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CAN_BUS_TIME clk = {
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1, // clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board
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0, // brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1)
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1, // sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum
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1, // samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit
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4, // tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq
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9, // tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq
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With these values,
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- The width of the bit time is 16 time quantum :
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- 1 tq for the SYNC segment (could not be modified)
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- 10 tq for the TIME 1 segment (tseg1 = 9)
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- 5 tq for the TIME 2 segment (tseg2 = 4)
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- Because the bus clock of the MSCAN is 16 MHZ, and the
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freq of the time quantum is 16 MHZ (brp = 0), and there are 16 tq in the bit time,
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so the freq of the bit time is 1 MHz.
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};
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*/
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typedef struct {
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UNS8 clksrc; /* use of internal clock or clock bus */
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UNS8 brp; /* define the bus speed */
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UNS8 sjw; /* Number of time quantum for synchro - 1 */
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UNS8 samp; /* Number of sample per bit (1 or 3) */
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UNS8 tseg2; /* Width of the time segment 2 (in tq) - 1 */
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UNS8 tseg1; /* Width of the time segment 1 (in tq) - 1 */
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} canBusTime;
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/*
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Parameters to init the filters for received messages
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*/
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typedef struct {
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UNS8 idam; /* Put 0x01 for 16 bits acceptance filter */
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UNS8 canidar0;
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UNS8 canidmr0;
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UNS8 canidar1;
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UNS8 canidmr1;
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UNS8 canidar2;
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UNS8 canidmr2;
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UNS8 canidar3;
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UNS8 canidmr3;
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UNS8 canidar4;
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UNS8 canidmr4;
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UNS8 canidar5;
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UNS8 canidmr5;
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UNS8 canidar6;
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UNS8 canidmr6;
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UNS8 canidar7;
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UNS8 canidmr7;
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} canBusFilterInit;
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/*
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Parameters to init MSCAN
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Example
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CAN_BUS_INIT bi = {
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0, no low power
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0, no time stamp
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1, enable MSCAN
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0, clock source : oscillator
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0, no loop back
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0, no listen only
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0, no low pass filter for wk up
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{
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1, Use the oscillator clock
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0, Quartz oscillator : freq time quantum = freq oscillator clock / (0 + 1)
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1, Sync on (1 + 1) time quantum
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1, 1 sample per bit
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4, time segment 2 width : (4 + 1) tq
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9, time segment 1 width : (9 + 1) tq
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}
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};
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*/
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typedef struct {
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UNS8 cswai; /* Low power/normal in wait mode (1/0) */
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UNS8 time; /* Timer for time-stamp enable/disable (1/0) */
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UNS8 cane; /* Enable MSCAN (yes=1) Do it ! */
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UNS8 clksrc; /* clock source bus/oscillator (1/0) */
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UNS8 loopb; /* loop back mode for test (yes=1/no=0) */
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UNS8 listen; /* MSCAN is listen only (yes=1/no=0 ie normal)*/
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UNS8 wupm; /* low pas filter for wake up (yes=1/no=0) */
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canBusTime
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clk; /* Values for clock system init */
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canBusFilterInit
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fi; /* Values for filter acceptance msg init */
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} canBusInit;
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extern canBusInit bi;
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/*
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For the received messsage, add a Identificator to
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the list of ID to accept.
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You can use several times this function to accept several messages.
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It configures registers on 16 bits.
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Automatically, it configure the filter to
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- not accepting the msg on 29 bits (ide=1 refused)
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- not filtering on rtr state (rtr = 1 and rtr = 0 are accepted)
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Algo :
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if CANIDARx = 0 then CANIDARx = id . else do nothing
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CANIDMRx = CANIDMRx OR (CANIDARx XOR id )
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nFilter : 0 to 3
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Must be in init mode before.
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*/
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char canAddIdToFilter (
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UNS16 adrCAN,
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UNS8 nFilter,
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UNS16 id /* 11 bits, the 5 msb not used */
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);
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/*
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Enable one of the 5 MSCAN.
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Must be done only one time after a reset of the CPU.
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To do before any CAN initialisation
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*/
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char canEnable (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Initialize one of the 5 mscan
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can be done multiple times in your code
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Return 0 : OK
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When it return from the function,
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mscan is on sleep mode with wake up disabled.
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is not on init mode
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*/
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char canInit (
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UNS16 adrCAN, /* First address of MSCANx registers */
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canBusInit
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bi /* All the parameters to init the bus */
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);
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/*
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Initialize the parameters of the system clock for the MSCAN
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You must put the MSCAN in sleep mode before with canSleepMode()
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Return 0 : OK
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1 : Not in sleep mode. Unable to init MSCAN
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*/
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char canInitClock (
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UNS16 adrCAN, /* First address of MSCANx registers */
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canBusTime clk);
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/*
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Initialize one filter for acceptance of received msg.
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Filters MUST be configured on 16 bits
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(See doc Motorola mscan bloc guide fig 4.3)
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Must be in init mode before.
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adrCAN : adress of the first register of the mscan module
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nFilter : the filter : 0 to 3.
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ar : Value to write in acceptance register
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Beware ! hight byte and low byte inverted.
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for example if nFilter = 0, hight byte of ar -> CANIDAR0
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low byte of ar -> CANIDAR1
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mr : Value to write in mask register
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Beware ! hight byte and low byte inverted.
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for example if nFilter = 2, hight byte of ar -> CANIDMR4
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low byte of ar -> CANIDMR5
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*/
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char canInit1Filter (
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UNS16 adrCAN,
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UNS8 nFilter,
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UNS16 ar,
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UNS16 mr
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);
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/*
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Initialise the parameters for filtering the messages received.
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You must put the MSCAN in init mode before with canInitMode()
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Return 0 : OK
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1 : Not in init mode. Unable to init MSCAN
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*/
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char canInitFilter (
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UNS16 adrCAN, /* First address of MSCANx registers */
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canBusFilterInit fi);
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/*
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Put one of the 5 mscan in Init mode
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Loop until init mode is reached.
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*/
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char canInitMode (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Leave the Init mode
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loop until init mode leaved.
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*/
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char canInitModeQ (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Transmit a msg on CAN "adrCan"
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Return : 0 No error
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other error : no buffer available to make the transmission
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*/
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char canMsgTransmit (
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UNS16 adrCAN, /* First address of MSCANx registers */
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Message msg /* Message to transmit */
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);
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/*
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Put one of the 5 mscan in sleep mode
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Beware! If some messages are to be sent,
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or if it is receiving, going into sleep mode
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may take time.
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Wake up is disabled : stay in sleep mode even if
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bus traffic detected.
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return 0 if 0K, other if error : mscan is on init mode.
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Stay in this function until the sleep mode
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is reached.
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*/
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char canSleepMode (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Leave the sleep mode
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loop until sleep mode leaved.
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return 0 : OK
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return 1 : error : in init mode
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*/
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char canSleepModeQ (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Put one of the 5 mscan in sleep mode
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MSCAN must not be in init mode.
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wake up is enabled : wake up if traffic on CAN is detected
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Beware! If some messages are to be sent,
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or if it is receiving, going into sleep mode
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may take time.
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Loop until sleep mode reached.
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return 0 if 0K, other if error
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*/
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char canSleepWupMode (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Test if one of the 5 mscan is in init mode.
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Return
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0 -> Not in init mode
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other -> In init mode
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*/
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char canTestInitMode (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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/*
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Test if one of the 5 mscan is in sleep mode.
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Return
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0 -> Not in sleep mode
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other -> In sleep mode
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*/
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char canTestSleepMode (
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UNS16 adrCAN /* First address of MSCANx registers */
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);
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#endif /*__CANDRIVER__*/
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