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21 <a class="el" href="dir_bb27f6e70a4a8ab6966321815f15a33d.html">include</a> » <a class="el" href="dir_d760eeaaeddcf24a708a1307f60f8f4e.html">hcs12</a></div> |
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22 <h1>candriver.h</h1><a href="candriver_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> |
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23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
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24 <a name="l00003"></a>00003 <span class="comment"></span> |
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25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
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26 <a name="l00005"></a>00005 <span class="comment"></span> |
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27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span> |
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28 <a name="l00007"></a>00007 <span class="comment"></span> |
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29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span> |
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30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span> |
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31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span> |
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32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span> |
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33 <a name="l00012"></a>00012 <span class="comment"></span> |
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34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span> |
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35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
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36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
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37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span> |
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38 <a name="l00017"></a>00017 <span class="comment"></span> |
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39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span> |
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40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span> |
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41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
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42 <a name="l00021"></a>00021 <span class="comment">*/</span> |
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43 <a name="l00022"></a>00022 |
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44 <a name="l00023"></a>00023 <span class="preprocessor">#ifndef __CANDRIVER__</span> |
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45 <a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define __CANDRIVER__</span> |
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46 <a name="l00025"></a>00025 <span class="preprocessor"></span> |
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47 <a name="l00026"></a>00026 <span class="comment">//#include DEBUG_CAN</span> |
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48 <a name="l00027"></a>00027 |
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49 <a name="l00028"></a>00028 <span class="preprocessor">#include <<a class="code" href="can_8h.html">can.h</a>></span> |
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50 <a name="l00029"></a>00029 <span class="preprocessor">#include <<a class="code" href="objdictdef_8h.html">objdictdef.h</a>></span> |
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51 <a name="l00030"></a>00030 |
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52 <a name="l00031"></a>00031 |
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53 <a name="l00032"></a>00032 <span class="comment">/*</span> |
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54 <a name="l00033"></a>00033 <span class="comment">The CAN message received are stored in a fifo stack</span> |
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55 <a name="l00034"></a>00034 <span class="comment">We consider one stack for all the 5 can devices. It is a choice !</span> |
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56 <a name="l00035"></a>00035 <span class="comment">*/</span> |
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57 <a name="l00036"></a>00036 |
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58 <a name="l00037"></a>00037 <span class="comment">/* Be free to change this value */</span> |
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59 <a name="l00038"></a><a class="code" href="candriver_8h.html#12ae319363148d264184861475351e3c">00038</a> <span class="preprocessor">#define MAX_STACK_MSG_RCV 5</span> |
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60 <a name="l00039"></a>00039 <span class="preprocessor"></span> |
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61 <a name="l00040"></a>00040 <span class="comment">/* Number of incomings and outcomings CAN Line. The layer CanOpen must be</span> |
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62 <a name="l00041"></a>00041 <span class="comment">used only for ONE line CAN. But you may used one or more CAN drivers, without</span> |
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63 <a name="l00042"></a>00042 <span class="comment">a CanOpen layer.</span> |
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64 <a name="l00043"></a>00043 <span class="comment">Only 2 lines are implemented. If more lines are needed, copy void __attribute__((interrupt)) can0HdlRcv (void) to void __attribute__((interrupt)) canXHdlRcv (void) and make </span> |
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65 <a name="l00044"></a>00044 <span class="comment">changes : [0] to [x], CAN0 to CANX, etc</span> |
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66 <a name="l00045"></a>00045 <span class="comment">*/</span> |
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67 <a name="l00046"></a><a class="code" href="candriver_8h.html#e815437e20b35852b381f41b5b3feca3">00046</a> <span class="preprocessor">#define NB_LINE_CAN 1</span> |
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68 <a name="l00047"></a>00047 <span class="preprocessor"></span> |
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69 <a name="l00048"></a>00048 <span class="comment">/* Whose hardware HCS12 CAN block is used for CanOpen ? Chose between CAN0, ..., CAN4</span> |
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70 <a name="l00049"></a>00049 <span class="comment">If you use CANOPEN_LINE_NUMBER_USED = CANI, the value of NB_LINE_CAN must be</span> |
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71 <a name="l00050"></a>00050 <span class="comment">more or equal to I + 1</span> |
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72 <a name="l00051"></a>00051 <span class="comment">Value other than CAN0 not tested, but should work fine.</span> |
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73 <a name="l00052"></a>00052 <span class="comment"> */</span> |
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74 <a name="l00053"></a><a class="code" href="candriver_8h.html#b790d6b6969e61da0bab8965d9b2a59e">00053</a> <span class="preprocessor">#define CANOPEN_LINE_NUMBER_USED CAN0</span> |
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75 <a name="l00054"></a>00054 <span class="preprocessor"></span> |
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76 <a name="l00055"></a>00055 <span class="comment">/* Stack of received messages </span> |
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77 <a name="l00056"></a>00056 <span class="comment">MSG received on CAN0 module is stored in stackMsgRcv[0], etc</span> |
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78 <a name="l00057"></a>00057 <span class="comment">*/</span> |
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79 <a name="l00058"></a>00058 <span class="keyword">extern</span> <span class="keyword">volatile</span> <a class="code" href="structMessage.html">Message</a> <a class="code" href="candriver_8h.html#40054ae396fb4eedbac1ad9f9dd1a028">stackMsgRcv</a>[<a class="code" href="candriver_8h.html#e815437e20b35852b381f41b5b3feca3">NB_LINE_CAN</a>][<a class="code" href="candriver_8h.html#12ae319363148d264184861475351e3c">MAX_STACK_MSG_RCV</a>]; |
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80 <a name="l00059"></a>00059 |
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81 <a name="l00060"></a>00060 |
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82 <a name="l00061"></a>00061 <span class="comment">/* Copy from the stack of the message to treat */</span> |
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83 <a name="l00062"></a>00062 <span class="keyword">extern</span> <a class="code" href="structMessage.html">Message</a> <a class="code" href="candriver_8h.html#22740559e49d224a83022bf4e082b26f">msgRcv</a>; |
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84 <a name="l00063"></a>00063 |
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85 <a name="l00064"></a>00064 |
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86 <a name="l00065"></a>00065 <span class="comment">/* To move on the stack of messages </span> |
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87 <a name="l00066"></a>00066 <span class="comment"> */</span> |
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88 <a name="l00067"></a><a class="code" href="structt__pointerStack.html">00067</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ |
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89 <a name="l00068"></a><a class="code" href="structt__pointerStack.html#b07f5d836a93a8aabc84ce62b55d8aeb">00068</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> w ; <span class="comment">/* received */</span> |
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90 <a name="l00069"></a><a class="code" href="structt__pointerStack.html#a276e252993440068b1bc44faaa53fd7">00069</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> r ; <span class="comment">/* To transmit */</span> |
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91 <a name="l00070"></a>00070 } <a class="code" href="structt__pointerStack.html">t_pointerStack</a>; |
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92 <a name="l00071"></a>00071 |
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93 <a name="l00072"></a>00072 |
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94 <a name="l00073"></a>00073 <span class="comment">/* Pointer for write or read a message in/from the reception stack */</span> |
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95 <a name="l00074"></a>00074 <span class="keyword">extern</span> <span class="keyword">volatile</span> <a class="code" href="structt__pointerStack.html">t_pointerStack</a> <a class="code" href="candriver_8h.html#ec01c7792152a9bc4620413f77df3c21">ptrMsgRcv</a>[<a class="code" href="candriver_8h.html#e815437e20b35852b381f41b5b3feca3">NB_LINE_CAN</a>]; |
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96 <a name="l00075"></a>00075 |
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97 <a name="l00076"></a>00076 <span class="comment">/* </span> |
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98 <a name="l00077"></a>00077 <span class="comment">Parameters to define the clock system for the CAN bus</span> |
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99 <a name="l00078"></a>00078 <span class="comment">example : </span> |
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100 <a name="l00079"></a>00079 <span class="comment">CAN_BUS_TIME clk = {</span> |
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101 <a name="l00080"></a>00080 <span class="comment"> 1, // clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board </span> |
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102 <a name="l00081"></a>00081 <span class="comment"> 0, // brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) </span> |
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103 <a name="l00082"></a>00082 <span class="comment"> 1, // sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum </span> |
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104 <a name="l00083"></a>00083 <span class="comment"> 1, // samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit </span> |
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105 <a name="l00084"></a>00084 <span class="comment"> 4, // tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq </span> |
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106 <a name="l00085"></a>00085 <span class="comment"> 9, // tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq </span> |
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107 <a name="l00086"></a>00086 <span class="comment"></span> |
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108 <a name="l00087"></a>00087 <span class="comment"> </span> |
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109 <a name="l00088"></a>00088 <span class="comment"> With these values, </span> |
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110 <a name="l00089"></a>00089 <span class="comment"> - The width of the bit time is 16 time quantum :</span> |
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111 <a name="l00090"></a>00090 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span> |
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112 <a name="l00091"></a>00091 <span class="comment"> - 10 tq for the TIME 1 segment (tseg1 = 9)</span> |
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113 <a name="l00092"></a>00092 <span class="comment"> - 5 tq for the TIME 2 segment (tseg2 = 4)</span> |
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114 <a name="l00093"></a>00093 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span> |
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115 <a name="l00094"></a>00094 <span class="comment"> freq of the time quantum is 16 MHZ (brp = 0), and there are 16 tq in the bit time,</span> |
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116 <a name="l00095"></a>00095 <span class="comment"> so the freq of the bit time is 1 MHz.</span> |
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117 <a name="l00096"></a>00096 <span class="comment"> </span> |
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118 <a name="l00097"></a>00097 <span class="comment"> };</span> |
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119 <a name="l00098"></a>00098 <span class="comment">*/</span> |
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120 <a name="l00099"></a><a class="code" href="structcanBusTime.html">00099</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ |
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121 <a name="l00100"></a><a class="code" href="structcanBusTime.html#97e1ad879dbd38f6726eacb704121930">00100</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> clksrc; <span class="comment">/* use of internal clock or clock bus */</span> |
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122 <a name="l00101"></a><a class="code" href="structcanBusTime.html#f0662795b937b5c54451aa845a980c0d">00101</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> brp; <span class="comment">/* define the bus speed */</span> |
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123 <a name="l00102"></a><a class="code" href="structcanBusTime.html#71915957851eb44a3dbdb5fb0cad45ff">00102</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> sjw; <span class="comment">/* Number of time quantum for synchro - 1 */</span> |
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124 <a name="l00103"></a><a class="code" href="structcanBusTime.html#14a31c3c0d6d2ea48ce1c0d00db2724c">00103</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> samp; <span class="comment">/* Number of sample per bit (1 or 3) */</span> |
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125 <a name="l00104"></a><a class="code" href="structcanBusTime.html#1dfb7aa14ba56f5a73715f4d8c6befc9">00104</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tseg2; <span class="comment">/* Width of the time segment 2 (in tq) - 1 */</span> |
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126 <a name="l00105"></a><a class="code" href="structcanBusTime.html#6187a598266f497d7ecd897af3fd0139">00105</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tseg1; <span class="comment">/* Width of the time segment 1 (in tq) - 1 */</span> |
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127 <a name="l00106"></a>00106 } <a class="code" href="structcanBusTime.html">canBusTime</a>; |
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128 <a name="l00107"></a>00107 |
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129 <a name="l00108"></a>00108 <span class="comment">/* </span> |
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130 <a name="l00109"></a>00109 <span class="comment">Parameters to init the filters for received messages</span> |
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131 <a name="l00110"></a>00110 <span class="comment">*/</span> |
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132 <a name="l00111"></a><a class="code" href="structcanBusFilterInit.html">00111</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ |
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133 <a name="l00112"></a><a class="code" href="structcanBusFilterInit.html#5da0d810ad7e2e35a34737ba969caf39">00112</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> idam; <span class="comment">/* Put 0x01 for 16 bits acceptance filter */</span> |
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134 <a name="l00113"></a><a class="code" href="structcanBusFilterInit.html#f999163cff995179c6ff8d24e0278fac">00113</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar0; |
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135 <a name="l00114"></a><a class="code" href="structcanBusFilterInit.html#02ae05657cd22560f8a41a491f57d204">00114</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr0; |
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136 <a name="l00115"></a><a class="code" href="structcanBusFilterInit.html#08dcbd19479f3a54e2a42a3d9ec9a255">00115</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar1; |
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137 <a name="l00116"></a><a class="code" href="structcanBusFilterInit.html#ced1e6e7a19564d3ea5228bd61b6f235">00116</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr1; |
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138 <a name="l00117"></a><a class="code" href="structcanBusFilterInit.html#c124ee6cf0d365b7b4a36b60a7527191">00117</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar2; |
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139 <a name="l00118"></a><a class="code" href="structcanBusFilterInit.html#49dc105feb71df50a0af58069789f886">00118</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr2; |
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140 <a name="l00119"></a><a class="code" href="structcanBusFilterInit.html#c72887349184517379bb501c5f554c96">00119</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar3; |
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141 <a name="l00120"></a><a class="code" href="structcanBusFilterInit.html#08039c51e6ced8e7f58de19092126158">00120</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr3; |
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142 <a name="l00121"></a><a class="code" href="structcanBusFilterInit.html#464b3b7f0e07f2ffc00becab1455a427">00121</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar4; |
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143 <a name="l00122"></a><a class="code" href="structcanBusFilterInit.html#b9a81efcfccd87a948d62bd769b26b61">00122</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr4; |
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144 <a name="l00123"></a><a class="code" href="structcanBusFilterInit.html#1279a3436781a76dabb1258b53a83e6c">00123</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar5; |
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145 <a name="l00124"></a><a class="code" href="structcanBusFilterInit.html#afce7265d09631e57c049f90437f5708">00124</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr5; |
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146 <a name="l00125"></a><a class="code" href="structcanBusFilterInit.html#3bb15152e7d9411fa8af42e856901670">00125</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar6; |
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147 <a name="l00126"></a><a class="code" href="structcanBusFilterInit.html#544b671460d71c1cdf601cc5c357d43c">00126</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr6; |
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148 <a name="l00127"></a><a class="code" href="structcanBusFilterInit.html#10efad1ba33abe4fbc25f36abc169364">00127</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidar7; |
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149 <a name="l00128"></a><a class="code" href="structcanBusFilterInit.html#56f25088d33f0cb1c0e305683c8235e1">00128</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> canidmr7; |
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150 <a name="l00129"></a>00129 } <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a>; |
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151 <a name="l00130"></a>00130 |
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152 <a name="l00131"></a>00131 <span class="comment">/*</span> |
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153 <a name="l00132"></a>00132 <span class="comment">Parameters to init MSCAN</span> |
|
154 <a name="l00133"></a>00133 <span class="comment">Example</span> |
|
155 <a name="l00134"></a>00134 <span class="comment">CAN_BUS_INIT bi = {</span> |
|
156 <a name="l00135"></a>00135 <span class="comment"> 0, no low power </span> |
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157 <a name="l00136"></a>00136 <span class="comment"> 0, no time stamp </span> |
|
158 <a name="l00137"></a>00137 <span class="comment"> 1, enable MSCAN </span> |
|
159 <a name="l00138"></a>00138 <span class="comment"> 0, clock source : oscillator </span> |
|
160 <a name="l00139"></a>00139 <span class="comment"> 0, no loop back </span> |
|
161 <a name="l00140"></a>00140 <span class="comment"> 0, no listen only </span> |
|
162 <a name="l00141"></a>00141 <span class="comment"> 0, no low pass filter for wk up </span> |
|
163 <a name="l00142"></a>00142 <span class="comment"> {</span> |
|
164 <a name="l00143"></a>00143 <span class="comment"> 1, Use the oscillator clock </span> |
|
165 <a name="l00144"></a>00144 <span class="comment"> 0, Quartz oscillator : freq time quantum = freq oscillator clock / (0 + 1)</span> |
|
166 <a name="l00145"></a>00145 <span class="comment"> 1, Sync on (1 + 1) time quantum </span> |
|
167 <a name="l00146"></a>00146 <span class="comment"> 1, 1 sample per bit </span> |
|
168 <a name="l00147"></a>00147 <span class="comment"> 4, time segment 2 width : (4 + 1) tq </span> |
|
169 <a name="l00148"></a>00148 <span class="comment"> 9, time segment 1 width : (9 + 1) tq </span> |
|
170 <a name="l00149"></a>00149 <span class="comment"> }</span> |
|
171 <a name="l00150"></a>00150 <span class="comment"> }; </span> |
|
172 <a name="l00151"></a>00151 <span class="comment">*/</span> |
|
173 <a name="l00152"></a>00152 |
|
174 <a name="l00153"></a><a class="code" href="structcanBusInit.html">00153</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ |
|
175 <a name="l00154"></a><a class="code" href="structcanBusInit.html#e55fa49debf408530d0e02e046c78fc2">00154</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> cswai; <span class="comment">/* Low power/normal in wait mode (1/0) */</span> |
|
176 <a name="l00155"></a><a class="code" href="structcanBusInit.html#b2d867e2d4c69932e82294affc065529">00155</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> time; <span class="comment">/* Timer for time-stamp enable/disable (1/0) */</span> |
|
177 <a name="l00156"></a><a class="code" href="structcanBusInit.html#94b6d65fade44b397c1e48e658e7bffe">00156</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> cane; <span class="comment">/* Enable MSCAN (yes=1) Do it ! */</span> |
|
178 <a name="l00157"></a><a class="code" href="structcanBusInit.html#a795e561857d0643cb7912ed92ab5268">00157</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> clksrc; <span class="comment">/* clock source bus/oscillator (1/0) */</span> |
|
179 <a name="l00158"></a><a class="code" href="structcanBusInit.html#c8a539634dabd6c10519a59480cb250c">00158</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> loopb; <span class="comment">/* loop back mode for test (yes=1/no=0) */</span> |
|
180 <a name="l00159"></a><a class="code" href="structcanBusInit.html#3576034b380091818fc88fb22aa408f2">00159</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> listen; <span class="comment">/* MSCAN is listen only (yes=1/no=0 ie normal)*/</span> |
|
181 <a name="l00160"></a><a class="code" href="structcanBusInit.html#acf29b4229abadb3f5ab7a6524b406e7">00160</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> wupm; <span class="comment">/* low pas filter for wake up (yes=1/no=0) */</span> |
|
182 <a name="l00161"></a>00161 <a class="code" href="structcanBusTime.html">canBusTime</a> |
|
183 <a name="l00162"></a><a class="code" href="structcanBusInit.html#3416d1e391b6ced43c74c1a28d473b7c">00162</a> clk; <span class="comment">/* Values for clock system init */</span> |
|
184 <a name="l00163"></a>00163 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> |
|
185 <a name="l00164"></a><a class="code" href="structcanBusInit.html#3311c0959bc93dedb5bd13fb653eab7c">00164</a> fi; <span class="comment">/* Values for filter acceptance msg init */</span> |
|
186 <a name="l00165"></a>00165 |
|
187 <a name="l00166"></a>00166 } <a class="code" href="structcanBusInit.html">canBusInit</a>; |
|
188 <a name="l00167"></a>00167 |
|
189 <a name="l00168"></a>00168 <span class="keyword">extern</span> <a class="code" href="structcanBusInit.html">canBusInit</a> <a class="code" href="candriver_8h.html#0324c271e4c71a8b96af194e6310a792">bi</a>; |
|
190 <a name="l00169"></a>00169 |
|
191 <a name="l00170"></a>00170 |
|
192 <a name="l00171"></a>00171 |
|
193 <a name="l00172"></a>00172 <span class="comment">/*</span> |
|
194 <a name="l00173"></a>00173 <span class="comment">For the received messsage, add a Identificator to</span> |
|
195 <a name="l00174"></a>00174 <span class="comment">the list of ID to accept.</span> |
|
196 <a name="l00175"></a>00175 <span class="comment">You can use several times this function to accept several messages.</span> |
|
197 <a name="l00176"></a>00176 <span class="comment">It configures registers on 16 bits.</span> |
|
198 <a name="l00177"></a>00177 <span class="comment">Automatically, it configure the filter to</span> |
|
199 <a name="l00178"></a>00178 <span class="comment">- not accepting the msg on 29 bits (ide=1 refused)</span> |
|
200 <a name="l00179"></a>00179 <span class="comment">- not filtering on rtr state (rtr = 1 and rtr = 0 are accepted)</span> |
|
201 <a name="l00180"></a>00180 <span class="comment">Algo :</span> |
|
202 <a name="l00181"></a>00181 <span class="comment">if CANIDARx = 0 then CANIDARx = id . else do nothing</span> |
|
203 <a name="l00182"></a>00182 <span class="comment">CANIDMRx = CANIDMRx OR (CANIDARx XOR id )</span> |
|
204 <a name="l00183"></a>00183 <span class="comment">nFilter : 0 to 3</span> |
|
205 <a name="l00184"></a>00184 <span class="comment">Must be in init mode before.</span> |
|
206 <a name="l00185"></a>00185 <span class="comment">*/</span> |
|
207 <a name="l00186"></a>00186 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#9579ae456a8ee9cee1ae777a4a0ee3ac">canAddIdToFilter</a> ( |
|
208 <a name="l00187"></a>00187 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, |
|
209 <a name="l00188"></a>00188 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nFilter, |
|
210 <a name="l00189"></a>00189 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> <span class="keywordtype">id</span> <span class="comment">/* 11 bits, the 5 msb not used */</span> |
|
211 <a name="l00190"></a>00190 ); |
|
212 <a name="l00191"></a>00191 |
|
213 <a name="l00192"></a>00192 <span class="comment">/*</span> |
|
214 <a name="l00193"></a>00193 <span class="comment"> Use this function to change the CAN message acceptance filters and masks.</span> |
|
215 <a name="l00194"></a>00194 <span class="comment"> */</span> |
|
216 <a name="l00195"></a>00195 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#7fd72f38fd09b6e79a50ac32d8cc0629">canChangeFilter</a> (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> fi); |
|
217 <a name="l00196"></a>00196 |
|
218 <a name="l00197"></a>00197 |
|
219 <a name="l00198"></a>00198 <span class="comment">/*</span> |
|
220 <a name="l00199"></a>00199 <span class="comment">Enable one of the 5 MSCAN.</span> |
|
221 <a name="l00200"></a>00200 <span class="comment">Must be done only one time after a reset of the CPU.</span> |
|
222 <a name="l00201"></a>00201 <span class="comment">To do before any CAN initialisation</span> |
|
223 <a name="l00202"></a>00202 <span class="comment">*/</span> |
|
224 <a name="l00203"></a>00203 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#bf55daf34be2503cf0414e15abf2c69c">canEnable</a> ( |
|
225 <a name="l00204"></a>00204 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
|
226 <a name="l00205"></a>00205 ); |
|
227 <a name="l00206"></a>00206 |
|
228 <a name="l00207"></a>00207 |
|
229 <a name="l00208"></a>00208 <span class="comment">/* </span> |
|
230 <a name="l00209"></a>00209 <span class="comment">Initialize one of the 5 mscan</span> |
|
231 <a name="l00210"></a>00210 <span class="comment">can be done multiple times in your code</span> |
|
232 <a name="l00211"></a>00211 <span class="comment">Return 0 : OK</span> |
|
233 <a name="l00212"></a>00212 <span class="comment">When it return from the function,</span> |
|
234 <a name="l00213"></a>00213 <span class="comment">mscan is on sleep mode with wake up disabled.</span> |
|
235 <a name="l00214"></a>00214 <span class="comment"> is not on init mode</span> |
|
236 <a name="l00215"></a>00215 <span class="comment">*/</span> |
|
237 <a name="l00216"></a>00216 <span class="keywordtype">char</span> <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a> ( |
|
238 <a name="l00217"></a>00217 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <span class="comment">/* First address of MSCANx registers */</span> |
|
239 <a name="l00218"></a>00218 <a class="code" href="structcanBusInit.html">canBusInit</a> |
|
240 <a name="l00219"></a>00219 bi <span class="comment">/* All the parameters to init the bus */</span> |
|
241 <a name="l00220"></a>00220 ); |
|
242 <a name="l00221"></a>00221 <span class="comment">/*</span> |
|
243 <a name="l00222"></a>00222 <span class="comment">Initialize the parameters of the system clock for the MSCAN</span> |
|
244 <a name="l00223"></a>00223 <span class="comment">You must put the MSCAN in sleep mode before with canSleepMode()</span> |
|
245 <a name="l00224"></a>00224 <span class="comment">Return 0 : OK</span> |
|
246 <a name="l00225"></a>00225 <span class="comment"> 1 : Not in sleep mode. Unable to init MSCAN </span> |
|
247 <a name="l00226"></a>00226 <span class="comment">*/</span> |
|
248 <a name="l00227"></a>00227 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#83ad789afb5a949c85f8998b40d651c3">canInitClock</a> ( |
|
249 <a name="l00228"></a>00228 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <span class="comment">/* First address of MSCANx registers */</span> |
|
250 <a name="l00229"></a>00229 <a class="code" href="structcanBusTime.html">canBusTime</a> clk); |
|
251 <a name="l00230"></a>00230 |
|
252 <a name="l00231"></a>00231 <span class="comment">/* </span> |
|
253 <a name="l00232"></a>00232 <span class="comment">Initialize one filter for acceptance of received msg.</span> |
|
254 <a name="l00233"></a>00233 <span class="comment">Filters MUST be configured on 16 bits </span> |
|
255 <a name="l00234"></a>00234 <span class="comment">(See doc Motorola mscan bloc guide fig 4.3)</span> |
|
256 <a name="l00235"></a>00235 <span class="comment">Must be in init mode before.</span> |
|
257 <a name="l00236"></a>00236 <span class="comment">adrCAN : adress of the first register of the mscan module</span> |
|
258 <a name="l00237"></a>00237 <span class="comment">nFilter : the filter : 0 to 3.</span> |
|
259 <a name="l00238"></a>00238 <span class="comment">ar : Value to write in acceptance register</span> |
|
260 <a name="l00239"></a>00239 <span class="comment"> Beware ! hight byte and low byte inverted.</span> |
|
261 <a name="l00240"></a>00240 <span class="comment"> for example if nFilter = 0, hight byte of ar -> CANIDAR0</span> |
|
262 <a name="l00241"></a>00241 <span class="comment"> low byte of ar -> CANIDAR1</span> |
|
263 <a name="l00242"></a>00242 <span class="comment">mr : Value to write in mask register</span> |
|
264 <a name="l00243"></a>00243 <span class="comment"> Beware ! hight byte and low byte inverted.</span> |
|
265 <a name="l00244"></a>00244 <span class="comment"> for example if nFilter = 2, hight byte of ar -> CANIDMR4</span> |
|
266 <a name="l00245"></a>00245 <span class="comment"> low byte of ar -> CANIDMR5</span> |
|
267 <a name="l00246"></a>00246 <span class="comment">*/</span> |
|
268 <a name="l00247"></a>00247 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#d5f0fc801fc795c7911fb7dc4f403428">canInit1Filter</a> ( |
|
269 <a name="l00248"></a>00248 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, |
|
270 <a name="l00249"></a>00249 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nFilter, |
|
271 <a name="l00250"></a>00250 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> ar, |
|
272 <a name="l00251"></a>00251 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> mr |
|
273 <a name="l00252"></a>00252 ); |
|
274 <a name="l00253"></a>00253 |
|
275 <a name="l00254"></a>00254 <span class="comment">/*</span> |
|
276 <a name="l00255"></a>00255 <span class="comment">Initialise the parameters for filtering the messages received.</span> |
|
277 <a name="l00256"></a>00256 <span class="comment">You must put the MSCAN in init mode before with canInitMode()</span> |
|
278 <a name="l00257"></a>00257 <span class="comment">Return 0 : OK</span> |
|
279 <a name="l00258"></a>00258 <span class="comment"> 1 : Not in init mode. Unable to init MSCAN </span> |
|
280 <a name="l00259"></a>00259 <span class="comment">*/</span> |
|
281 <a name="l00260"></a>00260 |
|
282 <a name="l00261"></a>00261 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#437cf0f7cee6930bc4d6f4743999e4f2">canInitFilter</a> ( |
|
283 <a name="l00262"></a>00262 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <span class="comment">/* First address of MSCANx registers */</span> |
|
284 <a name="l00263"></a>00263 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> fi); |
|
285 <a name="l00264"></a>00264 <span class="comment">/*</span> |
|
286 <a name="l00265"></a>00265 <span class="comment">Put one of the 5 mscan in Init mode</span> |
|
287 <a name="l00266"></a>00266 <span class="comment">Loop until init mode is reached.</span> |
|
288 <a name="l00267"></a>00267 <span class="comment">*/</span> |
|
289 <a name="l00268"></a>00268 |
|
290 <a name="l00269"></a>00269 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#daff5eaa25245bff93a854283e2e0cb2">canInitMode</a> ( |
|
291 <a name="l00270"></a>00270 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
|
292 <a name="l00271"></a>00271 ); |
|
293 <a name="l00272"></a>00272 |
|
294 <a name="l00273"></a>00273 <span class="comment">/*</span> |
|
295 <a name="l00274"></a>00274 <span class="comment">Leave the Init mode</span> |
|
296 <a name="l00275"></a>00275 <span class="comment">loop until init mode leaved.</span> |
|
297 <a name="l00276"></a>00276 <span class="comment">*/</span> |
|
298 <a name="l00277"></a>00277 |
|
299 <a name="l00278"></a>00278 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#a619f965cc88e08dec28de4833bfe50a">canInitModeQ</a> ( |
|
300 <a name="l00279"></a>00279 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
|
301 <a name="l00280"></a>00280 ); |
|
302 <a name="l00281"></a>00281 |
|
303 <a name="l00282"></a>00282 |
|
304 <a name="l00283"></a>00283 |
|
305 <a name="l00284"></a>00284 <span class="comment">/*</span> |
|
306 <a name="l00285"></a>00285 <span class="comment">Transmit a msg on CAN "adrCan"</span> |
|
307 <a name="l00286"></a>00286 <span class="comment">Return : 0 No error</span> |
|
308 <a name="l00287"></a>00287 <span class="comment"> other error : no buffer available to make the transmission</span> |
|
309 <a name="l00288"></a>00288 <span class="comment">*/</span> |
|
310 <a name="l00289"></a>00289 |
|
311 <a name="l00290"></a>00290 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#cd855997446329e6b6338fe8644edf11">canMsgTransmit</a> ( |
|
312 <a name="l00291"></a>00291 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <span class="comment">/* First address of MSCANx registers */</span> |
|
313 <a name="l00292"></a>00292 <a class="code" href="structMessage.html">Message</a> msg <span class="comment">/* Message to transmit */</span> |
|
314 <a name="l00293"></a>00293 ); |
|
315 <a name="l00294"></a>00294 |
|
316 <a name="l00295"></a>00295 <span class="comment">/*</span> |
|
317 <a name="l00296"></a>00296 <span class="comment"> Set the interruptions. Must be call just after having left the init mode.</span> |
|
318 <a name="l00297"></a>00297 <span class="comment"> */</span> |
|
319 <a name="l00298"></a>00298 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#946843a5bc1823243b5120d57785f0ec">canSetInterrupt</a> (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN); |
|
320 <a name="l00299"></a>00299 |
|
321 <a name="l00300"></a>00300 <span class="comment">/*</span> |
|
322 <a name="l00301"></a>00301 <span class="comment">Put one of the 5 mscan in sleep mode</span> |
|
323 <a name="l00302"></a>00302 <span class="comment">Beware! If some messages are to be sent,</span> |
|
324 <a name="l00303"></a>00303 <span class="comment">or if it is receiving, going into sleep mode</span> |
|
325 <a name="l00304"></a>00304 <span class="comment">may take time.</span> |
|
326 <a name="l00305"></a>00305 <span class="comment">Wake up is disabled : stay in sleep mode even if</span> |
|
327 <a name="l00306"></a>00306 <span class="comment">bus traffic detected.</span> |
|
328 <a name="l00307"></a>00307 <span class="comment">return 0 if 0K, other if error : mscan is on init mode.</span> |
|
329 <a name="l00308"></a>00308 <span class="comment">Stay in this function until the sleep mode</span> |
|
330 <a name="l00309"></a>00309 <span class="comment">is reached.</span> |
|
331 <a name="l00310"></a>00310 <span class="comment">*/</span> |
|
332 <a name="l00311"></a>00311 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#ce25028cdf7de7a16b2762cb3846ddd4">canSleepMode</a> ( |
|
333 <a name="l00312"></a>00312 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
|
334 <a name="l00313"></a>00313 ); |
|
335 <a name="l00314"></a>00314 |
|
336 <a name="l00315"></a>00315 <span class="comment">/*</span> |
|
337 <a name="l00316"></a>00316 <span class="comment">Leave the sleep mode</span> |
|
338 <a name="l00317"></a>00317 <span class="comment">loop until sleep mode leaved.</span> |
|
339 <a name="l00318"></a>00318 <span class="comment">return 0 : OK</span> |
|
340 <a name="l00319"></a>00319 <span class="comment">return 1 : error : in init mode</span> |
|
341 <a name="l00320"></a>00320 <span class="comment">*/</span> |
|
342 <a name="l00321"></a>00321 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#e147ca22aacafc3fa806f32f3f3577cb">canSleepModeQ</a> ( |
|
343 <a name="l00322"></a>00322 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
|
344 <a name="l00323"></a>00323 ); |
|
345 <a name="l00324"></a>00324 |
|
346 <a name="l00325"></a>00325 <span class="comment">/*</span> |
|
347 <a name="l00326"></a>00326 <span class="comment">Put one of the 5 mscan in sleep mode</span> |
|
348 <a name="l00327"></a>00327 <span class="comment">MSCAN must not be in init mode.</span> |
|
349 <a name="l00328"></a>00328 <span class="comment">wake up is enabled : wake up if traffic on CAN is detected</span> |
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350 <a name="l00329"></a>00329 <span class="comment">Beware! If some messages are to be sent,</span> |
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351 <a name="l00330"></a>00330 <span class="comment">or if it is receiving, going into sleep mode</span> |
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352 <a name="l00331"></a>00331 <span class="comment">may take time.</span> |
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353 <a name="l00332"></a>00332 <span class="comment">Loop until sleep mode reached.</span> |
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354 <a name="l00333"></a>00333 <span class="comment">return 0 if 0K, other if error</span> |
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355 <a name="l00334"></a>00334 <span class="comment">*/</span> |
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356 <a name="l00335"></a>00335 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#bb8b891e76257224f7c2e20d273c72a5">canSleepWupMode</a> ( |
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357 <a name="l00336"></a>00336 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
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358 <a name="l00337"></a>00337 ); |
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359 <a name="l00338"></a>00338 |
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360 <a name="l00339"></a>00339 <span class="comment">/*</span> |
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361 <a name="l00340"></a>00340 <span class="comment">Test if one of the 5 mscan is in init mode.</span> |
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362 <a name="l00341"></a>00341 <span class="comment">Return </span> |
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363 <a name="l00342"></a>00342 <span class="comment"> 0 -> Not in init mode</span> |
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364 <a name="l00343"></a>00343 <span class="comment"> other -> In init mode</span> |
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365 <a name="l00344"></a>00344 <span class="comment">*/</span> |
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366 <a name="l00345"></a>00345 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#101ff5d32d811e558e601083c84989fc">canTestInitMode</a> ( |
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367 <a name="l00346"></a>00346 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
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368 <a name="l00347"></a>00347 ); |
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369 <a name="l00348"></a>00348 |
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370 <a name="l00349"></a>00349 <span class="comment">/*</span> |
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371 <a name="l00350"></a>00350 <span class="comment">Test if one of the 5 mscan is in sleep mode.</span> |
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372 <a name="l00351"></a>00351 <span class="comment">Return </span> |
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373 <a name="l00352"></a>00352 <span class="comment"> 0 -> Not in sleep mode</span> |
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374 <a name="l00353"></a>00353 <span class="comment"> other -> In sleep mode</span> |
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375 <a name="l00354"></a>00354 <span class="comment">*/</span> |
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376 <a name="l00355"></a>00355 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#008cc4a90d79b5ef1169d32a83947142">canTestSleepMode</a> ( |
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377 <a name="l00356"></a>00356 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span> |
|
378 <a name="l00357"></a>00357 ); |
|
379 <a name="l00358"></a>00358 |
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380 <a name="l00359"></a>00359 |
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381 <a name="l00360"></a>00360 |
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382 <a name="l00361"></a>00361 <span class="preprocessor">#endif </span><span class="comment">/*__CANDRIVER__*/</span> |
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383 <a name="l00362"></a>00362 |
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384 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
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385 <a href="http://www.doxygen.org/index.html"> |
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386 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
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387 </body> |
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388 </html> |
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