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    21 <a class="el" href="dir_2209bfb26110ae52d50da4cefad5e72f.html">include</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_9b4fbd1818b4be2ef59811982235911e.html">hcs12</a></div>
       
    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>
       
    23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
       
    24 <a name="l00003"></a>00003 <span class="comment"></span>
       
    25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
       
    26 <a name="l00005"></a>00005 <span class="comment"></span>
       
    27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
       
    28 <a name="l00007"></a>00007 <span class="comment"></span>
       
    29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
       
    30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
       
    31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
       
    32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
       
    33 <a name="l00012"></a>00012 <span class="comment"></span>
       
    34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
       
    35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
       
    36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
       
    37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
       
    38 <a name="l00017"></a>00017 <span class="comment"></span>
       
    39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
       
    40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
       
    41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
       
    42 <a name="l00021"></a>00021 <span class="comment">*/</span>
       
    43 <a name="l00022"></a>00022 
       
    44 <a name="l00023"></a>00023 <span class="preprocessor">#ifndef __CANDRIVER__</span>
       
    45 <a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define __CANDRIVER__</span>
       
    46 <a name="l00025"></a>00025 <span class="preprocessor"></span>
       
    47 <a name="l00026"></a>00026 <span class="comment">//#include DEBUG_CAN</span>
       
    48 <a name="l00027"></a>00027 
       
    49 <a name="l00028"></a>00028 <span class="preprocessor">#include &lt;<a class="code" href="can_8h.html">can.h</a>&gt;</span>
       
    50 <a name="l00029"></a>00029 <span class="preprocessor">#include &lt;<a class="code" href="objdictdef_8h.html">objdictdef.h</a>&gt;</span>
       
    51 <a name="l00030"></a>00030 
       
    52 <a name="l00031"></a>00031 
       
    53 <a name="l00032"></a>00032 <span class="comment">/*</span>
       
    54 <a name="l00033"></a>00033 <span class="comment">The CAN message received are stored in a fifo stack</span>
       
    55 <a name="l00034"></a>00034 <span class="comment">We consider one stack for all the 5 can devices. It is a choice !</span>
       
    56 <a name="l00035"></a>00035 <span class="comment">*/</span>
       
    57 <a name="l00036"></a>00036 
       
    58 <a name="l00037"></a>00037 <span class="comment">/* Be free to change this value */</span>
       
    59 <a name="l00038"></a><a class="code" href="candriver_8h.html#604df069233e19d5960b444524a43042">00038</a> <span class="preprocessor">#define MAX_STACK_MSG_RCV 5</span>
       
    60 <a name="l00039"></a>00039 <span class="preprocessor"></span>
       
    61 <a name="l00040"></a>00040 <span class="comment">/* Number of incomings and outcomings CAN Line. The layer CanOpen must be</span>
       
    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>
       
    63 <a name="l00042"></a>00042 <span class="comment">a CanOpen layer.</span>
       
    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>
       
    65 <a name="l00044"></a>00044 <span class="comment">changes : [0] to [x], CAN0 to CANX, etc</span>
       
    66 <a name="l00045"></a>00045 <span class="comment">*/</span>
       
    67 <a name="l00046"></a><a class="code" href="candriver_8h.html#08b16baaf10a1b7fb8a3569a6c0f67ff">00046</a> <span class="preprocessor">#define NB_LINE_CAN 1</span>
       
    68 <a name="l00047"></a>00047 <span class="preprocessor"></span>
       
    69 <a name="l00048"></a>00048 <span class="comment">/* Whose hardware HCS12 CAN block is used for CanOpen ? Chose between CAN0, ..., CAN4</span>
       
    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>
       
    71 <a name="l00050"></a>00050 <span class="comment">more or equal to I + 1</span>
       
    72 <a name="l00051"></a>00051 <span class="comment">Value other than CAN0 not tested, but should work fine.</span>
       
    73 <a name="l00052"></a>00052 <span class="comment"> */</span>
       
    74 <a name="l00053"></a><a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">00053</a> <span class="preprocessor">#define CANOPEN_LINE_NUMBER_USED CAN0</span>
       
    75 <a name="l00054"></a>00054 <span class="preprocessor"></span>
       
    76 <a name="l00055"></a>00055 <span class="comment">/* Stack of received messages </span>
       
    77 <a name="l00056"></a>00056 <span class="comment">MSG received on CAN0 module is stored in stackMsgRcv[0], etc</span>
       
    78 <a name="l00057"></a>00057 <span class="comment">*/</span>
       
    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#1858449b5bfa9aa019aa643f8453d1c8">stackMsgRcv</a>[<a class="code" href="candriver_8h.html#08b16baaf10a1b7fb8a3569a6c0f67ff">NB_LINE_CAN</a>][<a class="code" href="candriver_8h.html#604df069233e19d5960b444524a43042">MAX_STACK_MSG_RCV</a>];
       
    80 <a name="l00059"></a>00059 
       
    81 <a name="l00060"></a>00060 
       
    82 <a name="l00061"></a>00061 <span class="comment">/* Copy from the stack of the message to treat */</span>
       
    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#54c57753f0e749e7ca14315c745bc8d9">msgRcv</a>;
       
    84 <a name="l00063"></a>00063 
       
    85 <a name="l00064"></a>00064 
       
    86 <a name="l00065"></a>00065 <span class="comment">/* To move on the stack of messages </span>
       
    87 <a name="l00066"></a>00066 <span class="comment"> */</span>
       
    88 <a name="l00067"></a><a class="code" href="structt__pointerStack.html">00067</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
       
    89 <a name="l00068"></a><a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">00068</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> w ; <span class="comment">/* received */</span>
       
    90 <a name="l00069"></a><a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">00069</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> r ; <span class="comment">/* To transmit */</span>
       
    91 <a name="l00070"></a>00070 } <a class="code" href="structt__pointerStack.html">t_pointerStack</a>;
       
    92 <a name="l00071"></a>00071 
       
    93 <a name="l00072"></a>00072 
       
    94 <a name="l00073"></a>00073 <span class="comment">/* Pointer for write or read a message in/from the reception stack */</span>
       
    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#509b5bc79f44e93ccb86d970a3aab01c">ptrMsgRcv</a>[<a class="code" href="candriver_8h.html#08b16baaf10a1b7fb8a3569a6c0f67ff">NB_LINE_CAN</a>];
       
    96 <a name="l00075"></a>00075 
       
    97 <a name="l00076"></a>00076 <span class="comment">/* </span>
       
    98 <a name="l00077"></a>00077 <span class="comment">Parameters to define the  clock system for the CAN bus</span>
       
    99 <a name="l00078"></a>00078 <span class="comment">example : </span>
       
   100 <a name="l00079"></a>00079 <span class="comment">CAN_BUS_TIME clk = {</span>
       
   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>
       
   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>
       
   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>
       
   104 <a name="l00083"></a>00083 <span class="comment">      1,  // samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              </span>
       
   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>
       
   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>
       
   107 <a name="l00086"></a>00086 <span class="comment"></span>
       
   108 <a name="l00087"></a>00087 <span class="comment">      </span>
       
   109 <a name="l00088"></a>00088 <span class="comment">      With these values, </span>
       
   110 <a name="l00089"></a>00089 <span class="comment">      - The width of the bit time is 16 time quantum :</span>
       
   111 <a name="l00090"></a>00090 <span class="comment">          - 1 tq for the SYNC segment (could not be modified)</span>
       
   112 <a name="l00091"></a>00091 <span class="comment">          - 10 tq for the TIME 1 segment (tseg1 = 9)</span>
       
   113 <a name="l00092"></a>00092 <span class="comment">          - 5 tq for the TIME 2 segment (tseg2 = 4)</span>
       
   114 <a name="l00093"></a>00093 <span class="comment">      - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
       
   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>
       
   116 <a name="l00095"></a>00095 <span class="comment">        so the freq of the bit time is 1 MHz.</span>
       
   117 <a name="l00096"></a>00096 <span class="comment">      </span>
       
   118 <a name="l00097"></a>00097 <span class="comment">  };</span>
       
   119 <a name="l00098"></a>00098 <span class="comment">*/</span>
       
   120 <a name="l00099"></a><a class="code" href="structcanBusTime.html">00099</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
       
   121 <a name="l00100"></a><a class="code" href="structcanBusTime.html#04e7cf483b29918f0da5c562400e6071">00100</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  clksrc;     <span class="comment">/* use of internal clock  or clock bus        */</span>
       
   122 <a name="l00101"></a><a class="code" href="structcanBusTime.html#f2230f4eeb1d12dd051e7f6369cb1ebb">00101</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  brp;        <span class="comment">/* define the bus speed                       */</span>
       
   123 <a name="l00102"></a><a class="code" href="structcanBusTime.html#deeefef09ef47dba2df92b45e563368f">00102</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  sjw;        <span class="comment">/* Number of time quantum for synchro - 1     */</span>
       
   124 <a name="l00103"></a><a class="code" href="structcanBusTime.html#a14822cbe84c152c1c79901f0c4fd0f1">00103</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  samp;       <span class="comment">/* Number of sample per bit (1 or 3)          */</span>
       
   125 <a name="l00104"></a><a class="code" href="structcanBusTime.html#7bafebcf05024a19e463f29b1c09c390">00104</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  tseg2;      <span class="comment">/* Width of the time segment 2 (in tq) - 1    */</span>
       
   126 <a name="l00105"></a><a class="code" href="structcanBusTime.html#3532d6d7cd2b1f3980b82dfce78f0fe9">00105</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  tseg1;      <span class="comment">/* Width of the time segment 1 (in tq) - 1    */</span>
       
   127 <a name="l00106"></a>00106 } <a class="code" href="structcanBusTime.html">canBusTime</a>;
       
   128 <a name="l00107"></a>00107 
       
   129 <a name="l00108"></a>00108 <span class="comment">/* </span>
       
   130 <a name="l00109"></a>00109 <span class="comment">Parameters to init the filters for received messages</span>
       
   131 <a name="l00110"></a>00110 <span class="comment">*/</span>
       
   132 <a name="l00111"></a><a class="code" href="structcanBusFilterInit.html">00111</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
       
   133 <a name="l00112"></a><a class="code" href="structcanBusFilterInit.html#bd65e55b40839cc85917717124ba8ff7">00112</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  idam;        <span class="comment">/* Put 0x01 for 16 bits acceptance filter    */</span>
       
   134 <a name="l00113"></a><a class="code" href="structcanBusFilterInit.html#e73e4472088781055b2c634529a6c91e">00113</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar0;
       
   135 <a name="l00114"></a><a class="code" href="structcanBusFilterInit.html#73219612204df8b0eece12ebf4fbb491">00114</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr0;
       
   136 <a name="l00115"></a><a class="code" href="structcanBusFilterInit.html#c78d28e662944187916a14991d118dda">00115</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar1;
       
   137 <a name="l00116"></a><a class="code" href="structcanBusFilterInit.html#612d35c1dda338351f6da31935ff95fd">00116</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr1; 
       
   138 <a name="l00117"></a><a class="code" href="structcanBusFilterInit.html#a16d44afd060e1c3ebf5cf66b2e8f9c4">00117</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar2;
       
   139 <a name="l00118"></a><a class="code" href="structcanBusFilterInit.html#c5f7826dc1ec90e292f04ab1cb073a38">00118</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr2;
       
   140 <a name="l00119"></a><a class="code" href="structcanBusFilterInit.html#0fd991a6f82c304f53acf589d4057133">00119</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar3;
       
   141 <a name="l00120"></a><a class="code" href="structcanBusFilterInit.html#b4edcd131fa7b019f6dff0c1a5b68ce3">00120</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr3;
       
   142 <a name="l00121"></a><a class="code" href="structcanBusFilterInit.html#083024dc3a47331c1d8914d863fa6d87">00121</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar4;
       
   143 <a name="l00122"></a><a class="code" href="structcanBusFilterInit.html#a8615d16f68111163e5175543135b896">00122</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr4;
       
   144 <a name="l00123"></a><a class="code" href="structcanBusFilterInit.html#8498a6166aa348baa5d5cc32e07bffb9">00123</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar5;
       
   145 <a name="l00124"></a><a class="code" href="structcanBusFilterInit.html#5f0904c30b658b4a4ad59a8414df2e93">00124</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr5; 
       
   146 <a name="l00125"></a><a class="code" href="structcanBusFilterInit.html#2194ca3ae6d6613b4f9a0db939661f0b">00125</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar6;
       
   147 <a name="l00126"></a><a class="code" href="structcanBusFilterInit.html#590926f6af0adac2fdce41d43d77fc61">00126</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr6;
       
   148 <a name="l00127"></a><a class="code" href="structcanBusFilterInit.html#5c00e7405a498d9eb55816573f12c125">00127</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidar7;
       
   149 <a name="l00128"></a><a class="code" href="structcanBusFilterInit.html#cde13291ed4cd72f9818efeb50a254fd">00128</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  canidmr7;  
       
   150 <a name="l00129"></a>00129 } <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a>;
       
   151 <a name="l00130"></a>00130 
       
   152 <a name="l00131"></a>00131 <span class="comment">/*</span>
       
   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>
       
   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#28a919ea372601ea997ffd7665a31300">00154</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">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#85a64136e89c9106116e635487c8dbf8">00155</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">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#89208e27db0d71c7b4c34b396d8e4494">00156</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  cane;       <span class="comment">/* Enable MSCAN (yes=1) Do it !               */</span>
       
   178 <a name="l00157"></a><a class="code" href="structcanBusInit.html#15fa5be003dd5961e7926d75bd405058">00157</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  clksrc;     <span class="comment">/* clock source bus/oscillator (1/0)          */</span>
       
   179 <a name="l00158"></a><a class="code" href="structcanBusInit.html#b12f39cd4161fdc5ad130b4bb8e4a484">00158</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">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#9b6d43ba9be72e1f21e234d50a1676d6">00159</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">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#ae0d3c3a91c165a0d782ff40be2e8e29">00160</a>   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">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#fc9eb7ca2f89001dca552e3f956beb73">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#ea84b860ae3e0e636b78d1c83e916ea0">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#c731fd3e22e0f2c414b1e3f511c85423">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#acfd181d5b055d1403930442e28ac643">canAddIdToFilter</a> (
       
   208 <a name="l00187"></a>00187                        <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN,
       
   209 <a name="l00188"></a>00188                        <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nFilter,
       
   210 <a name="l00189"></a>00189                        <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#751a41c9747b96ab400b5599370cea83">canChangeFilter</a> (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#5a53a89d2e348d70331e6ebe269d155a">canEnable</a> (
       
   225 <a name="l00204"></a>00204                 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a> (
       
   238 <a name="l00217"></a>00217               <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#6ec3ce6d79012dd8a08fa5aeb6a0489f">canInitClock</a> (
       
   249 <a name="l00228"></a>00228                    <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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 -&gt; CANIDAR0</span>
       
   262 <a name="l00241"></a>00241 <span class="comment">                                 low   byte of ar -&gt; 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 -&gt; CANIDMR4</span>
       
   266 <a name="l00245"></a>00245 <span class="comment">                                 low   byte of ar -&gt; 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#5fb549697afb7918607aa113e01c543d">canInit1Filter</a> (
       
   269 <a name="l00248"></a>00248                      <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, 
       
   270 <a name="l00249"></a>00249                      <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nFilter,
       
   271 <a name="l00250"></a>00250                      <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> ar,
       
   272 <a name="l00251"></a>00251                      <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#b4502eef7616b25c74b1ac5a2245b085">canInitFilter</a> (
       
   283 <a name="l00262"></a>00262                     <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#0b98e4800c82d99981833aa4207f1eb9">canInitMode</a> (
       
   291 <a name="l00270"></a>00270                   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#00ffb46abacfdfa56ebc70e15164113e">canInitModeQ</a> (
       
   300 <a name="l00279"></a>00279                    <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#2f2d1ed55cfd9d7f85883f8d70d318ba">canMsgTransmit</a> (
       
   312 <a name="l00291"></a>00291                      <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#5ad8616a3276f7f40149b551f09aa6a1">canSetInterrupt</a> (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#c7773223579ec7e0fab5238df214da89">canSleepMode</a> (
       
   333 <a name="l00312"></a>00312                    <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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#a89f28005eea54f5b216eb72a18d45f3">canSleepModeQ</a> (
       
   343 <a name="l00322"></a>00322                     <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">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>
       
   350 <a name="l00329"></a>00329 <span class="comment">Beware! If some messages are to be sent,</span>
       
   351 <a name="l00330"></a>00330 <span class="comment">or if it is receiving, going into sleep mode</span>
       
   352 <a name="l00331"></a>00331 <span class="comment">may take time.</span>
       
   353 <a name="l00332"></a>00332 <span class="comment">Loop until sleep mode reached.</span>
       
   354 <a name="l00333"></a>00333 <span class="comment">return 0 if 0K, other if error</span>
       
   355 <a name="l00334"></a>00334 <span class="comment">*/</span>
       
   356 <a name="l00335"></a>00335 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#1ae1ad5d66ac87085baf5b9d0a4e62ca">canSleepWupMode</a> (
       
   357 <a name="l00336"></a>00336                       <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span>
       
   358 <a name="l00337"></a>00337                       );        
       
   359 <a name="l00338"></a>00338 
       
   360 <a name="l00339"></a>00339 <span class="comment">/*</span>
       
   361 <a name="l00340"></a>00340 <span class="comment">Test if one of the 5 mscan is in init mode.</span>
       
   362 <a name="l00341"></a>00341 <span class="comment">Return </span>
       
   363 <a name="l00342"></a>00342 <span class="comment">       0     -&gt; Not in init mode</span>
       
   364 <a name="l00343"></a>00343 <span class="comment">       other -&gt; In init mode</span>
       
   365 <a name="l00344"></a>00344 <span class="comment">*/</span>
       
   366 <a name="l00345"></a>00345 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a> (
       
   367 <a name="l00346"></a>00346                       <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span>
       
   368 <a name="l00347"></a>00347                       );   
       
   369 <a name="l00348"></a>00348 
       
   370 <a name="l00349"></a>00349 <span class="comment">/*</span>
       
   371 <a name="l00350"></a>00350 <span class="comment">Test if one of the 5 mscan is in sleep mode.</span>
       
   372 <a name="l00351"></a>00351 <span class="comment">Return </span>
       
   373 <a name="l00352"></a>00352 <span class="comment">       0     -&gt; Not in sleep mode</span>
       
   374 <a name="l00353"></a>00353 <span class="comment">       other -&gt; In sleep mode</span>
       
   375 <a name="l00354"></a>00354 <span class="comment">*/</span>
       
   376 <a name="l00355"></a>00355 <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#fa79f2ac95a8143c2fb087260df39820">canTestSleepMode</a> (
       
   377 <a name="l00356"></a>00356                        <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN <span class="comment">/* First address of MSCANx registers */</span>
       
   378 <a name="l00357"></a>00357                        );   
       
   379 <a name="l00358"></a>00358 
       
   380 <a name="l00359"></a>00359 
       
   381 <a name="l00360"></a>00360 
       
   382 <a name="l00361"></a>00361 <span class="preprocessor">#endif </span><span class="comment">/*__CANDRIVER__*/</span>
       
   383 <a name="l00362"></a>00362 
       
   384 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by&nbsp;
       
   385 <a href="http://www.doxygen.org/index.html">
       
   386 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
       
   387 </body>
       
   388 </html>