00001 /* -00002 This file is part of CanFestival, a library implementing CanOpen Stack. -00003 -00004 Copyright (C): Edouard TISSERANT and Francis DUPIN -00005 -00006 See COPYING file for copyrights details. -00007 -00008 This library is free software; you can redistribute it and/or -00009 modify it under the terms of the GNU Lesser General Public -00010 License as published by the Free Software Foundation; either -00011 version 2.1 of the License, or (at your option) any later version. -00012 -00013 This library is distributed in the hope that it will be useful, -00014 but WITHOUT ANY WARRANTY; without even the implied warranty of -00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -00016 Lesser General Public License for more details. -00017 -00018 You should have received a copy of the GNU Lesser General Public -00019 License along with this library; if not, write to the Free Software -00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -00021 */ -00022 -00023 #ifndef __CANDRIVER__ -00024 #define __CANDRIVER__ -00025 -00026 //#include DEBUG_CAN -00027 -00028 #include <can.h> -00029 #include <objdictdef.h> -00030 -00031 -00032 /* -00033 The CAN message received are stored in a fifo stack -00034 We consider one stack for all the 5 can devices. It is a choice ! -00035 */ -00036 -00037 /* Be free to change this value */ -00038 #define MAX_STACK_MSG_RCV 5 -00039 -00040 /* Number of incomings and outcomings CAN Line. The layer CanOpen must be -00041 used only for ONE line CAN. But you may used one or more CAN drivers, without -00042 a CanOpen layer. -00043 Only 2 lines are implemented. If more lines are needed, copy void __attribute__((interrupt)) can0HdlRcv (void) to void __attribute__((interrupt)) canXHdlRcv (void) and make -00044 changes : [0] to [x], CAN0 to CANX, etc -00045 */ -00046 #define NB_LINE_CAN 1 -00047 -00048 /* Whose hardware HCS12 CAN block is used for CanOpen ? Chose between CAN0, ..., CAN4 -00049 If you use CANOPEN_LINE_NUMBER_USED = CANI, the value of NB_LINE_CAN must be -00050 more or equal to I + 1 -00051 Value other than CAN0 not tested, but should work fine. -00052 */ -00053 #define CANOPEN_LINE_NUMBER_USED CAN0 -00054 -00055 /* Stack of received messages -00056 MSG received on CAN0 module is stored in stackMsgRcv[0], etc -00057 */ -00058 extern volatile Message stackMsgRcv[NB_LINE_CAN][MAX_STACK_MSG_RCV]; -00059 -00060 -00061 /* Copy from the stack of the message to treat */ -00062 extern Message msgRcv; -00063 -00064 -00065 /* To move on the stack of messages -00066 */ -00067 typedef struct { -00068 UNS8 w ; /* received */ -00069 UNS8 r ; /* To transmit */ -00070 } t_pointerStack; -00071 -00072 -00073 /* Pointer for write or read a message in/from the reception stack */ -00074 extern volatile t_pointerStack ptrMsgRcv[NB_LINE_CAN]; -00075 -00076 /* -00077 Parameters to define the clock system for the CAN bus -00078 example : -00079 CAN_BUS_TIME clk = { -00080 1, // clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board -00081 0, // brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) -00082 1, // sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum -00083 1, // samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit -00084 4, // tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq -00085 9, // tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq -00086 -00087 -00088 With these values, -00089 - The width of the bit time is 16 time quantum : -00090 - 1 tq for the SYNC segment (could not be modified) -00091 - 10 tq for the TIME 1 segment (tseg1 = 9) -00092 - 5 tq for the TIME 2 segment (tseg2 = 4) -00093 - Because the bus clock of the MSCAN is 16 MHZ, and the -00094 freq of the time quantum is 16 MHZ (brp = 0), and there are 16 tq in the bit time, -00095 so the freq of the bit time is 1 MHz. -00096 -00097 }; -00098 */ -00099 typedef struct { -00100 UNS8 clksrc; /* use of internal clock or clock bus */ -00101 UNS8 brp; /* define the bus speed */ -00102 UNS8 sjw; /* Number of time quantum for synchro - 1 */ -00103 UNS8 samp; /* Number of sample per bit (1 or 3) */ -00104 UNS8 tseg2; /* Width of the time segment 2 (in tq) - 1 */ -00105 UNS8 tseg1; /* Width of the time segment 1 (in tq) - 1 */ -00106 } canBusTime; -00107 -00108 /* -00109 Parameters to init the filters for received messages -00110 */ -00111 typedef struct { -00112 UNS8 idam; /* Put 0x01 for 16 bits acceptance filter */ -00113 UNS8 canidar0; -00114 UNS8 canidmr0; -00115 UNS8 canidar1; -00116 UNS8 canidmr1; -00117 UNS8 canidar2; -00118 UNS8 canidmr2; -00119 UNS8 canidar3; -00120 UNS8 canidmr3; -00121 UNS8 canidar4; -00122 UNS8 canidmr4; -00123 UNS8 canidar5; -00124 UNS8 canidmr5; -00125 UNS8 canidar6; -00126 UNS8 canidmr6; -00127 UNS8 canidar7; -00128 UNS8 canidmr7; -00129 } canBusFilterInit; -00130 -00131 /* -00132 Parameters to init MSCAN -00133 Example -00134 CAN_BUS_INIT bi = { -00135 0, no low power -00136 0, no time stamp -00137 1, enable MSCAN -00138 0, clock source : oscillator -00139 0, no loop back -00140 0, no listen only -00141 0, no low pass filter for wk up -00142 { -00143 1, Use the oscillator clock -00144 0, Quartz oscillator : freq time quantum = freq oscillator clock / (0 + 1) -00145 1, Sync on (1 + 1) time quantum -00146 1, 1 sample per bit -00147 4, time segment 2 width : (4 + 1) tq -00148 9, time segment 1 width : (9 + 1) tq -00149 } -00150 }; -00151 */ -00152 -00153 typedef struct { -00154 UNS8 cswai; /* Low power/normal in wait mode (1/0) */ -00155 UNS8 time; /* Timer for time-stamp enable/disable (1/0) */ -00156 UNS8 cane; /* Enable MSCAN (yes=1) Do it ! */ -00157 UNS8 clksrc; /* clock source bus/oscillator (1/0) */ -00158 UNS8 loopb; /* loop back mode for test (yes=1/no=0) */ -00159 UNS8 listen; /* MSCAN is listen only (yes=1/no=0 ie normal)*/ -00160 UNS8 wupm; /* low pas filter for wake up (yes=1/no=0) */ -00161 canBusTime -00162 clk; /* Values for clock system init */ -00163 canBusFilterInit -00164 fi; /* Values for filter acceptance msg init */ -00165 -00166 } canBusInit; -00167 -00168 extern canBusInit bi; -00169 -00170 -00171 -00172 /* -00173 For the received messsage, add a Identificator to -00174 the list of ID to accept. -00175 You can use several times this function to accept several messages. -00176 It configures registers on 16 bits. -00177 Automatically, it configure the filter to -00178 - not accepting the msg on 29 bits (ide=1 refused) -00179 - not filtering on rtr state (rtr = 1 and rtr = 0 are accepted) -00180 Algo : -00181 if CANIDARx = 0 then CANIDARx = id . else do nothing -00182 CANIDMRx = CANIDMRx OR (CANIDARx XOR id ) -00183 nFilter : 0 to 3 -00184 Must be in init mode before. -00185 */ -00186 char canAddIdToFilter ( -00187 UNS16 adrCAN, -00188 UNS8 nFilter, -00189 UNS16 id /* 11 bits, the 5 msb not used */ -00190 ); -00191 -00192 /* -00193 Use this function to change the CAN message acceptance filters and masks. -00194 */ -00195 char canChangeFilter (UNS16 adrCAN, canBusFilterInit fi); -00196 -00197 -00198 /* -00199 Enable one of the 5 MSCAN. -00200 Must be done only one time after a reset of the CPU. -00201 To do before any CAN initialisation -00202 */ -00203 char canEnable ( -00204 UNS16 adrCAN /* First address of MSCANx registers */ -00205 ); -00206 -00207 -00208 /* -00209 Initialize one of the 5 mscan -00210 can be done multiple times in your code -00211 Return 0 : OK -00212 When it return from the function, -00213 mscan is on sleep mode with wake up disabled. -00214 is not on init mode -00215 */ -00216 char canInit ( -00217 UNS16 adrCAN, /* First address of MSCANx registers */ -00218 canBusInit -00219 bi /* All the parameters to init the bus */ -00220 ); -00221 /* -00222 Initialize the parameters of the system clock for the MSCAN -00223 You must put the MSCAN in sleep mode before with canSleepMode() -00224 Return 0 : OK -00225 1 : Not in sleep mode. Unable to init MSCAN -00226 */ -00227 char canInitClock ( -00228 UNS16 adrCAN, /* First address of MSCANx registers */ -00229 canBusTime clk); -00230 -00231 /* -00232 Initialize one filter for acceptance of received msg. -00233 Filters MUST be configured on 16 bits -00234 (See doc Motorola mscan bloc guide fig 4.3) -00235 Must be in init mode before. -00236 adrCAN : adress of the first register of the mscan module -00237 nFilter : the filter : 0 to 3. -00238 ar : Value to write in acceptance register -00239 Beware ! hight byte and low byte inverted. -00240 for example if nFilter = 0, hight byte of ar -> CANIDAR0 -00241 low byte of ar -> CANIDAR1 -00242 mr : Value to write in mask register -00243 Beware ! hight byte and low byte inverted. -00244 for example if nFilter = 2, hight byte of ar -> CANIDMR4 -00245 low byte of ar -> CANIDMR5 -00246 */ -00247 char canInit1Filter ( -00248 UNS16 adrCAN, -00249 UNS8 nFilter, -00250 UNS16 ar, -00251 UNS16 mr -00252 ); -00253 -00254 /* -00255 Initialise the parameters for filtering the messages received. -00256 You must put the MSCAN in init mode before with canInitMode() -00257 Return 0 : OK -00258 1 : Not in init mode. Unable to init MSCAN -00259 */ -00260 -00261 char canInitFilter ( -00262 UNS16 adrCAN, /* First address of MSCANx registers */ -00263 canBusFilterInit fi); -00264 /* -00265 Put one of the 5 mscan in Init mode -00266 Loop until init mode is reached. -00267 */ -00268 -00269 char canInitMode ( -00270 UNS16 adrCAN /* First address of MSCANx registers */ -00271 ); -00272 -00273 /* -00274 Leave the Init mode -00275 loop until init mode leaved. -00276 */ -00277 -00278 char canInitModeQ ( -00279 UNS16 adrCAN /* First address of MSCANx registers */ -00280 ); -00281 -00282 -00283 -00284 /* -00285 Transmit a msg on CAN "adrCan" -00286 Return : 0 No error -00287 other error : no buffer available to make the transmission -00288 */ -00289 -00290 char canMsgTransmit ( -00291 UNS16 adrCAN, /* First address of MSCANx registers */ -00292 Message msg /* Message to transmit */ -00293 ); -00294 -00295 /* -00296 Set the interruptions. Must be call just after having left the init mode. -00297 */ -00298 char canSetInterrupt (UNS16 adrCAN); -00299 -00300 /* -00301 Put one of the 5 mscan in sleep mode -00302 Beware! If some messages are to be sent, -00303 or if it is receiving, going into sleep mode -00304 may take time. -00305 Wake up is disabled : stay in sleep mode even if -00306 bus traffic detected. -00307 return 0 if 0K, other if error : mscan is on init mode. -00308 Stay in this function until the sleep mode -00309 is reached. -00310 */ -00311 char canSleepMode ( -00312 UNS16 adrCAN /* First address of MSCANx registers */ -00313 ); -00314 -00315 /* -00316 Leave the sleep mode -00317 loop until sleep mode leaved. -00318 return 0 : OK -00319 return 1 : error : in init mode -00320 */ -00321 char canSleepModeQ ( -00322 UNS16 adrCAN /* First address of MSCANx registers */ -00323 ); -00324 -00325 /* -00326 Put one of the 5 mscan in sleep mode -00327 MSCAN must not be in init mode. -00328 wake up is enabled : wake up if traffic on CAN is detected -00329 Beware! If some messages are to be sent, -00330 or if it is receiving, going into sleep mode -00331 may take time. -00332 Loop until sleep mode reached. -00333 return 0 if 0K, other if error -00334 */ -00335 char canSleepWupMode ( -00336 UNS16 adrCAN /* First address of MSCANx registers */ -00337 ); -00338 -00339 /* -00340 Test if one of the 5 mscan is in init mode. -00341 Return -00342 0 -> Not in init mode -00343 other -> In init mode -00344 */ -00345 char canTestInitMode ( -00346 UNS16 adrCAN /* First address of MSCANx registers */ -00347 ); -00348 -00349 /* -00350 Test if one of the 5 mscan is in sleep mode. -00351 Return -00352 0 -> Not in sleep mode -00353 other -> In sleep mode -00354 */ -00355 char canTestSleepMode ( -00356 UNS16 adrCAN /* First address of MSCANx registers */ -00357 ); -00358 -00359 -00360 -00361 #endif /*__CANDRIVER__*/ -00362 -
1.5.1
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