00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -56,7 +56,7 @@
 00035 */
 00036 
 00037 /* Be free to change this value */
-00038 #define MAX_STACK_MSG_RCV 5
+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
@@ -64,35 +64,35 @@
 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
+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
+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];
+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;
+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 */
+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];
+00074 extern volatile t_pointerStack ptrMsgRcv[NB_LINE_CAN];
 00075 
 00076 /* 
 00077 Parameters to define the  clock system for the CAN bus
@@ -118,35 +118,35 @@
 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    */
+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;  
+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 /*
@@ -172,21 +172,21 @@
 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)    */
+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               */
+00162         clk;        /* Values for clock system init               */
 00163   canBusFilterInit
-00164   fi;               /* Values for filter acceptance msg init      */
+00164   fi;               /* Values for filter acceptance msg init      */
 00165   
 00166 } canBusInit;
 00167 
-00168 extern canBusInit bi;
+00168 extern canBusInit bi;
 00169 
 00170 
 00171 
@@ -204,16 +204,16 @@
 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 */
+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);
+00195 char canChangeFilter (UNS16 adrCAN, canBusFilterInit fi);
 00196 
 00197 
 00198 /*
@@ -221,8 +221,8 @@
 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 */
+00203 char canEnable (
+00204                 UNS16 adrCAN /* First address of MSCANx registers */
 00205                 );
 00206 
 00207 
@@ -234,8 +234,8 @@
 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  */
+00216 char canInit (
+00217               UNS16 adrCAN,   /* First address of MSCANx registers  */
 00218               canBusInit 
 00219               bi       /* All the parameters to init the bus */
 00220               );
@@ -245,8 +245,8 @@
 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 */
+00227 char canInitClock (
+00228                    UNS16 adrCAN, /* First address of MSCANx registers */
 00229                    canBusTime clk);
 00230 
 00231 /* 
@@ -265,11 +265,11 @@
 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
+00247 char canInit1Filter (
+00248                      UNS16 adrCAN, 
+00249                      UNS8 nFilter,
+00250                      UNS16 ar,
+00251                      UNS16 mr
 00252                      );
 00253 
 00254 /*
@@ -279,16 +279,16 @@
 00258        1 : Not in init mode. Unable to init MSCAN 
 00259 */
 00260 
-00261 char canInitFilter (
-00262                     UNS16 adrCAN, /* First address of MSCANx registers */
+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 */
+00269 char canInitMode (
+00270                   UNS16 adrCAN /* First address of MSCANx registers */
 00271                   );    
 00272 
 00273 /*
@@ -296,8 +296,8 @@
 00275 loop until init mode leaved.
 00276 */
 00277 
-00278 char canInitModeQ (
-00279                    UNS16 adrCAN /* First address of MSCANx registers */
+00278 char canInitModeQ (
+00279                    UNS16 adrCAN /* First address of MSCANx registers */
 00280                    );
 00281 
 00282 
@@ -308,15 +308,15 @@
 00287          other  error : no buffer available to make the transmission
 00288 */      
 00289 
-00290 char canMsgTransmit (
-00291                      UNS16 adrCAN,  /* First address of MSCANx registers */
+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);                 
+00298 char canSetInterrupt (UNS16 adrCAN);                 
 00299 
 00300 /*
 00301 Put one of the 5 mscan in sleep mode
@@ -329,8 +329,8 @@
 00308 Stay in this function until the sleep mode
 00309 is reached.
 00310 */
-00311 char canSleepMode (
-00312                    UNS16 adrCAN /* First address of MSCANx registers */
+00311 char canSleepMode (
+00312                    UNS16 adrCAN /* First address of MSCANx registers */
 00313                    );   
 00314 
 00315 /*
@@ -339,8 +339,8 @@
 00318 return 0 : OK
 00319 return 1 : error : in init mode
 00320 */
-00321 char canSleepModeQ (
-00322                     UNS16 adrCAN /* First address of MSCANx registers */
+00321 char canSleepModeQ (
+00322                     UNS16 adrCAN /* First address of MSCANx registers */
 00323                     );  
 00324 
 00325 /*
@@ -353,8 +353,8 @@
 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 */
+00335 char canSleepWupMode (
+00336                       UNS16 adrCAN /* First address of MSCANx registers */
 00337                       );        
 00338 
 00339 /*
@@ -363,8 +363,8 @@
 00342        0     -> Not in init mode
 00343        other -> In init mode
 00344 */
-00345 char canTestInitMode (
-00346                       UNS16 adrCAN /* First address of MSCANx registers */
+00345 char canTestInitMode (
+00346                       UNS16 adrCAN /* First address of MSCANx registers */
 00347                       );   
 00348 
 00349 /*
@@ -373,15 +373,15 @@
 00352        0     -> Not in sleep mode
 00353        other -> In sleep mode
 00354 */
-00355 char canTestSleepMode (
-00356                        UNS16 adrCAN /* First address of MSCANx registers */
+00355 char canTestSleepMode (
+00356                        UNS16 adrCAN /* First address of MSCANx registers */
 00357                        );   
 00358 
 00359 
 00360 
 00361 #endif /*__CANDRIVER__*/
 00362 
-
candriver.h
