diff -r 2cb34a4ac65a -r 6b5a4c21e061 doc/doxygen/html/candriver_8h-source.html --- a/doc/doxygen/html/candriver_8h-source.html Tue Jun 05 17:34:33 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,386 +0,0 @@ - - -CanFestival: /home/epimerde/documents/tc11/CanFestival-3/include/hcs12/candriver.h Source File - - - - -
-
-
-
-

/home/epimerde/documents/tc11/CanFestival-3/include/hcs12/candriver.h

Go to the documentation of this file.
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 
-

Generated on Mon Jun 4 16:29:06 2007 for CanFestival by  - -doxygen 1.5.1
- -