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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