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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 

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