//########################################################################### // // FILE: can.h // // TITLE: Defines and Macros for the CAN controller. // //########################################################################### // $TI Release: F2837xD Support Library v3.05.00.00 $ // $Release Date: Tue Jun 26 03:15:23 CDT 2018 $ // $Copyright: // Copyright (C) 2013-2018 Texas Instruments Incorporated - http://www.ti.com/ // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // // Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the // distribution. // // Neither the name of Texas Instruments Incorporated nor the names of // its contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // $ //########################################################################### #ifndef __CAN_H__ #define __CAN_H__ //***************************************************************************** //! \addtogroup can_api //! @{ //***************************************************************************** //***************************************************************************** // If building with a C++ compiler, make all of the definitions in this header // have a C binding. //***************************************************************************** #ifdef __cplusplus extern "C" { #endif #define CAN_INDEX_TO_BASE(idx) ((idx == 0) ? CAN_A_BASE : CAN_B_BASE) #define CAN_INDEX_TO_MSG_RAM_BASE(idx) ((idx == 0) ? CAN_A_MSG_RAM : CAN_B_MSG_RAM) #define CAN_REG_WORD_MASK (0xFFFFU) //**************************************************************************** // These are the Defines to select CAN pin muxing when calling the functions // ConfigCanPinMuxing(), ConfigGpioCanA() & ConfigGpioCanB() in F2837x_Can.c //**************************************************************************** #define CAN_A_GPIO4_GPIO5 1 //switch case 1 #define CAN_A_GPIO19_GPIO18 2 //switch case 2 #define CAN_A_GPIO31_GPIO30 3 //switch case 3 #define CAN_A_GPIO37_GPIO36 4 //switch case 4 #define CAN_A_GPIO63_GPIO62 5 //switch case 5 #define CAN_A_GPIO71_GPIO70 6 //switch case 6 #define CAN_B_GPIO6_GPIO7 1 //switch case 1 #define CAN_B_GPIO8_GPIO10 2 //switch case 2 #define CAN_B_GPIO12_GPIO13 3 //switch case 3 #define CAN_B_GPIO16_GPIO17 4 //switch case 4 #define CAN_B_GPIO20_GPIO21 5 //switch case 5 #define CAN_B_GPIO38_GPIO39 6 //switch case 6 #define CAN_B_GPIO72_GPIO73 7 //switch case 7 //***************************************************************************** // Miscellaneous defines for Message ID Types //***************************************************************************** //***************************************************************************** // These are the flags used by the tCANMsgObject.ui32Flags value when calling the // CANMessageSet() and CANMessageGet() functions. //***************************************************************************** //! This definition is used with the tCANMsgObject ui32Flags value and indicates //! that transmit interrupts should be enabled, or are enabled. #define MSG_OBJ_TX_INT_ENABLE 0x00000001 //! This indicates that receive interrupts should be enabled, or are //! enabled. #define MSG_OBJ_RX_INT_ENABLE 0x00000002 //! This indicates that a message object will use or is using an extended //! identifier. #define MSG_OBJ_EXTENDED_ID 0x00000004 //! This indicates that a message object will use or is using filtering //! based on the object's message identifier. #define MSG_OBJ_USE_ID_FILTER 0x00000008 //! This indicates that new data was available in the message object. #define MSG_OBJ_NEW_DATA 0x00000080 //! This indicates that data was lost since this message object was last //! read. #define MSG_OBJ_DATA_LOST 0x00000100 //! This indicates that a message object will use or is using filtering //! based on the direction of the transfer. If the direction filtering is //! used, then ID filtering must also be enabled. #define MSG_OBJ_USE_DIR_FILTER (0x00000010 | MSG_OBJ_USE_ID_FILTER) //! This indicates that a message object will use or is using message //! identifier filtering based on the extended identifier. If the extended //! identifier filtering is used, then ID filtering must also be enabled. #define MSG_OBJ_USE_EXT_FILTER (0x00000020 | MSG_OBJ_USE_ID_FILTER) //! This indicates that a message object is a remote frame. #define MSG_OBJ_REMOTE_FRAME 0x00000040 //! This indicates that this message object is part of a FIFO structure and //! not the final message object in a FIFO. #define MSG_OBJ_FIFO 0x00000200 //! This indicates that a message object has no flags set. #define MSG_OBJ_NO_FLAGS 0x00000000 //***************************************************************************** //! This define is used with the flag values to allow checking only status //! flags and not configuration flags. //***************************************************************************** #define MSG_OBJ_STATUS_MASK (MSG_OBJ_NEW_DATA | MSG_OBJ_DATA_LOST) //***************************************************************************** //! The structure used for encapsulating all the items associated with a CAN //! message object in the CAN controller. //***************************************************************************** typedef struct { //! The CAN message identifier used for 11 or 29 bit identifiers. uint32_t ui32MsgID; //! The message identifier mask used when identifier filtering is enabled. uint32_t ui32MsgIDMask; //! This value holds various status flags and settings specified by //! tCANObjFlags. uint32_t ui32Flags; //! This value is the number of bytes of data in the message object. uint32_t ui32MsgLen; //! This is a pointer to the message object's data. unsigned char *pucMsgData; } tCANMsgObject; //***************************************************************************** //! This structure is used for encapsulating the values associated with setting //! up the bit timing for a CAN controller. The structure is used when calling //! the CANGetBitTiming and CANSetBitTiming functions. //***************************************************************************** typedef struct { //! This value holds the sum of the Synchronization, Propagation, and Phase //! Buffer 1 segments, measured in time quanta. The valid values for this //! setting range from 2 to 16. uint16_t uSyncPropPhase1Seg; //! This value holds the Phase Buffer 2 segment in time quanta. The valid //! values for this setting range from 1 to 8. uint16_t uPhase2Seg; //! This value holds the Resynchronization Jump Width in time quanta. The //! valid values for this setting range from 1 to 4. uint16_t uSJW; //! This value holds the CAN_CLK divider used to determine time quanta. //! The valid values for this setting range from 1 to 1023. uint16_t uQuantumPrescaler; } tCANBitClkParms; //***************************************************************************** //! This data type is used to identify the interrupt status register. This is //! used when calling the CANIntStatus() function. //***************************************************************************** typedef enum { //! Read the CAN interrupt status information. CAN_INT_STS_CAUSE, //! Read a message object's interrupt status. CAN_INT_STS_OBJECT } tCANIntStsReg; //***************************************************************************** //! This data type is used to identify which of several status registers to //! read when calling the CANStatusGet() function. //***************************************************************************** typedef enum { //! Read the full CAN controller status. CAN_STS_CONTROL, //! Read the full 32-bit mask of message objects with a transmit request //! set. CAN_STS_TXREQUEST, //! Read the full 32-bit mask of message objects with new data available. CAN_STS_NEWDAT, //! Read the full 32-bit mask of message objects that are enabled. CAN_STS_MSGVAL } tCANStsReg; //***************************************************************************** // These definitions are used to specify interrupt sources to CANIntEnable() // and CANIntDisable(). //***************************************************************************** //! This flag is used to allow a CAN controller to generate error //! interrupts. #define CAN_INT_ERROR 0x00000008 //! This flag is used to allow a CAN controller to generate status //! interrupts. #define CAN_INT_STATUS 0x00000004 //! This flag is used to allow a CAN controller to generate interrupts //! on interrupt line 0 #define CAN_INT_IE0 0x00000002 //! This flag is used to allow a CAN controller to generate interrupts //! on interrupt line 1 #define CAN_INT_IE1 0x00020000 // Defined to maintain compatibility with Stellaris Examples #define CAN_INT_MASTER CAN_INT_IE0 //***************************************************************************** // These definitions are used to specify the clock source to // CANClkSourceSelect() //***************************************************************************** //! This flag is used to clock the CAN controller Selected CPU SYSCLKOUT //! (CPU1.Sysclk or CPU2.Sysclk). #define CAN_CLK_CPU_SYSCLKOUT 0 // PERx.SYSCLK (default on reset) //! This flag is used to clock the CAN controller with the X1/X2 oscillator //! clock. #define CAN_CLK_EXT_OSC 1 // External Oscillator (XTAL) //! This flag is used to clock the CAN controller with the clock from //! AUXCLKIN (from GPIO) #define CAN_CLK_AUXCLKIN 2 // AUXCLKIN (from GPIO) //***************************************************************************** //! This definition is used to determine the type of message object that will //! be set up via a call to the CANMessageSet() API. //***************************************************************************** typedef enum { //! Transmit message object. MSG_OBJ_TYPE_TX, //! Transmit remote request message object MSG_OBJ_TYPE_TX_REMOTE, //! Receive message object. MSG_OBJ_TYPE_RX, //! Receive remote request message object. MSG_OBJ_TYPE_RX_REMOTE, //! Remote frame receive remote, with auto-transmit message object. MSG_OBJ_TYPE_RXTX_REMOTE } tMsgObjType; //***************************************************************************** // The following enumeration contains all error or status indicators that can // be returned when calling the CANStatusGet() function. //***************************************************************************** //! CAN controller is in local power down mode. #define CAN_STATUS_PDA 0x00000400 //! CAN controller has initiated a system wakeup. #define CAN_STATUS_WAKE_UP 0x00000200 //! CAN controller has detected a parity error. #define CAN_STATUS_PERR 0x00000100 //! CAN controller has entered a Bus Off state. #define CAN_STATUS_BUS_OFF 0x00000080 //! CAN controller error level has reached warning level. #define CAN_STATUS_EWARN 0x00000040 //! CAN controller error level has reached error passive level. #define CAN_STATUS_EPASS 0x00000020 //! A message was received successfully since the last read of this status. #define CAN_STATUS_RXOK 0x00000010 //! A message was transmitted successfully since the last read of this //! status. #define CAN_STATUS_TXOK 0x00000008 //! This is the mask for the last error code field. #define CAN_STATUS_LEC_MSK 0x00000007 //! There was no error. #define CAN_STATUS_LEC_NONE 0x00000000 //! A bit stuffing error has occurred. #define CAN_STATUS_LEC_STUFF 0x00000001 //! A formatting error has occurred. #define CAN_STATUS_LEC_FORM 0x00000002 //! An acknowledge error has occurred. #define CAN_STATUS_LEC_ACK 0x00000003 //! The bus remained a bit level of 1 for longer than is allowed. #define CAN_STATUS_LEC_BIT1 0x00000004 //! The bus remained a bit level of 0 for longer than is allowed. #define CAN_STATUS_LEC_BIT0 0x00000005 //! A CRC error has occurred. #define CAN_STATUS_LEC_CRC 0x00000006 //***************************************************************************** // The following macros are added for the new Global Interrupt EN/FLG/CLR // register //***************************************************************************** //CANINT0 global interrupt bit #define CAN_GLOBAL_INT_CANINT0 0x00000001 //CANINT1 global interrupt bit #define CAN_GLOBAL_INT_CANINT1 0x00000002 //***************************************************************************** // The following macros are missing in hw_can.h because of scripting // but driverlib can.c needs them //***************************************************************************** #define CAN_INT_INT0ID_STATUS 0x8000 #define CAN_IF1ARB_STD_ID_S 18 #define CAN_IF1ARB_STD_ID_M 0x1FFC0000 // Standard Message Identifier #define CAN_IF2ARB_STD_ID_S 18 #define CAN_IF2ARB_STD_ID_M 0x1FFC0000 // Standard Message Identifier //***************************************************************************** // API Function prototypes //***************************************************************************** extern void CANClkSourceSelect(uint32_t ui32Base, uint16_t ucSource); extern void CANBitTimingGet(uint32_t ui32Base, tCANBitClkParms *pClkParms); extern void CANBitTimingSet(uint32_t ui32Base, tCANBitClkParms *pClkParms); extern uint32_t CANBitRateSet(uint32_t ui32Base, uint32_t ui32SourceClock, uint32_t ui32BitRate); extern void CANDisable(uint32_t ui32Base); extern void CANEnable(uint32_t ui32Base); extern bool CANErrCntrGet(uint32_t ui32Base, uint32_t *pui32RxCount, uint32_t *pui32TxCount); extern void CANInit(uint32_t ui32Base); extern void CANIntClear(uint32_t ui32Base, uint32_t ui32IntClr); extern void CANIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags); extern void CANIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags); extern void CANIntRegister(uint32_t ui32Base, unsigned char ucIntNumber, void (*pfnHandler)(void)); extern uint32_t CANIntStatus(uint32_t ui32Base, tCANIntStsReg eIntStsReg); extern void CANIntUnregister(uint32_t ui32Base, unsigned char ucIntNumber); extern void CANMessageClear(uint32_t ui32Base, uint32_t ui32ObjID); extern void CANMessageGet(uint32_t ui32Base, uint32_t ui32ObjID, tCANMsgObject *pMsgObject, bool bClrPendingInt); extern void CANMessageSet(uint32_t ui32Base, uint32_t ui32ObjID, tCANMsgObject *pMsgObject, tMsgObjType eMsgType); extern bool CANRetryGet(uint32_t ui32Base); extern void CANRetrySet(uint32_t ui32Base, bool bAutoRetry); extern uint32_t CANStatusGet(uint32_t ui32Base, tCANStsReg eStatusReg); extern void CANGlobalIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags); extern void CANGlobalIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags); extern void CANGlobalIntClear(uint32_t ui32Base, uint32_t ui32IntFlags); extern bool CANGlobalIntstatusGet(uint32_t ui32Base, uint32_t ui32IntFlags); //***************************************************************************** // Mark the end of the C bindings section for C++ compilers. //***************************************************************************** #ifdef __cplusplus } #endif //***************************************************************************** // Close the Doxygen group. //! @} //***************************************************************************** #endif // __CAN_H__