can.h

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//*****************************************************************************
//
// can.h - Defines and Macros for the CAN controller.
//
// Copyright (c) 2006-2017 Texas Instruments Incorporated.  All rights reserved.
// Software License Agreement
//
//   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 __DRIVERLIB_CAN_H__
#define __DRIVERLIB_CAN_H__

#include <stdint.h>
#include <stdbool.h>

//*****************************************************************************
//
//
//*****************************************************************************

//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif

//*****************************************************************************
//
// Miscellaneous defines for Message ID Types
//
//*****************************************************************************

//*****************************************************************************
//
// These are the flags used by the tCANMsgObject.ui32Flags value when calling
// the CANMessageSet() and CANMessageGet() functions.
//
//*****************************************************************************

//
//
#define MSG_OBJ_TX_INT_ENABLE   0x00000001

//
//
#define MSG_OBJ_RX_INT_ENABLE   0x00000002

//
//
#define MSG_OBJ_EXTENDED_ID     0x00000004

//
//
#define MSG_OBJ_USE_ID_FILTER   0x00000008

//
//
#define MSG_OBJ_NEW_DATA        0x00000080

//
//
#define MSG_OBJ_DATA_LOST       0x00000100

//
//
#define MSG_OBJ_USE_DIR_FILTER  (0x00000010 | MSG_OBJ_USE_ID_FILTER)

//
//
#define MSG_OBJ_USE_EXT_FILTER  (0x00000020 | MSG_OBJ_USE_ID_FILTER)

//
//
#define MSG_OBJ_REMOTE_FRAME    0x00000040

//
//
#define MSG_OBJ_FIFO            0x00000200

//
//
#define MSG_OBJ_NO_FLAGS        0x00000000

//*****************************************************************************
//
//
//*****************************************************************************
#define MSG_OBJ_STATUS_MASK     (MSG_OBJ_NEW_DATA | MSG_OBJ_DATA_LOST)

//*****************************************************************************
//
//
//*****************************************************************************
typedef struct
{
    //
    //
    uint32_t ui32MsgID;

    //
    //
    uint32_t ui32MsgIDMask;

    //
    //
    uint32_t ui32Flags;

    //
    //
    uint32_t ui32MsgLen;

    //
    //
    uint8_t *pui8MsgData;
}
tCANMsgObject;

//*****************************************************************************
//
//
//*****************************************************************************
typedef struct
{
    //
    //
    uint32_t ui32SyncPropPhase1Seg;

    //
    //
    uint32_t ui32Phase2Seg;

    //
    //
    uint32_t ui32SJW;

    //
    //
    uint32_t ui32QuantumPrescaler;
}
tCANBitClkParms;

//*****************************************************************************
//
//
//*****************************************************************************
typedef enum
{
    //
    //
    CAN_INT_STS_CAUSE,

    //
    //
    CAN_INT_STS_OBJECT
}
tCANIntStsReg;

//*****************************************************************************
//
//
//*****************************************************************************
typedef enum
{
    //
    //
    CAN_STS_CONTROL,

    //
    //
    CAN_STS_TXREQUEST,

    //
    //
    CAN_STS_NEWDAT,

    //
    //
    CAN_STS_MSGVAL
}
tCANStsReg;

//*****************************************************************************
//
// These definitions are used to specify interrupt sources to CANIntEnable()
// and CANIntDisable().
//
//*****************************************************************************
//
//
#define CAN_INT_ERROR           0x00000008

//
//
#define CAN_INT_STATUS          0x00000004

//
//
#define CAN_INT_MASTER          0x00000002

//*****************************************************************************
//
//
//*****************************************************************************
typedef enum
{
    //
    //
    MSG_OBJ_TYPE_TX,

    //
    //
    MSG_OBJ_TYPE_TX_REMOTE,

    //
    //
    MSG_OBJ_TYPE_RX,

    //
    //
    MSG_OBJ_TYPE_RX_REMOTE,

    //
    //
    MSG_OBJ_TYPE_RXTX_REMOTE
}
tMsgObjType;

//*****************************************************************************
//
// The following enumeration contains all error or status indicators that can
// be returned when calling the CANStatusGet() function.
//
//*****************************************************************************
//
//
#define CAN_STATUS_BUS_OFF      0x00000080

//
//
#define CAN_STATUS_EWARN        0x00000040

//
//
#define CAN_STATUS_EPASS        0x00000020

//
//
#define CAN_STATUS_RXOK         0x00000010

//
//
#define CAN_STATUS_TXOK         0x00000008

//
//
#define CAN_STATUS_LEC_MSK      0x00000007

//
//
#define CAN_STATUS_LEC_NONE     0x00000000

//
//
#define CAN_STATUS_LEC_STUFF    0x00000001

//
//
#define CAN_STATUS_LEC_FORM     0x00000002

//
//
#define CAN_STATUS_LEC_ACK      0x00000003

//
//
#define CAN_STATUS_LEC_BIT1     0x00000004

//
//
#define CAN_STATUS_LEC_BIT0     0x00000005

//
//
#define CAN_STATUS_LEC_CRC      0x00000006

//
//
#define CAN_STATUS_LEC_MASK     0x00000007

//*****************************************************************************
//
// Close the Doxygen group.
//
//*****************************************************************************

//*****************************************************************************
//
// API Function prototypes
//
//*****************************************************************************
extern void CANBitTimingGet(uint32_t ui32Base, tCANBitClkParms *psClkParms);
extern void CANBitTimingSet(uint32_t ui32Base, tCANBitClkParms *psClkParms);
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, void (*pfnHandler)(void));
extern uint32_t CANIntStatus(uint32_t ui32Base, tCANIntStsReg eIntStsReg);
extern void CANIntUnregister(uint32_t ui32Base);
extern void CANMessageClear(uint32_t ui32Base, uint32_t ui32ObjID);
extern void CANMessageGet(uint32_t ui32Base, uint32_t ui32ObjID,
                          tCANMsgObject *psMsgObject, bool bClrPendingInt);
extern void CANMessageSet(uint32_t ui32Base, uint32_t ui32ObjID,
                          tCANMsgObject *psMsgObject, 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);

//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif

#endif // __DRIVERLIB_CAN_H__