can_drv.h

Avr单片机 At90can32 CAN 总线通信原代码 c语言

//******************************************************************************
//! @file $RCSfile: can_drv.h,v $
//!
//! Copyright (c) 2006 Atmel.
//!
//! Use of this program is subject to Atmel's End User License Agreement.
//! Please read file license.txt for copyright notice.
//!
//! @brief This file contains the prototypes and the macros of the
//!        low level functions (drivers) of:
//!             - CAN (Controller Array Network)
//!             - for AT90CAN128/64/32.
//!
//! This file can be parsed by Doxygen for automatic documentation generation.
//! This file has been validated with AVRStudio-412462/WinAVR-20060125.
//!
//! @version $Revision: 3.10 $ $Name: jtellier $
//!
//! @todo
//! @bug
//******************************************************************************

#ifndef _CAN_DRV_H_
#define _CAN_DRV_H_

//_____ I N C L U D E S ________________________________________________________

//_____ D E F I N I T I O N S __________________________________________________

    // ----------
#ifndef FOSC
#  error  You must define FOSC in "common.h" file
#endif
    // ----------
#ifndef CAN_BAUDRATE
#  error  You must define CAN_BAUDRATE in "common.h" file
#endif
#define CAN_AUTOBAUD    0
    // ----------
#if FOSC == 16000             //!< Fclkio = 16 MHz, Tclkio = 62.5 ns
#   if   CAN_BAUDRATE == 100       //!< -- 100Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x12       // Tscl  = 10x Tclkio = 625 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 125       //!< -- 125Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x0E       // Tscl  = 8x Tclkio = 500 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 200       //!< -- 200Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x08       // Tscl  = 5x Tclkio = 312.5 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 250       //!< -- 250Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x06       // Tscl  = 4x Tclkio = 250 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 500       //!< -- 500Kb/s, 8x Tscl, sampling at 75%
#       define CONF_CANBT1  0x06       // Tscl = 4x Tclkio = 250 ns
#       define CONF_CANBT2  0x04       // Tsync = 1x Tscl, Tprs = 3x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x13       // Tpsh1 = 2x Tscl, Tpsh2 = 2x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 1000      //!< -- 1 Mb/s, 8x Tscl, sampling at 75%
#       define CONF_CANBT1  0x02       // Tscl  = 2x Tclkio = 125 ns
#       define CONF_CANBT2  0x04       // Tsync = 1x Tscl, Tprs = 3x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x13       // Tpsh1 = 2x Tscl, Tpsh2 = 2x Tscl, 3 sample points
#   elif CAN_BAUDRATE == CAN_AUTOBAUD  // Treated later in the file
#       define CONF_CANBT1  0x00       // Unused
#       define CONF_CANBT2  0x00       // Unused
#       define CONF_CANBT3  0x00       // Unused
#   else
#       error This CAN_BAUDRATE value is not in "can_drv.h" file
#   endif

#elif FOSC == 12000           //!< Fclkio = 12 MHz, Tclkio = 83.333 ns
#   if   CAN_BAUDRATE == 100       //!< -- 100Kb/s, 20x Tscl, sampling at 75%
#       define CONF_CANBT1  0x0A       // Tscl  = 6x Tclkio = 500 ns
#       define CONF_CANBT2  0x0E       // Tsync = 1x Tscl, Tprs = 8x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x4B       // Tpsh1 = 6x Tscl, Tpsh2 = 5x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 125       //!< -- 125Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x0A       // Tscl  = 6x Tclkio = 500 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 200       //!< -- 200Kb/s, 20x Tscl, sampling at 75%
#       define CONF_CANBT1  0x04       // Tscl  = 3x Tclkio = 250 ns
#       define CONF_CANBT2  0x0E       // Tsync = 1x Tscl, Tprs = 8x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x4B       // Tpsh1 = 6x Tscl, Tpsh2 = 5x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 250       //!< -- 250Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x04       // Tscl  = 3x Tclkio = 250 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 500       //!< -- 500Kb/s, 12x Tscl, sampling at 75%
#       define CONF_CANBT1  0x02       // Tscl  = 2x Tclkio = 166.666 ns
#       define CONF_CANBT2  0x08       // Tsync = 1x Tscl, Tprs = 5x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x25       // Tpsh1 = 3x Tscl, Tpsh2 = 3x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 1000      //!< -- 1 Mb/s, 12x Tscl, sampling at 75%
#       define CONF_CANBT1  0x00       // Tscl  = 1x Tclkio = 83.333 ns
#       define CONF_CANBT2  0x08       // Tsync = 1x Tscl, Tprs = 5x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x25       // Tpsh1 = 3x Tscl, Tpsh2 = 3x Tscl, 3 sample points
#   elif CAN_BAUDRATE == CAN_AUTOBAUD  // Treated later in the file
#       define CONF_CANBT1  0x00       // Unused
#       define CONF_CANBT2  0x00       // Unused
#       define CONF_CANBT3  0x00       // Unused
#   else
#       error This CAN_BAUDRATE value is not in "can_drv.h" file
#   endif

#elif FOSC == 8000              //!< Fclkio = 8 MHz, Tclkio = 125 ns
#   if   CAN_BAUDRATE == 100       //!< -- 100Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x08       // Tscl  = 5x Tclkio = 625 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 125       //!< -- 125Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x06       // Tscl  = 4x Tclkio = 500 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 200       //!< -- 200Kb/s, 20x Tscl, sampling at 75%
#       define CONF_CANBT1  0x02       // Tscl  = 2x Tclkio = 250 ns
#       define CONF_CANBT2  0x0E       // Tsync = 1x Tscl, Tprs = 8x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x4B       // Tpsh1 = 6x Tscl, Tpsh2 = 5x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 250       //!< -- 250Kb/s, 16x Tscl, sampling at 75%
#       define CONF_CANBT1  0x02       // Tscl  = 2x Tclkio = 250 ns
#       define CONF_CANBT2  0x0C       // Tsync = 1x Tscl, Tprs = 7x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x37       // Tpsh1 = 4x Tscl, Tpsh2 = 4x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 500       //!< -- 500Kb/s, 8x Tscl, sampling at 75%
#       define CONF_CANBT1  0x02       // Tscl  = 2x Tclkio = 250 ns
#       define CONF_CANBT2  0x04       // Tsync = 1x Tscl, Tprs = 3x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x13       // Tpsh1 = 2x Tscl, Tpsh2 = 2x Tscl, 3 sample points
#   elif CAN_BAUDRATE == 1000      //!< -- 1 Mb/s, 8x Tscl, sampling at 75%
#       define CONF_CANBT1  0x00       // Tscl  = 1x Tclkio = 125 ns
#       define CONF_CANBT2  0x04       // Tsync = 1x Tscl, Tprs = 3x Tscl, Tsjw = 1x Tscl
#       define CONF_CANBT3  0x13       // Tpsh1 = 2x Tscl, Tpsh2 = 2x Tscl, 3 sample points
#   elif CAN_BAUDRATE == CAN_AUTOBAUD  // Treated later in the file
#       define CONF_CANBT1  0x00       // Unused
#       define CONF_CANBT2  0x00       // Unused
#       define CONF_CANBT3  0x00       // Unused
#   else
#       error This CAN_BAUDRATE value is not in "can_drv.h" file
#   endif

#else
#   error This FOSC value is not in "can_drv.h" file
#endif
    // ----------
    //! The first action of "can_bit_timing()" is to reset the CAN controller
    //! "can_bit_timing()" lets the CAN controller disable
    //! "can_bit_timing()" returns 1 if the setting of CANBTx registers is available
    //!                and returns 0 if the setting of CANBTx registers is wrong
#if     CAN_BAUDRATE == CAN_AUTOBAUD
#   define Can_bit_timing(mode)  (can_auto_baudrate(mode) )
#else
#   define Can_bit_timing(mode)  (can_fixed_baudrate(mode))
#endif
    // ----------
#define CAN_PORT_IN     PIND
#define CAN_PORT_DIR    DDRD
#define CAN_PORT_OUT    PORTD
#define CAN_INPUT_PIN   6
#define CAN_OUTPUT_PIN  5
    // ----------
#define ERR_GEN_MSK ((1<<SERG)|(1<<CERG)|(1<<FERG)|(1<<AERG))            //! MaSK for GENeral ERRors INTerrupts
#define INT_GEN_MSK ((1<<BOFFIT)|(1<<BXOK)|(ERR_GEN_MSK))                //! MaSK for GENeral INTerrupts

#define BRP_MSK     ((1<<BRP5)|(1<<BRP4)|(1<<BRP3)|(1<<BRP2)|(1<<BRP1)|(1<<BRP0))  //! Mask for BRP in CANBT1
#define SJW_MSK     ((1<<SJW1)|(1<<SJW0))                                //! MaSK for SJW  in CANBT2
#define PRS_MSK     ((1<<PRS2)|(1<<PRS1)|(1<<PRS0))                      //! MaSK for PRS  in CANBT2
#define PHS2_MSK    ((1<<PHS22)|(1<<PHS21)|(1<<PHS20))                   //! MaSK for PHS2 in CANBT2
#define PHS1_MSK    ((1<<PHS12)|(1<<PHS11)|(1<<PHS10))                   //! MaSK for PHS1 in CANBT2
#define BRP         (BRP0)                                               //! BRP  in CANBT1
#define SJW         (SJW0)                                               //! SJW  in CANBT2
#define PRS         (PRS0)                                               //! PRS  in CANBT2
#define PHS2        (PHS20)                                              //! PHS2 in CANBT2
#define PHS1        (PHS10)                                              //! PHS1 in CANBT2

#define HPMOB_MSK   ((1<<HPMOB3)|(1<<HPMOB2)|(1<<HPMOB1)|(1<<HPMOB0))    //! MaSK for MOb in HPMOB
#define MOBNB_MSK   ((1<<MOBNB3)|(1<<MOBNB2)|(1<<MOBNB1)|(1<<MOBNB0))    //! MaSK for MOb in CANPAGE

#define ERR_MOB_MSK ((1<<BERR)|(1<<SERR)|(1<<CERR)|(1<<FERR)|(1<<AERR))  //! MaSK for MOb ERRors
#define INT_MOB_MSK ((1<<TXOK)|(1<<RXOK)|(1<<BERR)|(1<<SERR)|(1<<CERR)|(1<<FERR)|(1<<AERR)) //! MaSK for MOb INTerrupts

#define CONMOB_MSK  ((1<<CONMOB1)|(1<<CONMOB0))                          //! MaSK for CONfiguration MOb
#define DLC_MSK     ((1<<DLC3)|(1<<DLC2)|(1<<DLC1)|(1<<DLC0))            //! MaSK for Data Length Coding
#define CONMOB      (CONMOB0)                                            //! CONfiguration MOb
#define DLC         (DLC0)                                               //! Data Length Coding
    // ----------
#define BRP_MIN     1       //! Prescaler of FOSC (TQ generation)
#define BRP_MAX     64
#define NTQ_MIN     8       //! Number of TQ in one CAN bit
#define NTQ_MAX     25
                            //! True segment values in TQ
#define PRS_MIN     1       //! Propagation segment
#define PRS_MAX     8
#define PHS1_MIN    2       //! Phase segment 1
#define PHS1_MAX    8
#define PHS2_MIN    2       //! Phase segment 2
#define PHS2_MAX    8
#define SJW_MIN     1       //! Synchro jump width
#define SJW_MAX     4
    // ----------
#define NB_MOB       15
#define NB_DATA_MAX  8
#define LAST_MOB_NB  (NB_MOB-1)
#define NO_MOB       0xFF
    // ----------
typedef enum {
        MOB_0,  MOB_1, MOB_2,  MOB_3,  MOB_4,  MOB_5,  MOB_6, MOB_7,
        MOB_8,  MOB_9, MOB_10, MOB_11, MOB_12, MOB_13, MOB_14        } can_mob_t;
    // ----------
#define STATUS_CLEARED            0x00
    // ----------
#define MOB_NOT_COMPLETED         0x00                                              // 0x00
#define MOB_TX_COMPLETED        (1<<TXOK)                                           // 0x40
#define MOB_RX_COMPLETED        (1<<RXOK)                                           // 0x20
#define MOB_RX_COMPLETED_DLCW  ((1<<RXOK)|(1<<DLCW))                                // 0xA0
#define MOB_ACK_ERROR           (1<<AERR)                                           // 0x01
#define MOB_FORM_ERROR          (1<<FERR)                                           // 0x02