can_drv.h

Avr单片机 At90can32 CAN 总线通信原代码 c语言

#define MOB_CRC_ERROR           (1<<CERR)                                           // 0x04
#define MOB_STUFF_ERROR         (1<<SERR)                                           // 0x08
#define MOB_BIT_ERROR           (1<<BERR)                                           // 0x10
#define MOB_PENDING            ((1<<RXOK)|(1<<TXOK))                                // 0x60
#define MOB_NOT_REACHED        ((1<<AERR)|(1<<FERR)|(1<<CERR)|(1<<SERR)|(1<<BERR))  // 0x1F
#define MOB_DISABLE               0xFF                                              // 0xFF
    // ----------
#define MOB_Tx_ENA  1
#define MOB_Rx_ENA  2
#define MOB_Rx_BENA 3
    // ----------

//_____ M A C R O S ____________________________________________________________

    // ----------
#define Can_reset()       ( CANGCON  =  (1<<SWRES) )
#define Can_enable()      ( CANGCON |=  (1<<ENASTB))
#define Can_disable()     ( CANGCON &= ~(1<<ENASTB))
    // ----------
#define Can_full_abort()  { CANGCON |=  (1<<ABRQ); CANGCON &= ~(1<<ABRQ); }
    // ----------
#define Can_conf_bt()     { CANBT1=CONF_CANBT1; CANBT2=CONF_CANBT2; CANBT3=CONF_CANBT3; }
    // ----------
#define Can_set_mob(mob)       { CANPAGE = ((mob) << 4);}
#define Can_set_mask_mob()     {  CANIDM4=0xFF; CANIDM3=0xFF; CANIDM2=0xFF; CANIDM1=0xFF; }
#define Can_clear_mask_mob()   {  CANIDM4=0x00; CANIDM3=0x00; CANIDM2=0x00; CANIDM1=0x00; }
#define Can_clear_status_mob() { CANSTMOB=0x00; }
#define Can_clear_mob()        { U8  volatile *__i_; for (__i_=&CANSTMOB; __i_<&CANSTML; __i_++) { *__i_=0x00 ;}}
    // ----------
#define Can_mob_abort()   ( DISABLE_MOB )
    // ----------
#define Can_set_dlc(dlc)  ( CANCDMOB |= (dlc)        )
#define Can_set_ide()     ( CANCDMOB |= (1<<IDE)     )
#define Can_set_rtr()     ( CANIDT4  |= (1<<RTRTAG)  )
#define Can_set_rplv()    ( CANCDMOB |= (1<<RPLV)    )
    // ----------
#define Can_clear_dlc()   ( CANCDMOB &= ~DLC_MSK     )
#define Can_clear_ide()   ( CANCDMOB &= ~(1<<IDE)    )
#define Can_clear_rtr()   ( CANIDT4  &= ~(1<<RTRTAG) )
#define Can_clear_rplv()  ( CANCDMOB &= ~(1<<RPLV)   )
    // ----------
#define DISABLE_MOB       ( CANCDMOB &= (~CONMOB_MSK) )
#define Can_config_tx()        { DISABLE_MOB; CANCDMOB |= (MOB_Tx_ENA  << CONMOB); }
#define Can_config_rx()        { DISABLE_MOB; CANCDMOB |= (MOB_Rx_ENA  << CONMOB); }
#define Can_config_rx_buffer() {              CANCDMOB |= (MOB_Rx_BENA << CONMOB); }
    // ----------
#define Can_get_dlc()      ((CANCDMOB &  DLC_MSK)     >> DLC   )
#define Can_get_ide()      ((CANCDMOB &  (1<<IDE))    >> IDE   )
#define Can_get_rtr()      ((CANIDT4  &  (1<<RTRTAG)) >> RTRTAG)
    // ----------
#define Can_set_rtrmsk()   ( CANIDM4 |= (1<<RTRMSK) )
#define Can_set_idemsk()   ( CANIDM4 |= (1<<IDEMSK) )
    // ----------
#define Can_clear_rtrmsk() ( CANIDM4 &= ~(1<<RTRMSK) )
#define Can_clear_idemsk() ( CANIDM4 &= ~(1<<IDEMSK) )
    // ----------
                //!< STD ID TAG Reading
#define Can_get_std_id(identifier)  { *((U8 *)(&(identifier))+1) =  CANIDT1>>5              ; \
                                      *((U8 *)(&(identifier))  ) = (CANIDT2>>5)+(CANIDT1<<3); }
    // ----------
                //!< EXT ID TAG Reading
#define Can_get_ext_id(identifier)  { *((U8 *)(&(identifier))+3) =  CANIDT1>>3              ; \
                                      *((U8 *)(&(identifier))+2) = (CANIDT2>>3)+(CANIDT1<<5); \
                                      *((U8 *)(&(identifier))+1) = (CANIDT3>>3)+(CANIDT2<<5); \
                                      *((U8 *)(&(identifier))  ) = (CANIDT4>>3)+(CANIDT3<<5); }
    // ----------
                //!< STD ID Construction
#define CAN_SET_STD_ID_10_4(identifier)  (((*((U8 *)(&(identifier))+1))<<5)+((* (U8 *)(&(identifier)))>>3))
#define CAN_SET_STD_ID_3_0( identifier)  (( * (U8 *)(&(identifier))   )<<5)
    // ----------
                //!< STD ID TAG writing
#define Can_set_std_id(identifier)  { CANIDT1   = CAN_SET_STD_ID_10_4(identifier); \
                                      CANIDT2   = CAN_SET_STD_ID_3_0( identifier); \
                                      CANCDMOB &= (~(1<<IDE))                    ; }
    // ----------
                //!< STD ID MASK writing
#define Can_set_std_msk(mask)       { CANIDM1   = CAN_SET_STD_ID_10_4(mask); \
                                      CANIDM2   = CAN_SET_STD_ID_3_0( mask); }
    // ----------
                //!< EXT ID Construction
#define CAN_SET_EXT_ID_28_21(identifier)  (((*((U8 *)(&(identifier))+3))<<3)+((*((U8 *)(&(identifier))+2))>>5))
#define CAN_SET_EXT_ID_20_13(identifier)  (((*((U8 *)(&(identifier))+2))<<3)+((*((U8 *)(&(identifier))+1))>>5))
#define CAN_SET_EXT_ID_12_5( identifier)  (((*((U8 *)(&(identifier))+1))<<3)+((* (U8 *)(&(identifier))   )>>5))
#define CAN_SET_EXT_ID_4_0(  identifier)   ((* (U8 *)(&(identifier))   )<<3)
    // ----------
                //!< EXT ID TAG writing
#define Can_set_ext_id(identifier)  { CANIDT1   = CAN_SET_EXT_ID_28_21(identifier); \
                                      CANIDT2   = CAN_SET_EXT_ID_20_13(identifier); \
                                      CANIDT3   = CAN_SET_EXT_ID_12_5( identifier); \
                                      CANIDT4   = CAN_SET_EXT_ID_4_0(  identifier); \
                                      CANCDMOB |= (1<<IDE);                         }
    // ----------
                //!< EXT ID MASK writing
#define Can_set_ext_msk(mask)       { CANIDM1   = CAN_SET_EXT_ID_28_21(mask); \
                                      CANIDM2   = CAN_SET_EXT_ID_20_13(mask); \
                                      CANIDM3   = CAN_SET_EXT_ID_12_5( mask); \
                                      CANIDM4   = CAN_SET_EXT_ID_4_0(  mask); }
    // ----------

//_____ D E C L A R A T I O N S ________________________________________________

//------------------------------------------------------------------------------
//  @fn can_clear_all_mob
//!
//! This function clears the Mailbox content.
//! It uses Can_clear_mob() macro and clears data FIFO o MOb[0] upto
//! MOb[LAST_MOB_NB].
//!
//! @warning none.
//!
//! @param none.
//!
//! @return none.
//!
extern  void can_clear_all_mob(void);

//------------------------------------------------------------------------------
//  @fn can_get_mob_free
//!
//! This function returns the number of the first MOb available or 0xFF if
//! no MOb available.
//!
//! @warning none.
//!
//! @param none.
//!
//! @return Handle of MOb.
//!          - MOb[0] upto MOb[LAST_MOB_NB]
//!          - 0xFF if no MOb
//!
extern  U8 can_get_mob_free(void);

//------------------------------------------------------------------------------
//  @fn can_get_mob_status
//!
//! This function returns information "MOB completed its job"
//! if one of the RXOK or TXOK Flag is set or "MOB not completed its job
//! if no RXOK and TXOK flags are set.
//! Previously, this function checks if the MOb is configured or not and in
//!  case of the MOB not configured, the function returns "MOB_DISABLE".
//!
//! @warning none.
//!
//! @param none.
//!
//! @return MOb Status.
//!          -  MOB_NOT_COMPLETED
//!          -  MOB_TX_COMPLETED
//!          -  MOB_RX_COMPLETED
//!          -  MOB_RX_DLC_WARNING
//!          -  MOB_DISABLE
//!          or should be a combination of the following errors
//!          -  MOB_ACK_ERROR
//!          -  MOB_FORM_ERROR
//!          -  MOB_CRC_ERROR
//!          -  MOB_STUFF_ERROR
//!          -  MOB_BIT_ERROR
//!
extern  U8 can_get_mob_status(void);

//------------------------------------------------------------------------------
//  @fn can_get_data
//!
//! This function copy the data from the selected MOb to the address
//! passed as parameter.
//!
//! @warning none.
//!
//! @param CAN message data address.
//!
//! @return none.
//!
extern  void can_get_data(U8* p_can_message_data);

//------------------------------------------------------------------------------
//  @fn can_auto_baudrate
//!
//! This function programs itself the CANBTx registers if there is some
//! communication (activity) on the CAN bus.
//!
//! @warning complex function not yet implemented
//!
//! @param  Evaluation needed
//!         ==0: start the evaluation from faster baudrate
//!         ==1: (re)start an evaluation with CANBTx registers contents
//!
//! @return Baudrate Status
//!         ==0: research of bit timing configuration failed
//!         ==1: baudrate performed
//!
extern  U8 can_auto_baudrate(U8 eval);


//------------------------------------------------------------------------------
//  @fn can_fixed_baudrate
//!
//! This function programs the CANBTx registers with the predefined values
//! CONF_CANBT1, CONF_CANBT2, CONF_CANBT3.
//!
//! @warning
//!
//! @param (unused!)
//!
//! @return Baudrate Status
//!         fixed = 1: baudrate performed
//!
extern U8 can_fixed_baudrate(U8 eval);

//______________________________________________________________________________

#endif // _CAN_DRV_H_