📄 drv_can.h
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/**********************************************************************/
/* */
/* File name: drv_can.h */
/* */
/* Since: 2005-Jan-19 */
/* */
/* Version: PICos18 v2.05 */
/* Copyright (C) 2003, 2004, 2005 Pragmatec. */
/* CAN driver v1.05 */
/* */
/* Author: Designed by Pragmatec S.A.R.L. www.pragmatec.net */
/* MONTAGNE Xavier [XM] xavier.montagne@pragmatec.net */
/* ROZIER Bertrand [RZR] bertrand.rozier@pragmatec.net */
/* */
/* Purpose: PIC18 CAN peripheral management. */
/* It allows task tosend data at the send time through a */
/* dedicated FIFO, and to wait for a certain CAN frame. */
/* */
/* Distribution: This file is part of PICos18. */
/* PICos18 is free software; you can redistribute it */
/* and/or modify it under the terms of the GNU General */
/* Public License as published by the Free Software */
/* Foundation; either version 2, or (at your option) */
/* any later version. */
/* */
/* PICos18 is distributed in the hope that it will be */
/* useful, but WITHOUT ANY WARRANTY; without even the */
/* implied warranty of MERCHANTABILITY or FITNESS FOR A */
/* PARTICULAR PURPOSE. See the GNU General Public */
/* License for more details. */
/* */
/* You should have received a copy of the GNU General */
/* Public License along with gpsim; see the file */
/* COPYING.txt. If not, write to the Free Software */
/* Foundation, 59 Temple Place - Suite 330, */
/* Boston, MA 02111-1307, USA. */
/* */
/* > A special exception to the GPL can be applied should */
/* you wish to distribute a combined work that includes */
/* PICos18, without being obliged to provide the source */
/* code for any proprietary components. */
/* */
/* History: */
/* 2005/01/19 [XM] Create this file. */
/* 2006/03/03 [RZR] Add Pre-defined BaudRate selection */
/* Correct TX buffer allocation bug */
/* */
/**********************************************************************/
#ifndef _CAN_DRV_H_
#define _CAN_DRV_H_
#include "pro_man.h"
#include "even_man.h"
#include "alarm.h"
#ifndef NULL
#define NULL 0
#endif
/*****************************************************
* Definition dedicated to the local functions.
****************************************************/
#define CAN_MSG_SENT 0x02
#define CAN_FREE 0x00
#define CAN_FULL 0x01
#define CAN_EMPTY 0x00
#define TRUE 0x01
#define FALSE 0x00
#define TX_MESSAGE 0x01
#define RX_MESSAGE 0x00
struct _CAN_frame {
unsigned long CANID;
unsigned char length;
unsigned char data[8];
unsigned char CallerID;
unsigned char state;
struct _CAN_frame *next;
};
typedef struct _CAN_frame CAN_message_t, *CAN_message_tRef;
#define CAN_freeMsg(x) x.state = CAN_FREE;
////////////////////////////////////////////////////////////////////////////////////
//
// HARDWARE OVERLAY TYPES......
//
// HARDWARE........
//
// Declare a type that matches the structure of the TX and RX
// buffers so that we can overlay the structure variables into
// the correct locations within the buffer.
//
// TX Buffer looks like this.....
typedef volatile near struct _TXBUF{
char TXCON;
char SIDH;
char SIDL;
char EIDH;
char EIDL;
char DLC;
char DATA[8];
char CANSTAT;
char blank;
} TXBUF_t, * pTXBUF_t;
//
// TX HARDWARE BUFFERS
#define TXBUF_START ((TXBUF_t * )&TXB0CON) // See CAN Controller Register Map....
#define TXBUF_END ((TXBUF_t * )&TXB2CON) // Table 19-1 perhaps?
//
// RX Buffer looks like this.....
typedef volatile near struct _RXBUF {
char RXCON;
char SIDH;
char SIDL;
char EIDH;
char EDIL;
char DLC;
char data[8];
char CANSTAT;
}RXBUF_t, *pRXBUF_t;
#define RXBUF_START ((pRXBUF_t)&RXB0CON) // See CAN Controller Register Map
#define RXBUF_END ((pRXBUF_t)&RXB1CON) // Table 19-1
#define RXBUF_STEP 0x01
#define RX_BUFFER_FULL 0b10000000
// ^-- Mask applied to RXB?CON to test for buffer full
////////////////////////////////////////////////////////////////////////////////////////
// Generic RX Filter and Mask type
//
// It looks like all of the filters follow this type of repeating pattern
// within the register area. Use that to our advantage to define
// an overlay for this area too...
typedef volatile near struct _RXFM {
char SIDH;
char SIDL;
char EIDH;
char EIDL;
}RXFilterMask_t, *pRXFilterMask_t;
#define RXFILTER_START 0xF00 // See CAN Controller Register Map
#define RXFILTER_END 0xF1C // Table 19-1
#define RXFILTER_STEP 0x04
//////////////////////////////////////////////////////////////////////////////////
//
// Function macros for Transmit Buffer Control
//
#define TX_ABORTED(psTXBuf) ((psTXBuf->TXCON)&0x40)
#define TX_LOSTARB(psTXBuf) ((psTXBuf->TXCON)&0x20)
#define TX_ERROR(psTXBuf) ((psTXBuf->TXCON)&0x10)
#define SET_TXREQ(psTXBuf) ((psTXBuf->TXCON) |= 0x08)
#define CLEAR_TXREQ(psTXBuf) ((psTXBuf->TXCON) &= (~(1<<4)))
#define GET_TXPRIORITY(psTXBuf) ((psTXBuf->TXCON) & 0x03)
#define SET_TXPRIORITY(psTXBuf,u8Priority) ((psTXBuf->TXCON) = u8Priority & 0x03)
// Add some fancy macro definitions for 11-bit identifiers
// Example usage: regularID = GET_ID(&RX0BUFFER);
#define GET_TXID(psTXBuf) (((psTXBuf->SIDH) << 3) + ((psTXBuf->SIDL & 0x0E) >> 5))
#define SET_TXID(psTXBuf,u16ID) psTXBuf->SIDH=((u16ID&0x7FF)>>3);psTXBuf->SIDL = ((u16ID & 0x07)<< 5)
#define SET_TXDLC(psTXBuf,u8Length) psTXBuf->DLC = (u8Length & 0x0F)
/////////////////////////////////////////////////////////////////////////////////////////
//
// Function macros for Receive Buffer Control
//
#define GET_RXID(psRXBuf) (((unsigned long)(psRXBuf->SIDH)<<3)|(((unsigned long)(psRXBuf->SIDL)>>5)&0x07))
#define GET_RXDLC(psRXBuf) (psRXBuf->DLC & 0x0F)
#define RX_IS_FULL(psRXBuf) ((psRXBuf->RXCON) & 0x80)
#define GET_RXMODE(psRXBuf) (((psRXBuf->RXCON) &0x60) >> 5)
#define SET_RXMODE(psRXBuf,u8Mode) (psRXBuf->RXCON = ((u8Mode) & 0x03) << 5)
#define IS_RTR(psRXBuf) (((psRXBuf->RXCON) & 0x04) >> 3)
#define SET_RXDBEN (RXB0CON |= 0x04)
/////////////////////////////////////////////////////////////////////////////////////////
//
// Other Hardware based defines
//
// Set interrupts on receive only
#define CAN_PIE_INT_MSK 0b00000011
#define TXCON_ERRORS 0b01110000
#define TXCON_EMPTY 0b00001000
StatusType CAN_FindSpeed(unsigned char * speed);
StatusType CAN_SetSpeed(char speed);
StatusType CAN_enqMsg(CAN_message_tRef toEnqueue);
CAN_message_tRef CAN_deqMsg(void);
StatusType CopyHard2FrameBuffer(void);
StatusType CopyFrameBuffer2Hard(pTXBUF_t pTxbuf);
StatusType WriteCANBuffer(void);
StatusType ReadCANBuffer(void);
StatusType CAN_RCV_Register(CAN_message_tRef toEnqueue);
void CAN_config(void);
#endif /* _CAN_DRV_H_ */
/* End of File : drv_can.h */
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