can.h

Atmel 89C51cc01 CAN BUS driver

#ifndef _CAN_H_
#define _CAN_H_
/*================================================================================
                                                                               
                      Header Name: can.h

General Description: This file contains all prototypes and macros exported for the 
                     CAN communication API.
 
==================================================================================
                     Honeywell Confidential Proprietary
               ACS - Security (Asia Pacific) R&D Software Operations
               (c) Copyright Honeywell 2005, All Rights Reserved
 
Revision History:
                            Modification     Tracking
Author                 Date        Ver Number     Description of Changes
----------------   ------------    ----------   -------------------------
Tim Luo             02/22/2006      ver0.0.1     Initial draft  
Lake Hu             03/17/2006      ver0.0.2     Revise to use CAN interrupt  
==================================================================================
                                 INCLUDE FILES
================================================================================*/
#include "../canprotocol/canprotocol.h"
/*================================================================================
                                   CONSTANTS
================================================================================*/



/* baud rate and bit timing parameters */
#define BRP_500k 0x00
#define SJW_500k 0x00
#define PRS_500k 0x02
#define PHS1_500k 0x03
#define PHS2_500k 0x03

#define BRP_50k 0x09
#define SJW_50k 0x00
#define PRS_50k 0x02
#define PHS1_50k 0x03
#define PHS2_50k 0x03

#define BRP_10k 0x31
#define SJW_10k 0x00
#define PRS_10k 0x02
#define PHS1_10k 0x03
#define PHS2_10k 0x03


#define BRP_20k 0x13
#define SJW_20k 0x00
#define PRS_20k 0x04
#define PHS1_20k 0x04
#define PHS2_20k 0x03


#define BRP_30k 0x09
#define SJW_30k 0x00
#define PRS_30k 0x06
#define PHS1_30k 0x04
#define PHS2_30k 0x06


#define BRP_40k 0x09
#define SJW_40k 0x00
#define PRS_40k 0x06
#define PHS1_40k 0x01
#define PHS2_40k 0x04





#define  CS0 	0x0000
#define  CS1 	0x0080
#define  CS2 	0x0040
#define  CS3 	0x00c0
#define  CS4	0x0020
#define  CS5 	0x00A0
#define  CS6 	0x0060
#define  CS7 	0x00E0


#define NB_CHANNEL   15


/*---- Index for table can_ident_t */
#define STD_ID_10_4 	0
#define STD_ID_3_0   	1
#define EXT_ID_28_21 	0
#define EXT_ID_20_13 	1
#define EXT_ID_12_5  	2
#define EXT_ID_4_0   	3

#define MSK_CTRL_RTR   0x80
#define MSK_CTRL_IDE   0x10
#define MSK_CTRL_DLC   0x0F


/* constant for configuration of conf_rx and conf_tx */

#define CONF_IDE       0x10
#define CONF_NOIDE     0
#define CONF_RTR       0x20
#define CONF_NORTR     0
#define CONF_BUFFER    0x01
#define CONF_NOBUFFER  0
#define CONF_MSK_IDE   0x80
#define CONF_NOMSK_IDE 0
#define CONF_MSK_RTR   0x4
#define CONF_NOMSK_RTR 0

/* constant for next configuration in ReadCanMsg function. */
#define CHANNEL_DISABLE			0x01
#define CHANNEL_RX_ENABLE		0x02
#define CHANNEL_RXB_ENABLE		0x04

/*================================================================================
                           GLOBAL MACROS DECLARATION
================================================================================*/
#define Sfr(x, y) sfr x = y
#define Sbit(x, y, z) sbit x = y^z
#define Sfr16(x,y)sfr16 x = y


#define MSK_ADCON_PSIDLE 0x40
#define MSK_ADCON_ADEN 0x20
#define MSK_ADCON_ADEOC 0x10
#define MSK_ADCON_ADSST 0x08
#define MSK_ADCON_SCH 0x07
#define MSK_ADDL_UTILS 0x03
#define MSK_FCON_FBUSY 0x01
#define MSK_FCON_FMOD 0x06
#define MSK_FCON_FPS 0x08
#define MSK_FCON_FPL 0xF0
#define MSK_EECON_EEBUSY 0x01
#define MSK_EECON_EEE 0x02
#define MSK_EECON_EEPL 0xF0
#define MSK_AUXR_M0 0x20
#define MSK_AUXR1_ENBOOT 0x20
#define MSK_CANGIT_CANIT0x80
#define MSK_CANGIT_OVRTIM 0x20
#define MSK_CANGIT_OVRBUF0x10
#define MSK_CANGIT_SERG0x08
#define MSK_CANGIT_CERG0x04
#define MSK_CANGIT_FERG0x02
#define MSK_CANGIT_AERG0x01
#define MSK_CANGSTA_OVFG0x40
#define MSK_CANGSTA_TBSY0x10
#define MSK_CANGSTA_RBSY0x08
#define MSK_CANGSTA_ENFG0x04
#define MSK_CANGSTA_BOFF0x02
#define MSK_CANGSTA_ERRP0x01
#define MSK_CANGCON_ABRQ 0x80
#define MSK_CANGCON_OVRQ 0x40
#define MSK_CANGCON_TTC 0x20
#define MSK_CANGCON_SYNCTTC 0x10
#define TTC_EOF 0x10
#define TTC_SOF 0x00
#define MSK_CANGCON_AUTBAUD 0x08
#define MSK_CANGCON_ENA 0x02
#define MSK_CANGCON_GRES 0x01
#define MSK_CANSTCH_DLCW 0x80
#define MSK_CANSTCH_TxOk 0x40
#define MSK_CANSTCH_RxOk 0x20
#define MSK_CANSTCH_BERR 0x10
#define MSK_CANSTCH_SERR 0x08
#define MSK_CANSTCH_CERR 0x04
#define MSK_CANSTCH_FERR 0x02
#define MSK_CANSTCH_AERR 0x01
#define MSK_CANCONCH_IDE 0x10
#define MSK_CANCONCH_DLC 0x0F
#define MSK_CANCONCH_CONF 0xC0
#define DLC_MAX 8
#define CH_DISABLE 0x00
#define CH_RxENA 0x80
#define CH_TxENA 0x40
#define CH_RxBENA 0xC0
#define CAN_PRESCALER_MIN 0
#define CAN_PRESCALER_MAX 63
#define MSK_CANBT2_SJW 0x60
#define MSK_CANBT2_PRS 0x0E
#define CAN_SJW_MIN 0
#define CAN_SJW_MAX 3
#define CAN_PRS_MIN 0
#define CAN_PRS_MAX 7
#define MSK_CANBT3_PHS2 0x70
#define MSK_CANBT3_PHS1 0x0E
#define CAN_PHS2_MIN 0
#define CAN_PHS2_MAX 7
#define CAN_PHS1_MIN 0
#define CAN_PHS1_MAX 7
#define MSK_CANIDT4_RTRTAG 0x04
#define MSK_CANGIE_ENRX 0x20
#define MSK_CANGIE_ENTX 0x10
#define MSK_CANGIE_ENERCH 0x08
#define MSK_CANGIE_ENBUF 0x04
#define MSK_CANGIE_ENERG 0x02
#define MSK_CANIDM4_RTRMSK 0x04
#define MSK_CANIDM4_IDEMSK 0x01
#define MSK_CANIE_ERROR	0x0E



/*================================================================================
                          STRUCTURES AND OTHER TYPEDEFS
================================================================================*/
typedef unsigned char		UINT8;
typedef unsigned int 		UINT16;
typedef int 				INT16;
typedef float               Float16;
typedef unsigned long int 	UINT32;
typedef long int 			INT32;
typedef unsigned char		INT8;



/*
typedef unsigned char can_data_t [NB_DATA_MAX];

/*typedef union{
  UINT32 can_id_32; 
  UINT8  can_id[4];
} can_id_t;
 */

/**typedef struct{
  can_id_t id;
  unsigned char  can_data[8];
  unsigned char  conf;		   //  CANCONCH
} can_msg_t;
*/

/*================================================================================
                                     ENUMS
================================================================================*/

typedef enum{
 CHANNEL_0, CHANNEL_1, CHANNEL_2, CHANNEL_3 ,
 CHANNEL_4, CHANNEL_5 ,CHANNEL_6 , CHANNEL_7 ,
 CHANNEL_8, CHANNEL_9 , CHANNEL_10, CHANNEL_11, 
 CHANNEL_12, CHANNEL_13, CHANNEL_14, NO_CHANNEL
} channel_t;

typedef enum { 
  CONF_DLC_0, CONF_DLC_1, CONF_DLC_2, CONF_DLC_3, 
  CONF_DLC_4, CONF_DLC_5, CONF_DLC_6, CONF_DLC_7, CONF_DLC_8
} dlc_t;


/*================================================================================
                               UNION DECLARATION
================================================================================*/

/*================================================================================
                          GLOBAL VARIABLE DECLARATIONS
================================================================================*/

extern bit can_tx_busy;
extern bit can_tx_ok;
extern unsigned short data can_rx_pending;
extern unsigned char  data local_can_add;

extern can_msg_t idata can_tx_buf; /* CAN message Tx buffer */
extern can_msg_t xdata can_rx_buf;  /* received CAN message */
extern unsigned char idata  can_tx_fail_counter; /* CAN tx fail counter */
/*================================================================================
                          GLOBAL FUNCTION PROTOTYPES
================================================================================*/


#define NO_CHANNEL  0xFF
#define MAX_CHANNEL_NUM CHANNEL_14
#define TX_CHANNEL_NUM CHANNEL_0

#define RX_CHANNEL_FIRST CHANNEL_1
#define RX_CHANNEL_LAST CHANNEL_14

extern void init_can();
extern void send_can_msg();
extern unsigned char FindFirstChIt (void);
extern void ReadCanMsg ();
extern void can_rx();

/*==============================================================================*/
#endif /* _CAN_H_ */