LDSC_Robotics_TAs
Version_1
can/can.h
- Committer:
- noname001
- Date:
- 2016-09-05
- Revision:
- 1:235bfa26c5c1
- Parent:
- 0:0b8d14ed499f
File content as of revision 1:235bfa26c5c1:
/********************************************************************
Header for CAN module library functions
*********************************************************************/
#if defined(__dsPIC30F__)
#include <p30fxxxx.h>
#else
#error "Does not build on this target"
#endif
#ifdef _C1IF
#ifndef __CAN_H
#define __CAN_H
/* List of SFRs for CAN */
/* This list contains the SFRs with default (POR) values to be used for configuring CAN */
/* The user can modify this based on the requirement */
#define CxRXF0SID_VALUE 0x0000
#define CxRXF0EIDH_VALUE 0x0000
#define CxRXF0EIDL_VALUE 0x0000
#define CxRXF1SID_VALUE 0x0000
#define CxRXF1EIDH_VALUE 0x0000
#define CxRXF1EIDL_VALUE 0x0000
#define CxRXF2SID_VALUE 0x0000
#define CxRXF2EIDH_VALUE 0x0000
#define CxRXF2EIDH_VALUE 0x0000
#define CxRXF3SID_VALUE 0x0000
#define CxRXF3EIDH_VALUE 0x0000
#define CxRXF3EIDH_VALUE 0x0000
#define CxRXF4SID_VALUE 0x0000
#define CxRXF4EIDH_VALUE 0x0000
#define CxRXF4EIDL_VALUE 0x0000
#define CxRXF5SID_VALUE 0x0000
#define CxRXF5EIDH_VALUE 0x0000
#define CxRXF5EIDL_VALUE 0x0000
#define CxRXM0SID_VALUE 0x0000
#define CxRXM0EIDH_VALUE 0x0000
#define CxRXM0EIDL_VALUE 0x0000
#define CxRXM1SID_VALUE 0x0000
#define CxRXM1EIDH_VALUE 0x0000
#define CxRXM1EIDL_VALUE 0x0000
#define CxTX2CON_VALUE 0x0000
#define CxTX2SID_VALUE 0x0000
#define CxTX2EID_VALUE 0x0000
#define CxTX2DLC_VALUE 0x0000
#define CxTX2B1_VALUE 0x0000
#define CxTX2B2_VALUE 0x0000
#define CxTX2B3_VALUE 0x0000
#define CxTX2B4_VALUE 0x0000
#define CxTX1CON_VALUE 0x0000
#define CxTX1SID_VALUE 0x0000
#define CxTX1EID_VALUE 0x0000
#define CxTX1DLC_VALUE 0x0000
#define CxTX1B1_VALUE 0x0000
#define CxTX1B2_VALUE 0x0000
#define CxTX1B3_VALUE 0x0000
#define CxTX1B4_VALUE 0x0000
#define CxTX0CON_VALUE 0x0000
#define CxTX0SID_VALUE 0x0000
#define CxTX0EID_VALUE 0x0000
#define CxTX0DLC_VALUE 0x0000
#define CxTX0B1_VALUE 0x0000
#define CxTX0B2_VALUE 0x0000
#define CxTX0B3_VALUE 0x0000
#define CxTX0B4_VALUE 0x0000
#define CxRX1CON_VALUE 0x0000
#define CxRX1SID_VALUE 0x0000
#define CxRX1EID_VALUE 0x0000
#define CxRX1DLC_VALUE 0x0000
#define CxRX1B1_VALUE 0x0000
#define CxRX1B2_VALUE 0x0000
#define CxRX1B3_VALUE 0x0000
#define CxRX1B4_VALUE 0x0000
#define CxRX0CON_VALUE 0x0000
#define CxRX0SID_VALUE 0x0000
#define CxRX0EID_VALUE 0x0000
#define CxRX0DLC_VALUE 0x0000
#define CxRX0B1_VALUE 0x0000
#define CxRX0B2_VALUE 0x0000
#define CxRX0B3_VALUE 0x0000
#define CxRX0B4_VALUE 0x0000
#define CxCTRL_VALUE 0x0480
#define CxCFG1_VALUE 0x0000
#define CxCFG2_VALUE 0x0000
#define CxINTF_VALUE 0x0000
#define CxINTE_VALUE 0x0000
#define CxEC_VALUE 0x0000
/*****************Masks for bit opern***************/
#define CAN_ABAT 0x1000
#define CAN_TXBO 0x2000
#define CAN_RXEP 0x0800
#define CAN_TXEP 0x1000
#define CAN_RXFUL 0x0080
#define CAN_TXREQ 0x0008
/* defines for CiCTRL (to be used for CANiSetOperationMode functions) */
/* these defines are such that, when used will clear ABAT bit */
#define CAN_CAPTURE_EN 0xAF00
#define CAN_CAPTURE_DIS 0x2F00
#define CAN_IDLE_STOP 0xAF00
#define CAN_IDLE_CON 0x8F00
#define CAN_MASTERCLOCK_1 0xAF00
#define CAN_MASTERCLOCK_0 0xA700
#define CAN_REQ_OPERMODE_NOR 0xA800
#define CAN_REQ_OPERMODE_DIS 0xA900
#define CAN_REQ_OPERMODE_LOOPBK 0xAA00
#define CAN_REQ_OPERMODE_LISTENONLY 0xAB00
#define CAN_REQ_OPERMODE_CONFIG 0xAC00
#define CAN_REQ_OPERMODE_LISTENALL 0xAF00
/* defines for CiCTRL (to be used for CANiSetOperationModeNoWait functions) */
/* these defines are such that, when used will set ABAT bit */
#define CAN_CAPTURE_EN_NO_WAIT 0xBF00
#define CAN_CAPTURE_DIS_NO_WAIT 0x3F00
#define CAN_IDLE_STOP_NO_WAIT 0xBF00
#define CAN_IDLE_CON_NO_WAIT 0x9F00
#define CAN_MASTERCLOCK_1_NO_WAIT 0xBF00
#define CAN_MASTERCLOCK_0_NO_WAIT 0xB700
#define CAN_REQ_OPERMODE_NOR_NO_WAIT 0xB800
#define CAN_REQ_OPERMODE_DIS_NO_WAIT 0xB900
#define CAN_REQ_OPERMODE_LOOPBK_NO_WAIT 0xBA00
#define CAN_REQ_OPERMODE_LISTENONLY_NO_WAIT 0xBB00
#define CAN_REQ_OPERMODE_CONFIG_NO_WAIT 0xBC00
#define CAN_REQ_OPERMODE_LISTENALL_NO_WAIT 0xBF00
/*configuration of CiRXMnSID */
#define CAN_MASK_SID(x) ( ((x & 0x07C0) << 2) | ((x & 0x003F) << 2) | 0x0001 )
#define CAN_MATCH_FILTER_TYPE 0x1FFD
#define CAN_IGNORE_FILTER_TYPE 0x1FFC
/*configuration of CiRXMnEIDH and CiRXMnEIDL */
#define CAN_MASK_EID(x) ( (((unsigned long)x & 0x3C000) << 10) | (((unsigned long)x & 0x03FC0) << 10) | (((unsigned long)x & 0x0003F) << 10) )
/* configuration of CiRXFnSID */
#define CAN_FILTER_SID(x) ( ((x & 0x07C0) << 2) | ((x & 0x003F) << 2) | 0x0001 )
#define CAN_RX_EID_EN 0x1FFD
#define CAN_RX_EID_DIS 0x1FFC
/* configuration of CiRXFnEIDH and C1RXFnEIDL */
#define CAN_FILTER_EID(x) ( (((unsigned long)x & 0x3C000) << 10) | (((unsigned long)x & 0x03FC0) << 10) | (((unsigned long)x & 0x0003F) << 10) )
/* configuration of CiTXxSID */
#define CAN_TX_SID(x) ( ((x & 0x07C0) << 5) | ((x & 0x003F) << 2) | 0x0003 )
#define CAN_SUB_REM_TX_REQ 0xF8FF
#define CAN_SUB_NOR_TX_REQ 0xF8FD
#define CAN_TX_EID_EN 0xF8FF
#define CAN_TX_EID_DIS 0xF8FE
/* configuration of CiTXxEID and CiTXxDLC */
#define CAN_TX_EID(x) ( (((unsigned long)x & 0x3C000) << 14) | (((unsigned long)x & 0x03FC0) << 10) | (((unsigned long)x & 0x0003F) << 10) | 0x000003F8 )
#define CAN_REM_TX_REQ 0xF0FFFFF8
#define CAN_NOR_TX_REQ 0xF0FFFDF8
#define CAN_DATALEN_0 0xF0FFFF80
#define CAN_DATALEN_1 0xF0FFFF88
#define CAN_DATALEN_2 0xF0FFFF90
#define CAN_DATALEN_3 0xF0FFFF98
#define CAN_DATALEN_4 0xF0FFFFA0
#define CAN_DATALEN_5 0xF0FFFFA8
#define CAN_DATALEN_6 0xF0FFFFB0
#define CAN_DATALEN_7 0xF0FFFFB8
#define CAN_DATALEN_8 0xF0FFFFC0
/* CiCFG1 */
#define CAN_SYNC_JUMP_WIDTH1 0x003F
#define CAN_SYNC_JUMP_WIDTH2 0x007F
#define CAN_SYNC_JUMP_WIDTH3 0x00BF
#define CAN_SYNC_JUMP_WIDTH4 0x00FF
#define CAN_BAUD_PRE_SCALE(x) (((x-1) & 0x3f) | 0xC0)
/* CiCFG2 */
#define CAN_WAKEUP_BY_FILTER_EN 0x47FF
#define CAN_WAKEUP_BY_FILTER_DIS 0x07FF
#define CAN_PHASE_SEG2_TQ(x) ((((x-1) & 0x7) << 8) | 0x40FF)
#define CAN_PHASE_SEG1_TQ(x) ((((x-1) & 0x7) << 3) | 0x47C7)
#define CAN_PROPAGATIONTIME_SEG_TQ(x) (((x-1) & 0x7) | 0x47F8)
#define CAN_SEG2_FREE_PROG 0x47FF
#define CAN_SEG2_TIME_LIMIT_SET 0x477F
#define CAN_SAMPLE3TIMES 0x47FF
#define CAN_SAMPLE1TIME 0x47BF
/* CiRXnCON */
#define CAN_BUF0_DBLBUFFER_EN 0x0084
#define CAN_BUF0_DBLBUFFER_DIS 0x0080
#define CAN_RXFUL_CLEAR 0x0004
/* CiTXnCON */
#define CAN_TX_REQ 0x000B
#define CAN_TX_STOP_REQ 0x0003
#define CAN_TX_PRIORITY_HIGH 0x000B
#define CAN_TX_PRIORITY_HIGH_INTER 0x000A
#define CAN_TX_PRIORITY_LOW_INTER 0x0009
#define CAN_TX_PRIORITY_LOW 0x0008
/* CiINTE */
#define CAN_INDI_INVMESS_EN 0x00FF
#define CAN_INDI_WAK_EN 0x00FF
#define CAN_INDI_ERR_EN 0x00FF
#define CAN_INDI_TXB2_EN 0x00FF
#define CAN_INDI_TXB1_EN 0x00FF
#define CAN_INDI_TXB0_EN 0x00FF
#define CAN_INDI_RXB1_EN 0x00FF
#define CAN_INDI_RXB0_EN 0x00FF
#define CAN_INDI_INVMESS_DIS 0x007F
#define CAN_INDI_WAK_DIS 0x00BF
#define CAN_INDI_ERR_DIS 0x00DF
#define CAN_INDI_TXB2_DIS 0x00EF
#define CAN_INDI_TXB1_DIS 0x00F7
#define CAN_INDI_TXB0_DIS 0x00FB
#define CAN_INDI_RXB1_DIS 0x00FD
#define CAN_INDI_RXB0_DIS 0x00FE
/* defines for CAN interrupts */
/* Setting the priority of CAN interrupt */
#define CAN_INT_PRI_0 0xFFF8
#define CAN_INT_PRI_1 0xFFF9
#define CAN_INT_PRI_2 0xFFFA
#define CAN_INT_PRI_3 0xFFFB
#define CAN_INT_PRI_4 0xFFFC
#define CAN_INT_PRI_5 0xFFFD
#define CAN_INT_PRI_6 0xFFFE
#define CAN_INT_PRI_7 0xFFFF
/* enable / disable interrupts */
#define CAN_INT_ENABLE 0xFFFF
#define CAN_INT_DISABLE 0xFFF7
/*********************Function definitions*******************/
/* Macros to Enable/Disable interrupts and set Interrupt priority of CAN 1 module*/
#define EnableIntCAN1 IEC1bits.C1IE = 1
#define DisableIntCAN1 IEC1bits.C1IE = 0
#define SetPriorityIntCAN1(priority) IPC6bits.C1IP = (priority)
void ConfigIntCAN1(unsigned int config1, unsigned int config2) __attribute__ ((section (".libperi")));
void CAN1SetTXMode(char buffno, unsigned int config) __attribute__ ((section (".libperi")));
void CAN1SetRXMode(char buffno, unsigned int config) __attribute__ ((section (".libperi")));
void CAN1SetOperationModeNoWait(unsigned int config) __attribute__ ((section (".libperi")));
void CAN1AbortAll(void) __attribute__ ((section (".libperi")));
void CAN1SetMask(char mask_no, unsigned int sid, unsigned long eid) __attribute__ ((section (".libperi")));
void CAN1SetFilter(char filter_no, unsigned int sid, unsigned long eid) __attribute__ ((section (".libperi")));
void CAN1SendMessage(unsigned int sid, unsigned long eid, unsigned char * data, unsigned char datalen, char MsgFlag) __attribute__ ((section (".libperi")));
void CAN1ReceiveMessage(unsigned char * data, unsigned char datalen, char MsgFlag) __attribute__ ((section (".libperi")));
char CAN1IsTXReady(char buffno) __attribute__ ((section (".libperi")));
char CAN1IsTXPassive(void) __attribute__ ((section (".libperi")));
char CAN1IsRXReady(char buffno) __attribute__ ((section (".libperi")));
char CAN1IsRXPassive(void) __attribute__ ((section (".libperi")));
char CAN1IsBusOff(void) __attribute__ ((section (".libperi")));
void CAN1Initialize(unsigned int config1, unsigned int config2) __attribute__ ((section (".libperi")));
unsigned char CAN1GetTXErrorCount(void) __attribute__ ((section (".libperi")));
unsigned char CAN1GetRXErrorCount(void) __attribute__ ((section (".libperi")));
void CAN1SetOperationMode(unsigned int config) __attribute__ ((section (".libperi")));
#ifdef _C2IF
/* Macros to Enable/Disable interrupts and set Interrupt priority of CAN 2 module*/
#define EnableIntCAN2 IEC2bits.C2IE = 1
#define DisableIntCAN2 IEC2bits.C2IE = 0
#define SetPriorityIntCAN2(priority) IPC9bits.C2IP = (priority)
void ConfigIntCAN2(unsigned int config1, unsigned int config2) __attribute__ ((section (".libperi")));
void CAN2SetTXMode(char buffno, unsigned int config) __attribute__ ((section (".libperi")));
void CAN2SetRXMode(char buffno, unsigned int config) __attribute__ ((section (".libperi")));
void CAN2SetOperationModeNoWait(unsigned int config) __attribute__ ((section (".libperi")));
void CAN2AbortAll(void) __attribute__ ((section (".libperi")));
void CAN2SetMask(char mask_no, unsigned int sid, unsigned long eid) __attribute__ ((section (".libperi")));
void CAN2SetFilter(char filter_no, unsigned int sid, unsigned long eid) __attribute__ ((section (".libperi")));
void CAN2SendMessage(unsigned int sid, unsigned long eid, unsigned char * data, unsigned char datalen, char MsgFlag) __attribute__ ((section (".libperi")));
void CAN2ReceiveMessage(unsigned char * data, unsigned char datalen, char MsgFlag) __attribute__ ((section (".libperi")));
char CAN2IsTXReady(char buffno) __attribute__ ((section (".libperi")));
char CAN2IsTXPassive(void) __attribute__ ((section (".libperi")));
char CAN2IsRXReady(char buffno) __attribute__ ((section (".libperi")));
char CAN2IsRXPassive(void) __attribute__ ((section (".libperi")));
char CAN2IsBusOff(void) __attribute__ ((section (".libperi")));
void CAN2Initialize(unsigned int config1, unsigned int config2) __attribute__ ((section (".libperi")));
unsigned char CAN2GetTXErrorCount(void) __attribute__ ((section (".libperi")));
unsigned char CAN2GetRXErrorCount(void) __attribute__ ((section (".libperi")));
void CAN2SetOperationMode(unsigned int config) __attribute__ ((section (".libperi")));
#endif
#endif
#endif