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libs/BSP/can.h
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344
libs/BSP/can.h
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#ifndef __CAN_H__
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#define __CAN_H__
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/**
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*****************************************************************************
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* @addtogroup CARME
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* @{
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* @addtogroup CARME_CAN_EXT
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* @{
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*
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* @file can.h
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* @version 1.0
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* @date 2007-04-13
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* @author M. Muehlemann
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*
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* @brief Drivers for the CAN interface. Uses the SJA1000 CAN controller
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* on the CARME motherboard.
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*
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*****************************************************************************
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* @copyright
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* @{
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*
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* This software can be used by students and other personal of the Bern
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* University of Applied Sciences under the terms of the MIT license.
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* For other persons this software is under the terms of the GNU General
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* Public License version 2.
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*
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* Copyright © 2013, Bern University of Applied Sciences.
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* All rights reserved.
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*
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*
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* ##### MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation
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* the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*
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* ##### GNU GENERAL PUBLIC LICENSE
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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* @}
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*****************************************************************************
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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/*----- Header-Files -------------------------------------------------------*/
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#include <stm32f4xx.h> /* Processor STM32F407IG */
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#include <carme.h> /* CARME Module */
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#include <can_sja1000.h> /* CAN Controller SJA1000 defines */
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/*----- Macros -------------------------------------------------------------*/
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#define CARME_CAN_nCAN_INT_PORT GPIOI /**< CAN Interrupt Line Port*/
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#define CARME_CAN_nCAN_INT_PIN GPIO_Pin_8 /**< CAN Interrupt Line Pin */
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#define CARME_CAN_nCAN_IRQn_CH EXTI9_5_IRQn /**< Used NVIC channel */
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/* baudrates */
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#define CARME_CAN_BAUD_125K 125000 /**< Baudrade 125K */
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#define CARME_CAN_BAUD_250K 250000 /**< Baudrade 250K */
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#define CARME_CAN_BAUD_500K 500000 /**< Baudrade 500K */
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#define CARME_CAN_BAUD_1M 1000000 /**< Baudrade 1M */
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/* error codes */
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#define CARME_ERROR_CAN CARME_ERROR_CAN_BASE + 0 /**< Common CAN error */
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#define CARME_ERROR_CAN_INVALID_BAUDRATE CARME_ERROR_CAN_BASE + 1 /**< Invalid baudrate */
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#define CARME_ERROR_CAN_RXFIFO_EMPTY CARME_ERROR_CAN_BASE + 2 /**< RxFIFO empty */
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#define CARME_ERROR_CAN_INVALID_MODE CARME_ERROR_CAN_BASE + 3 /**< Invalid mode */
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#define CARME_ERROR_CAN_INVALID_OPMODE CARME_ERROR_CAN_BASE + 4 /**< Invalid opmode */
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#define CARME_ERROR_CAN_INVALID_ACCEPTANCE_MODE CARME_ERROR_CAN_BASE + 5 /**< Invalid acceptance mode*/
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#define CARME_ERROR_CAN_ERROR_STATUS CARME_ERROR_CAN_BASE + 6 /**< Status error */
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/* interrupt enable flags */
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#define CARME_CAN_INT_BUSERR (SJA1000_IER_BEIE) /**< Bus Error Interrupt Enable */
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#define CARME_CAN_INT_ARBIT_LOST (SJA1000_IER_ALIE) /**< Arbitration Lost Interrupt Enable */
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#define CARME_CAN_INT_PASSIVE (SJA1000_IER_EPIE) /**< Error Passive Interrupt Enable */
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#define CARME_CAN_INT_WAKEUP (SJA1000_IER_WUIE) /**< Wake-up Interrupt Enable */
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#define CARME_CAN_INT_OVERRUN (SJA1000_IER_DOIE) /**< Data overrun Interrupt Enable */
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#define CARME_CAN_INT_ERROR (SJA1000_IER_EIE) /**< Error Warning Interrupt Enable */
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#define CARME_CAN_INT_TX (SJA1000_IER_TIE) /**< Transmit Interrupt Enable */
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#define CARME_CAN_INT_RX (SJA1000_IER_RIE) /**< Receive Interrupt Enable */
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/* driver flags */
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#define CARME_CAN_DF_RESET 0x00 /**< RM-Bit in MOD register set */
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#define CARME_CAN_DF_NORMAL 0x01 /**< RM-Bit in MOD register cleared */
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#define CARME_CAN_DF_LISTEN_ONLY 0x02 /**< LOM-Bit in MOD register set */
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//#define CARME_CAN_DF_SLEEP 0x04
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/*----- Data types ---------------------------------------------------------*/
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/**
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* @brief Interrupt sources of the CAN-Controller
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*/
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enum CARME_CAN_IRQ_CALLBACKS {
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CARME_CAN_IRQID_RX_INTERRUPT = 0, /**< Telegram received Interrupt */
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CARME_CAN_IRQID_TX_INTERRUPT, /**< Telegram transmitted Interrupt */
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CARME_CAN_IRQID_ERROR_INTERRUPT, /**< Error warning Interrupt */
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CARME_CAN_IRQID_DATAOVERFLOW_INTERRUPT, /**< Overflow Interrupt */
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CARME_CAN_IRQID_WAKEUP_INTERRUPT, /**< Wakeup Interrupt Occurs when the sleep mode is left */
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CARME_CAN_IRQID_PASSIVE_INTERRUPT, /**< Passive Interrupt */
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CARME_CAN_IRQID_ARITRATION_LOST_INTERRUPT, /**< Arbitration Lost Interrupt */
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CARME_CAN_IRQID_BUS_ERROR_INTERRUPT, /**< Bus Error Interrupt */
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CARME_CAN_IRQID_COUNT /**< this must be the last entry (used for array size) */
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};
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/**
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* @brief This struct encapsulates a CAN message.
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*/
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typedef struct _CARME_CAN_MESSAGE {
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uint32_t id; /**< standard or extended Identifier */
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uint8_t ext; /**< Frame format:
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@arg 0: Standard Frame Format (SFF)
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@arg 1: Extended Frame Format (EFF) */
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uint8_t rtr; /**< If 1 the RTR Bit was set in the received CAN message */
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uint8_t dlc; /**< Number of data-bytes in the received CAN message */
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uint8_t data[8]; /**< Array with received databytes */
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} CARME_CAN_MESSAGE;
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/**
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* @brief Acceptance filter modes
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* @see @ref CARME_CAN_SetAcceptaceFilter()
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*/
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enum CARME_CAN_ACCEPTANCE_FILTER_MODE {
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MODE_SINGLE = 1, /**< single acceptance filter option is enabled
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(one filter with the length of 32 bits) */
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MODE_DUAL = 2 /**< dual acceptance filter option is enabled
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(two filters with the length of 16 bits) */
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};
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/**
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* @brief Information about the acceptance filter.
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* @see @ref CARME_CAN_SetAcceptaceFilter()
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*/
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typedef struct _CARME_CAN_ACCEPTANCE_FILTER {
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uint8_t acr[4]; /**< Content of the 4 Accept Filter Code Register */
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uint8_t amr[4]; /**< Content of the 4 Accept Filter Mask Register */
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enum CARME_CAN_ACCEPTANCE_FILTER_MODE afm; /**< acceptance filter mode */
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} CARME_CAN_ACCEPTANCE_FILTER;
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/**
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* @brief Pointer to a function.
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*/
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typedef void (*IRQ_CALLBACK)();
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/*----- Function prototypes ------------------------------------------------*/
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extern void CARME_CAN_Init(uint32_t baud, uint8_t flags);
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extern void CARME_CAN_InitI(uint32_t baud, uint8_t flags, uint32_t interrupts);
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extern ERROR_CODES CARME_CAN_Write(CARME_CAN_MESSAGE* txMsg);
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extern ERROR_CODES CARME_CAN_Read(CARME_CAN_MESSAGE* rxMsg);
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extern void CARME_CAN_Interrupt_Handler(void);
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extern void CARME_CAN_RegisterIRQCallback(enum CARME_CAN_IRQ_CALLBACKS id,
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IRQ_CALLBACK pIRQCallback);
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extern void CARME_CAN_UnregisterIRQCallback(enum CARME_CAN_IRQ_CALLBACKS id);
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extern ERROR_CODES CARME_CAN_SetMode(uint8_t flags);
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extern ERROR_CODES CARME_CAN_SetBaudrate(uint32_t baud);
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extern ERROR_CODES CARME_CAN_SetAcceptaceFilter(
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CARME_CAN_ACCEPTANCE_FILTER* af);
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extern ERROR_CODES CARME_CAN_GetAcceptaceFilter(
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CARME_CAN_ACCEPTANCE_FILTER* af);
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#ifdef CARME_CAN_DEBUG
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/* debug functions */
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extern void CARME_CAN_PrintRegisters();
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extern void CARME_CAN_GetRegisterString(char* pStr);
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#endif
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/*----- Data ---------------------------------------------------------------*/
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static __IO uint8_t *SJA1000_CMD = (__IO uint8_t *) (FSMC_CAN_BASE);
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static __IO uint8_t *SJA1000_DATA = (__IO uint8_t *) (FSMC_CAN_BASE + 8);
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/*----- Implementation -----------------------------------------------------*/
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/**
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* @brief Write a value in a SJA1000 register.
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* @param[in] registerAddress Address from the SJA1000 register.
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* @param[in] val Value to write.
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*/
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static void CARME_CAN_Write_Register(uint8_t registerAddress, uint8_t val) {
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*SJA1000_CMD = registerAddress; /* write address */
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*SJA1000_DATA = val; /* write data */
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}
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/**
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* @brief Reads a value from a SJA1000 register.
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* @param[in] registerAddress Address from the SJA1000 register.
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* @return error code
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*/
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static uint8_t CARME_CAN_Read_Register(uint8_t registerAddress) {
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*SJA1000_CMD = registerAddress; /* write address */
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return *SJA1000_DATA; /* read data */
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}
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/**
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* @brief Returns 1 if the CAN Controller is involved in bus
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* activities\n
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* The Function checks the BS-bit in the status register of the
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* SJA1000.
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* @return 1 on bus-on
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*/
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static inline uint8_t CARME_CAN_IsBusOn(void) {
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return (CARME_CAN_Read_Register(SJA1000_SR) & SJA1000_SR_BS) == 0;
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}
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/**
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* @brief Returns 1 if an data overrun occurred
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* The Function checks the DOS-bit in the status register of the
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* SJA1000.
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* @return 1 on data overrun
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*/
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static inline uint8_t CARME_CAN_IsDataOverrun(void) {
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return (CARME_CAN_Read_Register(SJA1000_SR) & SJA1000_SR_DOS)
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== SJA1000_SR_DOS;
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}
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/**
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* @brief Returns 1 if at least one of the error counters has reached
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* or exceeded the value in the Error Warning Limit Register. \n
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* The Function checks the ES-bit in the status register of the
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* SJA1000.
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* @return 1 on error
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*/
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static inline uint8_t CARME_CAN_IsError(void) {
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return (CARME_CAN_Read_Register(SJA1000_SR) & SJA1000_SR_ES)
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== SJA1000_SR_ES;
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}
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/**
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* @brief Clear Data-Overrun-Bit in the status register of the SJA1000
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*/
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static inline void CARME_CAN_ClearDataOverrun(void) {
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CARME_CAN_Write_Register(SJA1000_CMR, SJA1000_CMR_CDO); // set CDO-bit
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}
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/**
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* @brief Cancel a pending transmission request.
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*/
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static inline void CARME_CAN_AbortTransmisssion(void) {
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CARME_CAN_Write_Register(SJA1000_CMR, SJA1000_CMR_AT); // set At-bit
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}
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/**
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* @brief Set the value of the Error Warning Limit Register. The content
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* can only be changed in reset mode.
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* @param[in] limit The new content of the Error Warning Limit Register
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* @return Error code
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*/
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static inline ERROR_CODES CARME_CAN_SetErrorWarningLimit(uint8_t limit) {
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ERROR_CODES err = CARME_NO_ERROR;
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if (!(CARME_CAN_Read_Register(SJA1000_MOD) & SJA1000_MOD_RM)) {
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err = CARME_ERROR_CAN_INVALID_OPMODE;
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}
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CARME_CAN_Write_Register(SJA1000_EWL, limit);
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return err;
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}
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/**
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* @brief Get the value of the Error Warning Limit Register.
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* @param[in] limit Pointer to a variable which will contain the content
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* of the Error Warning Limit Register
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*/
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static inline void CARME_CAN_GetErrorWarningLimit(uint8_t* limit) {
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*limit = CARME_CAN_Read_Register(SJA1000_EWL);
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}
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/**
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* @brief Get the value of the RX Error Count Register.
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* @param[in] count Pointer to a variable which will contain the content
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* of the RX Error Count Register
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*/
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static inline void CARME_CAN_GetRxErrCount(uint8_t* count) {
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*count = CARME_CAN_Read_Register(SJA1000_RXERR);
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}
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/**
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* @brief Get the value of the TX Error Count Register.
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* @param[in] count Pointer to a variable which will contain the content
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* of the TX Error Count Register.
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*/
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static inline void CARME_CAN_GetTxErrCount(uint8_t* count) {
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*count = CARME_CAN_Read_Register(SJA1000_TXERR);
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}
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/**
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* @brief Get the value of the TX Error Count Register.
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* @param[in] alc Pointer to a variable which will contain the content
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* of the Arbitration Lost Capture Register.
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*/
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static inline void CARME_CAN_GetArbitrationLostCapture(uint8_t* alc) {
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*alc = CARME_CAN_Read_Register(SJA1000_ALC);
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}
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/**
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* @brief Get the value of the TX Error Count Register.
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* @param[in] ecc Pointer to a variable which will contain the content
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* of the Error Code Capture Register.
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*/
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static inline void CARME_CAN_GetErrorCodeCapture(uint8_t* ecc) {
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*ecc = CARME_CAN_Read_Register(SJA1000_ECC);
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}
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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/**
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* @}
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* @}
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*/
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#endif /* __CAN_H__ */
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