-
Notifications
You must be signed in to change notification settings - Fork 0
/
notes_CAN.h
481 lines (436 loc) · 23.3 KB
/
notes_CAN.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
//*****************************************************************************
//
// CAN registers (CAN0)
//
//*****************************************************************************
#define CAN0_CTL_R (*((volatile uint32_t *)0x40040000))
#define CAN0_STS_R (*((volatile uint32_t *)0x40040004))
#define CAN0_ERR_R (*((volatile uint32_t *)0x40040008))
#define CAN0_BIT_R (*((volatile uint32_t *)0x4004000C))
#define CAN0_INT_R (*((volatile uint32_t *)0x40040010))
#define CAN0_TST_R (*((volatile uint32_t *)0x40040014))
#define CAN0_BRPE_R (*((volatile uint32_t *)0x40040018))
#define CAN0_IF1CRQ_R (*((volatile uint32_t *)0x40040020))
#define CAN0_IF1CMSK_R (*((volatile uint32_t *)0x40040024))
#define CAN0_IF1MSK1_R (*((volatile uint32_t *)0x40040028))
#define CAN0_IF1MSK2_R (*((volatile uint32_t *)0x4004002C))
#define CAN0_IF1ARB1_R (*((volatile uint32_t *)0x40040030))
#define CAN0_IF1ARB2_R (*((volatile uint32_t *)0x40040034))
#define CAN0_IF1MCTL_R (*((volatile uint32_t *)0x40040038))
#define CAN0_IF1DA1_R (*((volatile uint32_t *)0x4004003C))
#define CAN0_IF1DA2_R (*((volatile uint32_t *)0x40040040))
#define CAN0_IF1DB1_R (*((volatile uint32_t *)0x40040044))
#define CAN0_IF1DB2_R (*((volatile uint32_t *)0x40040048))
#define CAN0_IF2CRQ_R (*((volatile uint32_t *)0x40040080))
#define CAN0_IF2CMSK_R (*((volatile uint32_t *)0x40040084))
#define CAN0_IF2MSK1_R (*((volatile uint32_t *)0x40040088))
#define CAN0_IF2MSK2_R (*((volatile uint32_t *)0x4004008C))
#define CAN0_IF2ARB1_R (*((volatile uint32_t *)0x40040090))
#define CAN0_IF2ARB2_R (*((volatile uint32_t *)0x40040094))
#define CAN0_IF2MCTL_R (*((volatile uint32_t *)0x40040098))
#define CAN0_IF2DA1_R (*((volatile uint32_t *)0x4004009C))
#define CAN0_IF2DA2_R (*((volatile uint32_t *)0x400400A0))
#define CAN0_IF2DB1_R (*((volatile uint32_t *)0x400400A4))
#define CAN0_IF2DB2_R (*((volatile uint32_t *)0x400400A8))
#define CAN0_TXRQ1_R (*((volatile uint32_t *)0x40040100))
#define CAN0_TXRQ2_R (*((volatile uint32_t *)0x40040104))
#define CAN0_NWDA1_R (*((volatile uint32_t *)0x40040120))
#define CAN0_NWDA2_R (*((volatile uint32_t *)0x40040124))
#define CAN0_MSG1INT_R (*((volatile uint32_t *)0x40040140))
#define CAN0_MSG2INT_R (*((volatile uint32_t *)0x40040144))
#define CAN0_MSG1VAL_R (*((volatile uint32_t *)0x40040160))
#define CAN0_MSG2VAL_R (*((volatile uint32_t *)0x40040164))
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_CTL register.
//
//*****************************************************************************
#define CAN_CTL_TEST 0x00000080 // Test Mode Enable
#define CAN_CTL_CCE 0x00000040 // Configuration Change Enable
#define CAN_CTL_DAR 0x00000020 // Disable Automatic-Retransmission
#define CAN_CTL_EIE 0x00000008 // Error Interrupt Enable
#define CAN_CTL_SIE 0x00000004 // Status Interrupt Enable
#define CAN_CTL_IE 0x00000002 // CAN Interrupt Enable
#define CAN_CTL_INIT 0x00000001 // Initialization
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_STS register.
//
//*****************************************************************************
#define CAN_STS_BOFF 0x00000080 // Bus-Off Status
#define CAN_STS_EWARN 0x00000040 // Warning Status
#define CAN_STS_EPASS 0x00000020 // Error Passive
#define CAN_STS_RXOK 0x00000010 // Received a Message Successfully
#define CAN_STS_TXOK 0x00000008 // Transmitted a Message
// Successfully
#define CAN_STS_LEC_M 0x00000007 // Last Error Code
#define CAN_STS_LEC_NONE 0x00000000 // No Error
#define CAN_STS_LEC_STUFF 0x00000001 // Stuff Error
#define CAN_STS_LEC_FORM 0x00000002 // Format Error
#define CAN_STS_LEC_ACK 0x00000003 // ACK Error
#define CAN_STS_LEC_BIT1 0x00000004 // Bit 1 Error
#define CAN_STS_LEC_BIT0 0x00000005 // Bit 0 Error
#define CAN_STS_LEC_CRC 0x00000006 // CRC Error
#define CAN_STS_LEC_NOEVENT 0x00000007 // No Event
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_ERR register.
//
//*****************************************************************************
#define CAN_ERR_RP 0x00008000 // Received Error Passive
#define CAN_ERR_REC_M 0x00007F00 // Receive Error Counter
#define CAN_ERR_TEC_M 0x000000FF // Transmit Error Counter
#define CAN_ERR_REC_S 8
#define CAN_ERR_TEC_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_BIT register.
//
//*****************************************************************************
#define CAN_BIT_TSEG2_M 0x00007000 // Time Segment after Sample Point
#define CAN_BIT_TSEG1_M 0x00000F00 // Time Segment Before Sample Point
#define CAN_BIT_SJW_M 0x000000C0 // (Re)Synchronization Jump Width
#define CAN_BIT_BRP_M 0x0000003F // Baud Rate Prescaler
#define CAN_BIT_TSEG2_S 12
#define CAN_BIT_TSEG1_S 8
#define CAN_BIT_SJW_S 6
#define CAN_BIT_BRP_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_INT register.
//
//*****************************************************************************
#define CAN_INT_INTID_M 0x0000FFFF // Interrupt Identifier
#define CAN_INT_INTID_NONE 0x00000000 // No interrupt pending
#define CAN_INT_INTID_STATUS 0x00008000 // Status Interrupt
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_TST register.
//
//*****************************************************************************
#define CAN_TST_RX 0x00000080 // Receive Observation
#define CAN_TST_TX_M 0x00000060 // Transmit Control
#define CAN_TST_TX_CANCTL 0x00000000 // CAN Module Control
#define CAN_TST_TX_SAMPLE 0x00000020 // Sample Point
#define CAN_TST_TX_DOMINANT 0x00000040 // Driven Low
#define CAN_TST_TX_RECESSIVE 0x00000060 // Driven High
#define CAN_TST_LBACK 0x00000010 // Loopback Mode
#define CAN_TST_SILENT 0x00000008 // Silent Mode
#define CAN_TST_BASIC 0x00000004 // Basic Mode
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_BRPE register.
//
//*****************************************************************************
#define CAN_BRPE_BRPE_M 0x0000000F // Baud Rate Prescaler Extension
#define CAN_BRPE_BRPE_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1CRQ register.
//
//*****************************************************************************
#define CAN_IF1CRQ_BUSY 0x00008000 // Busy Flag
#define CAN_IF1CRQ_MNUM_M 0x0000003F // Message Number
#define CAN_IF1CRQ_MNUM_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1CMSK register.
//
//*****************************************************************************
#define CAN_IF1CMSK_WRNRD 0x00000080 // Write, Not Read
#define CAN_IF1CMSK_MASK 0x00000040 // Access Mask Bits
#define CAN_IF1CMSK_ARB 0x00000020 // Access Arbitration Bits
#define CAN_IF1CMSK_CONTROL 0x00000010 // Access Control Bits
#define CAN_IF1CMSK_CLRINTPND 0x00000008 // Clear Interrupt Pending Bit
#define CAN_IF1CMSK_NEWDAT 0x00000004 // Access New Data
#define CAN_IF1CMSK_TXRQST 0x00000004 // Access Transmission Request
#define CAN_IF1CMSK_DATAA 0x00000002 // Access Data Byte 0 to 3
#define CAN_IF1CMSK_DATAB 0x00000001 // Access Data Byte 4 to 7
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1MSK1 register.
//
//*****************************************************************************
#define CAN_IF1MSK1_IDMSK_M 0x0000FFFF // Identifier Mask
#define CAN_IF1MSK1_IDMSK_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1MSK2 register.
//
//*****************************************************************************
#define CAN_IF1MSK2_MXTD 0x00008000 // Mask Extended Identifier
#define CAN_IF1MSK2_MDIR 0x00004000 // Mask Message Direction
#define CAN_IF1MSK2_IDMSK_M 0x00001FFF // Identifier Mask
#define CAN_IF1MSK2_IDMSK_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1ARB1 register.
//
//*****************************************************************************
#define CAN_IF1ARB1_ID_M 0x0000FFFF // Message Identifier
#define CAN_IF1ARB1_ID_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1ARB2 register.
//
//*****************************************************************************
#define CAN_IF1ARB2_MSGVAL 0x00008000 // Message Valid
#define CAN_IF1ARB2_XTD 0x00004000 // Extended Identifier
#define CAN_IF1ARB2_DIR 0x00002000 // Message Direction
#define CAN_IF1ARB2_ID_M 0x00001FFF // Message Identifier
#define CAN_IF1ARB2_ID_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1MCTL register.
//
//*****************************************************************************
#define CAN_IF1MCTL_NEWDAT 0x00008000 // New Data
#define CAN_IF1MCTL_MSGLST 0x00004000 // Message Lost
#define CAN_IF1MCTL_INTPND 0x00002000 // Interrupt Pending
#define CAN_IF1MCTL_UMASK 0x00001000 // Use Acceptance Mask
#define CAN_IF1MCTL_TXIE 0x00000800 // Transmit Interrupt Enable
#define CAN_IF1MCTL_RXIE 0x00000400 // Receive Interrupt Enable
#define CAN_IF1MCTL_RMTEN 0x00000200 // Remote Enable
#define CAN_IF1MCTL_TXRQST 0x00000100 // Transmit Request
#define CAN_IF1MCTL_EOB 0x00000080 // End of Buffer
#define CAN_IF1MCTL_DLC_M 0x0000000F // Data Length Code
#define CAN_IF1MCTL_DLC_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1DA1 register.
//
//*****************************************************************************
#define CAN_IF1DA1_DATA_M 0x0000FFFF // Data
#define CAN_IF1DA1_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1DA2 register.
//
//*****************************************************************************
#define CAN_IF1DA2_DATA_M 0x0000FFFF // Data
#define CAN_IF1DA2_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1DB1 register.
//
//*****************************************************************************
#define CAN_IF1DB1_DATA_M 0x0000FFFF // Data
#define CAN_IF1DB1_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF1DB2 register.
//
//*****************************************************************************
#define CAN_IF1DB2_DATA_M 0x0000FFFF // Data
#define CAN_IF1DB2_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2CRQ register.
//
//*****************************************************************************
#define CAN_IF2CRQ_BUSY 0x00008000 // Busy Flag
#define CAN_IF2CRQ_MNUM_M 0x0000003F // Message Number
#define CAN_IF2CRQ_MNUM_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2CMSK register.
//
//*****************************************************************************
#define CAN_IF2CMSK_WRNRD 0x00000080 // Write, Not Read
#define CAN_IF2CMSK_MASK 0x00000040 // Access Mask Bits
#define CAN_IF2CMSK_ARB 0x00000020 // Access Arbitration Bits
#define CAN_IF2CMSK_CONTROL 0x00000010 // Access Control Bits
#define CAN_IF2CMSK_CLRINTPND 0x00000008 // Clear Interrupt Pending Bit
#define CAN_IF2CMSK_NEWDAT 0x00000004 // Access New Data
#define CAN_IF2CMSK_TXRQST 0x00000004 // Access Transmission Request
#define CAN_IF2CMSK_DATAA 0x00000002 // Access Data Byte 0 to 3
#define CAN_IF2CMSK_DATAB 0x00000001 // Access Data Byte 4 to 7
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2MSK1 register.
//
//*****************************************************************************
#define CAN_IF2MSK1_IDMSK_M 0x0000FFFF // Identifier Mask
#define CAN_IF2MSK1_IDMSK_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2MSK2 register.
//
//*****************************************************************************
#define CAN_IF2MSK2_MXTD 0x00008000 // Mask Extended Identifier
#define CAN_IF2MSK2_MDIR 0x00004000 // Mask Message Direction
#define CAN_IF2MSK2_IDMSK_M 0x00001FFF // Identifier Mask
#define CAN_IF2MSK2_IDMSK_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2ARB1 register.
//
//*****************************************************************************
#define CAN_IF2ARB1_ID_M 0x0000FFFF // Message Identifier
#define CAN_IF2ARB1_ID_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2ARB2 register.
//
//*****************************************************************************
#define CAN_IF2ARB2_MSGVAL 0x00008000 // Message Valid
#define CAN_IF2ARB2_XTD 0x00004000 // Extended Identifier
#define CAN_IF2ARB2_DIR 0x00002000 // Message Direction
#define CAN_IF2ARB2_ID_M 0x00001FFF // Message Identifier
#define CAN_IF2ARB2_ID_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2MCTL register.
//
//*****************************************************************************
#define CAN_IF2MCTL_NEWDAT 0x00008000 // New Data
#define CAN_IF2MCTL_MSGLST 0x00004000 // Message Lost
#define CAN_IF2MCTL_INTPND 0x00002000 // Interrupt Pending
#define CAN_IF2MCTL_UMASK 0x00001000 // Use Acceptance Mask
#define CAN_IF2MCTL_TXIE 0x00000800 // Transmit Interrupt Enable
#define CAN_IF2MCTL_RXIE 0x00000400 // Receive Interrupt Enable
#define CAN_IF2MCTL_RMTEN 0x00000200 // Remote Enable
#define CAN_IF2MCTL_TXRQST 0x00000100 // Transmit Request
#define CAN_IF2MCTL_EOB 0x00000080 // End of Buffer
#define CAN_IF2MCTL_DLC_M 0x0000000F // Data Length Code
#define CAN_IF2MCTL_DLC_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2DA1 register.
//
//*****************************************************************************
#define CAN_IF2DA1_DATA_M 0x0000FFFF // Data
#define CAN_IF2DA1_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2DA2 register.
//
//*****************************************************************************
#define CAN_IF2DA2_DATA_M 0x0000FFFF // Data
#define CAN_IF2DA2_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2DB1 register.
//
//*****************************************************************************
#define CAN_IF2DB1_DATA_M 0x0000FFFF // Data
#define CAN_IF2DB1_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_IF2DB2 register.
//
//*****************************************************************************
#define CAN_IF2DB2_DATA_M 0x0000FFFF // Data
#define CAN_IF2DB2_DATA_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_TXRQ1 register.
//
//*****************************************************************************
#define CAN_TXRQ1_TXRQST_M 0x0000FFFF // Transmission Request Bits
#define CAN_TXRQ1_TXRQST_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_TXRQ2 register.
//
//*****************************************************************************
#define CAN_TXRQ2_TXRQST_M 0x0000FFFF // Transmission Request Bits
#define CAN_TXRQ2_TXRQST_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_NWDA1 register.
//
//*****************************************************************************
#define CAN_NWDA1_NEWDAT_M 0x0000FFFF // New Data Bits
#define CAN_NWDA1_NEWDAT_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_NWDA2 register.
//
//*****************************************************************************
#define CAN_NWDA2_NEWDAT_M 0x0000FFFF // New Data Bits
#define CAN_NWDA2_NEWDAT_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_MSG1INT register.
//
//*****************************************************************************
#define CAN_MSG1INT_INTPND_M 0x0000FFFF // Interrupt Pending Bits
#define CAN_MSG1INT_INTPND_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_MSG2INT register.
//
//*****************************************************************************
#define CAN_MSG2INT_INTPND_M 0x0000FFFF // Interrupt Pending Bits
#define CAN_MSG2INT_INTPND_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_MSG1VAL register.
//
//*****************************************************************************
#define CAN_MSG1VAL_MSGVAL_M 0x0000FFFF // Message Valid Bits
#define CAN_MSG1VAL_MSGVAL_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the CAN_O_MSG2VAL register.
//
//*****************************************************************************
#define CAN_MSG2VAL_MSGVAL_M 0x0000FFFF // Message Valid Bits
#define CAN_MSG2VAL_MSGVAL_S 0
//########################################################################################
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_PPCAN register.
//
//*****************************************************************************
#define SYSCTL_PPCAN_P1 0x00000002 // CAN Module 1 Present
#define SYSCTL_PPCAN_P0 0x00000001 // CAN Module 0 Present
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_SRCAN register.
//
//*****************************************************************************
#define SYSCTL_SRCAN_R1 0x00000002 // CAN Module 1 Software Reset
#define SYSCTL_SRCAN_R0 0x00000001 // CAN Module 0 Software Reset
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_RCGCCAN register.
//
//*****************************************************************************
#define SYSCTL_RCGCCAN_R1 0x00000002 // CAN Module 1 Run Mode Clock
// Gating Control
#define SYSCTL_RCGCCAN_R0 0x00000001 // CAN Module 0 Run Mode Clock
// Gating Control
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_SCGCCAN register.
//
//*****************************************************************************
#define SYSCTL_SCGCCAN_S1 0x00000002 // CAN Module 1 Sleep Mode Clock
// Gating Control
#define SYSCTL_SCGCCAN_S0 0x00000001 // CAN Module 0 Sleep Mode Clock
// Gating Control
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_DCGCCAN register.
//
//*****************************************************************************
#define SYSCTL_DCGCCAN_D1 0x00000002 // CAN Module 1 Deep-Sleep Mode
// Clock Gating Control
#define SYSCTL_DCGCCAN_D0 0x00000001 // CAN Module 0 Deep-Sleep Mode
// Clock Gating Control
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_PCCAN register.
//
//*****************************************************************************
#define SYSCTL_PCCAN_P1 0x00000002 // CAN Module 1 Power Control
#define SYSCTL_PCCAN_P0 0x00000001 // CAN Module 0 Power Control
//*****************************************************************************
//
// The following are defines for the bit fields in the SYSCTL_PRCAN register.
//
//*****************************************************************************
#define SYSCTL_PRCAN_R1 0x00000002 // CAN Module 1 Peripheral Ready
#define SYSCTL_PRCAN_R0 0x00000001 // CAN Module 0 Peripheral Ready