/* ** ################################################################### ** ** THIS BEAN MODULE IS GENERATED BY THE TOOL. DO NOT MODIFY IT. ** ** Filename : CAN1.C ** ** Project : Full1 ** ** Processor : MC68HC908AZ60MFU ** ** Beantype : MotorolaCAN ** ** Version : Bean 02.193, Driver 01.02, CPU db: 2.81.019 ** ** Compiler : Metrowerks HC08 C Compiler V-5.0.13 ** ** Date/Time : 2.4.2002, 9:36 ** ** Abstract : ** ** This bean "MotorolaCAN" implements an CAN serial channel. ** ** Settings : ** ** CAN channel : CAN ** ** Protocol ** Time segment 1 : 7 ** Time segment 2 : 3 ** RSJ : 1 ** ** Recieve accept. code : 0 ** Recieve accept. mask : 0 ** ** ** ** Contents : ** ** SetAcceptanceCode - byte CAN1_SetAcceptanceCode(dword Mask); ** SetAcceptanceMask - byte CAN1_SetAcceptanceMask(dword Mask); ** SetAcceptanceMode - byte CAN1_SetAcceptanceMode(byte Mode); ** SendFrame - byte CAN1_SendFrame(byte BufferNum,dword MessageID,byte FrameType,byte Length,by ** ReadFrame - byte CAN1_ReadFrame(dword *MessageID,byte *FrameType,byte *FrameFormat,byte *Len ** GetStateTX - byte CAN1_GetStateTX(byte BufferNum,bool *State); ** GetStateRX - byte CAN1_GetStateRX(void); ** GetError - byte CAN1_GetError(void); ** ** ** (c) Copyright UNIS, spol. s r.o. 1997-2002 ** ** UNIS, spol. s r.o. ** Jundrovska 33 ** 624 00 Brno ** Czech Republic ** ** http : www.processorexpert.com ** mail : info@processorexpert.com ** ** ################################################################### */ /* MODULE CAN1. */ #pragma MESSAGE DISABLE C1420 /* WARNING C1420: Result of function-call is ignored */ #include "CAN1.h" #include "PWM1.h" #include "PPG1.h" #include "TI1.h" #include "AD2.h" #include "AS1.h" #include "SM1.h" #include "Byte1.h" #include "Bits1.h" #include "Bits2.h" #include "Bits3.h" #include "Bit1.h" #include "Bits4.h" #include "Bits5.h" #include "Bits6.h" #include "EInt1.h" static byte* IDR1regs[3] = {&IDR10,&IDR11,&IDR12}; /* adresses of IDR1 registers */ static dword* IDRregs[3] = {&IDR0,&IDR1,&IDR2}; /* adresses of IDR registers */ static byte* IDR3regs[3] = {&IDR30,&IDR31,&IDR32}; /* adresses of IDR3 registers */ static byte* DSRregs[3] = {&DSR00,&DSR01,&DSR02}; /* adresses of DSR registers */ static byte* DLRregs[3] = {&DLR0,&DLR1,&DLR2}; /* adresses of DLR registers */ static byte* TBPRregs[3] = {&TBPR0,&TBPR1,&TBPR2}; /* adresses of TBPR registers */ /* ** =================================================================== ** Method : CAN1_SetAcceptanceMode (bean MotorolaCAN) ** ** Description : ** Set a content of the acceptance mode register. ** Parameters : ** NAME - DESCRIPTION ** Mode - Acceptance mode. ** Supported modes: ** SINGLE_32_FILTER - Single 32-bit ** acceptance filter ** TWO_16_FILTER - Two 16-bit acceptance ** filter ** FOUR_8_FILTER - Four 8-bit acceptance ** filter ** FILTER_CLOSED - Filter closed ** Returns : ** --- - Error code, possible codes: ** ERR_OK - OK ** ERR_SPEED - This device does not work in ** the active speed mode ** ERR_DISABLED - This bean is disabled by ** user ** =================================================================== */ byte CAN1_SetAcceptanceMode(byte Mode) { if (Mode > 3) /* Is mode parameter greater then 3 */ return ERR_VALUE; /* If yes then error */ CIDAC_IDAM = Mode; /* Set acceptance mode of the receiver */ return ERR_OK; /* OK */ } /* ** =================================================================== ** Method : CAN1_GetStateRX (bean MotorolaCAN) ** ** Description : ** Return a value of the reception complete flag. ** Parameters : None ** Returns : ** --- - Gets state of the receiver. ** 0 - Receiver is empty ** 1 - Receiver is full ** =================================================================== */ /* byte CAN1_GetStateRX(void) ** This method is implemented as a macro. See header module. ** */ /* ** =================================================================== ** Method : CAN1_SetAcceptanceCode (bean MotorolaCAN) ** ** Description : ** Set acceptance code register. ** Parameters : ** NAME - DESCRIPTION ** Mask - Mask could be 11-bit for standard ** frame or 29-bit for extended frame ** Returns : ** --- - Error code, possible codes: ** ERR_OK - OK ** ERR_SPEED - This device does not work in ** the active speed mode ** ERR_DISABLED - This bean is disabled by ** user ** =================================================================== */ byte CAN1_SetAcceptanceCode(dword Mask) { CMCR0 |= 1; /* Software reset */ CIDMR = Mask; /* Set acceptance code of the receiver */ CMCR0 = 0; /* Start the device */ return ERR_OK; /* OK */ } /* ** =================================================================== ** Method : CAN1_GetError (bean MotorolaCAN) ** ** Description : ** Return a content of the receiver flag register. ** Parameters : None ** Returns : ** --- - Meaning of returned 8 bits: ** Bit 0 - Receive buffer full ** Bit 1 - Overrun ** Bit 2 - Bus-Off ** Bit 3 - Transmitter error passive ** Bit 4 - Receiver error passive ** Bit 5 - Transmitter warning ** Bit 6 - Receiver warning ** Bit 7 - Wakeup ** =================================================================== */ byte CAN1_GetError(void) { byte Err = CRFLG; /* Temporary variable */ CRFLG |= 254; return Err; /* Result error state */ } /* ** =================================================================== ** Method : CAN1_HWEnDi (bean MotorolaCAN) ** ** Description : ** This method is internal. It is used by Processor Expert ** only. ** =================================================================== */ void CAN1_HWEnDi(void) { CMCR0 &= ~1; /* Start the device */ while(!CMCR0_SYNCH); /* Wait for synchronization */ } /* ** =================================================================== ** Method : CAN1_SetHigh (bean MotorolaCAN) ** ** Description : ** This method is internal. It is used by Processor Expert ** only. ** =================================================================== */ void CAN1_SetHigh(void) { CBTR0=73; /* Set the device timing register */ CBTR1=55; /* Set the device timing register */ CMCR1_CLKSRC=0; /* Select the clock source */ CAN1_HWEnDi(); /* Enable/disable device according to status flags */ } /* ** =================================================================== ** Method : CAN1_SendFrame (bean MotorolaCAN) ** ** Description : ** Send a frame. ** Parameters : ** NAME - DESCRIPTION ** BufferNum - Number of the buffer (0..2) ** MessageID - Identification of the ** message ** FrameType - Type of frame ** DATA_FRAME - data frame ** REMOTE_FRAME - remote frame ** Length - Length of the frame in bytes (0.. ** 8) ** * Data - Pointer to data ** Returns : ** --- - Error code, possible codes: ** ERR_OK - OK ** ERR_SPEED - This device does not work in ** the active speed mode ** ERR_DISABLED - This bean is disabled by ** user ** ERR_VALUE - Some parameter is out of ** possible range ** =================================================================== */ byte CAN1_SendFrame(byte BufferNum,dword MessageID,byte FrameType,byte Length,byte *Data) { byte i; /* Temorary variables */ byte bufmask=((word)1<2) || (Length>8) ) /* Is BufferNum greater than 2 or Length greater than 8?*/ return ERR_VALUE; /* If yes then error */ if (FrameType > REMOTE_FRAME) /* Is FrameType other than REMOTE_FRAME or DATA_FRAME */ return ERR_VALUE; /* If yes then error */ if (!(CTFLG & bufmask)) /* Is the transmit buffer full? */ return ERR_TXFULL; /* If yes then error */ if (MessageID < 2048) /* Is it the standard frame? */ MessageID = (MessageID << 21); /* Sets the message as "standard" */ else MessageID = ( ((MessageID<<1) & 0x0007FFFF) | ((MessageID << 3) & 0xFFE00000) ) | 0x00080000 ; /* Sets the message as "extended" */ *IDRregs[BufferNum] = MessageID; if (FrameType == DATA_FRAME) { /* Is it a data frame? */ for(i=0; i> 1) & 0x0003FFFF) | ((ID >> 3) & 0xFFFC0000) ); /* Result the identification */ *FrameType = (REC_IDR3 & 1)? REMOTE_FRAME : DATA_FRAME; /* Result the frame type */ } else { /* Message is "standard frame" */ ID >>= 21; /* Result the identification */ *FrameType = (REC_IDR1 & 16)? REMOTE_FRAME : DATA_FRAME; /* Result the frame type */ } *MessageID = ID; /* Result the identification */ *FrameFormat = (REC_IDR1 & 8)? EXTENDED_FORMAT : STANDARD_FORMAT; /* Result the frame type */ if (*FrameType == DATA_FRAME) { /* Is frame "data frame" */ *Length = REC_DLR & 0x0F; /* Result length of the message */ if (!(REC_IDR1 & 8)) { /* Was the data frame received? */ for(i=0; i<*Length; i++) Data[i] = REC_DSR[i]; /* If yes then result message data */ } } else *Length = 0; /* Result zero length */ CRFLG_RXF = 1; /* Reset the interrupt request flag */ return ERR_OK; /* OK */ } /* ** =================================================================== ** Method : CAN1_Init (bean MotorolaCAN) ** ** Description : ** This method is internal. It is used by Processor Expert ** only. ** =================================================================== */ void CAN1_Init(void) { CMCR0 = 1; /* CAN reset */ CMCR1 = 0; CIDAC_IDAM = 0; /* Set the acceptance mode */ CIDAR = 0; /* Set the acceptance code */ CIDMR = 0; /* Set the acceptance mask */ CAN1_SetHigh(); /* Initial speed CPU mode is high */ } /* ** =================================================================== ** Method : CAN1_GetStateTX (bean MotorolaCAN) ** ** Description : ** Return a value of the transmission complete flag of given ** buffer. ** Parameters : ** NAME - DESCRIPTION ** BufferNum - Number of the buffer ** * State - Value of transmission complete flag ** of the given buffer. FALSE - message ** buffer is empty; TRUE - message buffer ** isn't empty. ** Returns : ** --- - Error code, possible codes: ** ERR_OK - OK ** ERR_SPEED - This device does not work in ** the active speed mode ** ERR_DISABLED - This bean is disabled by ** user ** ERR_VALUE - Some parameter is out of ** possible range ** =================================================================== */ byte CAN1_GetStateTX(byte BufferNum,bool *State) { if (BufferNum > 2) /* Is number of buffer greater than 2? */ return ERR_VALUE; /* If yes then error */ *State = (CTFLG & (1 << BufferNum)); /* Result state of the transmitter interrupt flag */ return ERR_OK; /* OK */ } /* ** =================================================================== ** Method : CAN1_SetAcceptanceMask (bean MotorolaCAN) ** ** Description : ** Set the acceptance mask registers. ** Parameters : ** NAME - DESCRIPTION ** Mask - Mask could be 11-bit for standard ** frame or 29-bit for extended frame ** Returns : ** --- - Error code, possible codes: ** ERR_OK - OK ** ERR_SPEED - This device does not work in ** the active speed mode ** ERR_DISABLED - This bean is disabled by ** user ** =================================================================== */ byte CAN1_SetAcceptanceMask(dword Mask) { CIDMR = Mask; return ERR_OK; /* OK */ } /* END CAN1. */ /* ** ################################################################### ** ** This file was created by UNIS Processor Expert 02.84 for ** the Motorola HC08 series of microcontrollers. ** ** ################################################################### */