SJA1000
[Special Hardware]

Collaboration diagram for SJA1000:

Detailed Description

CAN Bus Controller.

Data Structures

struct _CANBuffer

Defines

#define SJA1000_MODECTRL   (*(volatile u_char*) (sja_base+0))

#define RM_RR_Bit   0x01

#define LOM_Bit   0x02

#define STM_Bit   0x04

#define AFM_Bit   0x08

#define SM_Bit   0x10

#define SJA1000_IEN   (*(volatile u_char*) (sja_base+4))

#define RIE_Bit   0x01

#define TIE_Bit   0x02

#define EIE_Bit   0x04

#define DOIE_Bit   0x08

#define WUIE_Bit   0x10

#define EPIE_Bit   0x20

#define ALIE_Bit   0x40

#define BEIE_Bit   0x80

#define SJA1000_CMD   (*(volatile u_char*) (sja_base+1))

#define TR_Bit   0x01

#define AT_Bit   0x02

#define RRB_Bit   0x04

#define CDO_Bit   0x08

#define SRR_Bit   0x10

#define SJA1000_STATUS   (*(volatile u_char*) (sja_base+2))

#define RBS_Bit   0x01

#define DOS_Bit   0x02

#define TBS_Bit   0x04

#define TCS_Bit   0x08

#define RS_Bit   0x10

#define TS_Bit   0x20

#define ES_Bit   0x40

#define BS_Bit   0x80

#define SJA1000_INT   (*(volatile u_char*) (sja_base+3))

#define RI_Bit   0x01

#define TI_Bit   0x02

#define EI_Bit   0x04

#define DOI_Bit   0x08

#define WUI_Bit   0x10

#define EPI_Bit   0x20

#define ALI_Bit   0x40

#define BEI_Bit   0x80

#define SJA1000_BT0   (*(volatile u_char*) (sja_base+6))

#define SJA1000_BT1   (*(volatile u_char*) (sja_base+7))

#define SAM_Bit   0x80

#define SJA1000_OUTCTRL   (*(volatile u_char*) (sja_base+8))

#define BiPhaseMode   0x00

#define NormalMode   0x02

#define ClkOutMode   0x03

#define ClkOutMode   0x03

#define OCPOL1_Bit   0x20

#define OCPOL1_Bit   0x20

#define Tx1Float   0x00

#define Tx1Float   0x00

#define Tx1PullDn   0x40

#define Tx1PullDn   0x40

#define Tx1PullUp   0x80

#define Tx1PullUp   0x80

#define Tx1PshPull   0xC0

#define Tx1PshPull   0xC0

#define OCPOLO_Bit   0x04

#define Tx0Float   0x00

#define Tx0Float   0x00

#define Tx0PullDn   0x08

#define Tx0PullDn   0x08

#define Tx0PullUp   0x10

#define Tx0PshPull   0x18

#define SJA1000_AC0   (*(volatile u_char*) (sja_base+16))

#define SJA1000_AC1   (*(volatile u_char*) (sja_base+17))

#define SJA1000_AC2   (*(volatile u_char*) (sja_base+18))

#define SJA1000_AC3   (*(volatile u_char*) (sja_base+19))

#define SJA1000_AM0   (*(volatile u_char*) (sja_base+20))

#define SJA1000_AM1   (*(volatile u_char*) (sja_base+21))

#define SJA1000_AM2   (*(volatile u_char*) (sja_base+22))

#define SJA1000_AM3   (*(volatile u_char*) (sja_base+23))

#define SJA1000_RxFrameInfo   (*(volatile u_char*) (sja_base+16))

#define SJA1000_Rx1   (*(volatile u_char*) (sja_base+17))

#define SJA1000_Rx2   (*(volatile u_char*) (sja_base+18))

#define SJA1000_Rx3   (*(volatile u_char*) (sja_base+19))

#define SJA1000_Rx4   (*(volatile u_char*) (sja_base+20))

#define SJA1000_Rx5   (*(volatile u_char*) (sja_base+21))

#define SJA1000_Rx6   (*(volatile u_char*) (sja_base+22))

#define SJA1000_Rx7   (*(volatile u_char*) (sja_base+23))

#define SJA1000_Rx8   (*(volatile u_char*) (sja_base+24))

#define SJA1000_Rx9   (*(volatile u_char*) (sja_base+25))

#define SJA1000_Rx10   (*(volatile u_char*) (sja_base+26))

#define SJA1000_Rx11   (*(volatile u_char*) (sja_base+27))

#define SJA1000_Rx12   (*(volatile u_char*) (sja_base+28))

#define TestReg   (*(volatile u_char*) (sja_base+9))

#define SJA1000_TxFrameInfo   (*(volatile u_char*) (sja_base+16))

#define SJA1000_Tx1   (*(volatile u_char*) (sja_base+17))

#define SJA1000_Tx2   (*(volatile u_char*) (sja_base+18))

#define SJA1000_Tx3   (*(volatile u_char*) (sja_base+19))

#define SJA1000_Tx4   (*(volatile u_char*) (sja_base+20))

#define SJA1000_Tx5   (*(volatile u_char*) (sja_base+21))

#define SJA1000_Tx6   (*(volatile u_char*) (sja_base+22))

#define SJA1000_Tx7   (*(volatile u_char*) (sja_base+23))

#define SJA1000_Tx8   (*(volatile u_char*) (sja_base+24))

#define SJA1000_Tx9   (*(volatile u_char*) (sja_base+25))

#define SJA1000_Tx10   (*(volatile u_char*) (sja_base+26))

#define SJA1000_Tx11   (*(volatile u_char*) (sja_base+27))

#define SJA1000_Tx12   (*(volatile u_char*) (sja_base+28))

#define SJA1000_TxFrameInfoRd   (*(volatile u_char*) (sja_base+96))

#define SJA1000_TxRd1   (*(volatile u_char*) (sja_base+97))

#define SJA1000_TxRd2   (*(volatile u_char*) (sja_base+98))

#define SJA1000_TxRd3   (*(volatile u_char*) (sja_base+99))

#define SJA1000_TxRd4   (*(volatile u_char*) (sja_base+100))

#define SJA1000_TxRd5   (*(volatile u_char*) (sja_base+101))

#define SJA1000_TxRd6   (*(volatile u_char*) (sja_base+102))

#define SJA1000_TxRd7   (*(volatile u_char*) (sja_base+103))

#define SJA1000_TxRd8   (*(volatile u_char*) (sja_base+104))

#define SJA1000_TxRd9   (*(volatile u_char*) (sja_base+105))

#define SJA1000_TxRd10   (*(volatile u_char*) (sja_base+106))

#define SJA1000_TxRd11   (*(volatile u_char*) (sja_base+107))

#define SJA1000_TxRd12   (*(volatile u_char*) (sja_base+108))

#define SJA1000_ArbLostCap   (*(volatile u_char*) (sja_base+11))

#define SJA1000_ErrCodeCap   (*(volatile u_char*) (sja_base+12))

#define SJA1000_ErrWarnLimit   (*(volatile u_char*) (sja_base+13))

#define SJA1000_RxErrCount   (*(volatile u_char*) (sja_base+14))

#define SJA1000_TxErrCount   (*(volatile u_char*) (sja_base+15))

#define SJA1000_RxMsgCount   (*(volatile u_char*) (sja_base+29))

#define SJA1000_RxBufStartAdr   (*(volatile u_char*) (sja_base+30))

#define SJA1000_CLK_DIV   (*(volatile u_char*) (sja_base+31))

#define DivBy1   0x07

#define DivBy2   0x00

#define ClkOff_Bit   0x08

#define RXINTEN_Bit   0x20

#define CBP_Bit   0x40

#define CANMode_Bit   0x80

#define OCPOL0_Bit   0x04

#define Presc_MB_16   0x00

#define SJW_MB_16   0x00

#define TSEG1_MB_16   0x04

#define TSEG2_MB_16   0x10

#define errCAN_INVALID_BAUD   7

#define CAN_OK   0

#define CAN_ERR   1

#define CAN_INIT_SPEED_ERR   1

#define CAN_NOT_INITIATED   1

#define CAN_NOT_STARTED   1

#define CAN_TXBUF_FULL   2

#define CAN_RXBUF_EMPTY   2

#define CAN_LOST_FRAME   0x01

#define CAN_BUS_OFF   0x02

#define CAN_29   0x80

#define CAN_RTR   0x40

#define ClrIntEnSJA   0x00

#define SJA_SIGNAL   sig_INTERRUPT7

#define SJA_EICR   EICRB

#define SJA_SIGNAL_BIT   7

#define CAN_BufSize   64

Typedefs

typedef _CANBuffer CANBuffer

Functions

void CANBufferInit (CANBuffer *buffer, u_short size)

CANFRAME CANBufferGetMutex (CANBuffer *buffer)

void CANBufferPutMutex (CANBuffer *buffer, CANFRAME *data)

CANFRAME CANBufferGet (CANBuffer *buffer)

void CANBufferPut (CANBuffer *buffer, CANFRAME *data)

u_short CANBufferFree (CANBuffer *buffer)

u_char SJARxAvail (NUTDEVICE *dev)

checks if data is available in input buffer

u_char SJATxFree (NUTDEVICE *dev)

checks if there's still space in output buffer

void SJAOutput (NUTDEVICE *dev, CANFRAME *frame)

Write a frame from to output buffer.

void SJAInput (NUTDEVICE *dev, CANFRAME *frame)

Reads a frame from input buffer.

void SJASetAccCode (NUTDEVICE *dev, u_char *ac)

Sets the acceptance code.

void SJASetAccMask (NUTDEVICE *dev, u_char *am)

Sets the acceptance mask.

u_char SJASetBaudrate (NUTDEVICE *dev, u_long baudrate)

Sets the baudrate.

void SJATxFrame (CANFRAME *CAN_frame)

Sends a CAN Frane.

void SJARxFrame (CANFRAME *CAN_frame)

Receives a CAN Frane.

void CAN_Tx (void *arg)

CAN transmitter thread.

int SJAInit (NUTDEVICE *dev)

Initialize SJA1000 Canbus interface.

Variables

NUTDEVICE devSJA1000

Device information structure.

CANINFO dcb_sja1000

volatile u_short sja_base = 0x0000

CANBuffer CAN_RX_BUF

CANBuffer CAN_TX_BUF

IFCAN ifc_sja1000

Interface information structure.

NUTDEVICE devSJA1000

Device information structure.

Function Documentation

SJARxAvail ( NUTDEVICE * dev ) [inline]

checks if data is available in input buffer

Parameters:

dev Pointer to the device structure

SJATxFree ( NUTDEVICE * dev ) [inline]

checks if there's still space in output buffer

Parameters:

dev Pointer to the device structure

SJAOutput ( NUTDEVICE * dev,

CANFRAME * frame

)

Write a frame from to output buffer.
This function writes a frame to the output buffer. If the output buffer is full the function will block until frames are send.

Parameters:

dev Pointer to the device structure

frame Pointer to the receive frame

SJAInput ( NUTDEVICE * dev,

CANFRAME * frame

)

Reads a frame from input buffer.
This function reads a frame from the input buffer. If the input buffer is empty the function will block unitl new frames are received.

Parameters:

dev Pointer to the device structure

frame Pointer to the receive frame

SJASetAccCode ( NUTDEVICE * dev,

u_char * ac

)

Sets the acceptance code.

Parameters:

dev Pointer to the device structure

ac 4 byte char array with the acceptance code

SJASetAccMask ( NUTDEVICE * dev,

u_char * am

)

Sets the acceptance mask.

Parameters:

dev Pointer to the device structure

am 4 byte char array with the acceptance mask

SJASetBaudrate ( NUTDEVICE * dev,

u_long baudrate

)

Sets the baudrate.

Parameters:

dev Pointer to the device structure

baudrate Baudrate (One of the defined baudrates. See sja1000.h)

SJATxFrame ( CANFRAME * CAN_frame )

Sends a CAN Frane.

Parameters:

CAN_frame Pointer to the send frame

SJARxFrame ( CANFRAME * CAN_frame )

Receives a CAN Frane.

Parameters:

CAN_frame Pointer to the receive frame

CAN_Tx ( void * arg )

CAN transmitter thread.
This thread transmits data if there's some in the output buffer. It runs with high priority.

SJAInit ( NUTDEVICE * dev )

Initialize SJA1000 Canbus interface.
Applications typically do not use this function, but call NutRegisterDevice().

Parameters:

dev Identifies the device to initialize. The structure must be properly set.

Variable Documentation

NUTDEVICE devSJA1000

Device information structure.
Applications must pass this structure to NutRegisterDevice() to bind this CAN device driver to the Nut/OS kernel.

IFCAN ifc_sja1000

Initial value:
{ CAN_IF_2B, CAN_SPEED_500K, {0xFF, 0xFF, 0xFF, 0xFF} , {0x00, 0x00, 0x00, 0x00} , SJARxAvail, SJATxFree, SJAInput, SJAOutput, SJASetAccCode, SJASetAccMask, SJASetBaudrate }
Interface information structure.
This struct stores some interface parameters like bautdate and acceptance mask / code. Beside this Callback handlers are registered.

NUTDEVICE devSJA1000

Initial value:
{ 0, {'s', 'j', 'a', '1', '0', '0', '0', 0, 0} , IFTYP_CAN, 0, 0, &ifc_sja1000, &dcb_sja1000, SJAInit, 0, 0, 0, 0, 0, 0, 0 }
Device information structure.
Applications must pass this structure to NutRegisterDevice() to bind this CAN device driver to the Nut/OS kernel.


Data Structures
struct	_CANBuffer
Defines
#define	SJA1000_MODECTRL ((volatile u_char) (sja_base+0))
#define	RM_RR_Bit 0x01
#define	LOM_Bit 0x02
#define	STM_Bit 0x04
#define	AFM_Bit 0x08
#define	SM_Bit 0x10
#define	SJA1000_IEN ((volatile u_char) (sja_base+4))
#define	RIE_Bit 0x01
#define	TIE_Bit 0x02
#define	EIE_Bit 0x04
#define	DOIE_Bit 0x08
#define	WUIE_Bit 0x10
#define	EPIE_Bit 0x20
#define	ALIE_Bit 0x40
#define	BEIE_Bit 0x80
#define	SJA1000_CMD ((volatile u_char) (sja_base+1))
#define	TR_Bit 0x01
#define	AT_Bit 0x02
#define	RRB_Bit 0x04
#define	CDO_Bit 0x08
#define	SRR_Bit 0x10
#define	SJA1000_STATUS ((volatile u_char) (sja_base+2))
#define	RBS_Bit 0x01
#define	DOS_Bit 0x02
#define	TBS_Bit 0x04
#define	TCS_Bit 0x08
#define	RS_Bit 0x10
#define	TS_Bit 0x20
#define	ES_Bit 0x40
#define	BS_Bit 0x80
#define	SJA1000_INT ((volatile u_char) (sja_base+3))
#define	RI_Bit 0x01
#define	TI_Bit 0x02
#define	EI_Bit 0x04
#define	DOI_Bit 0x08
#define	WUI_Bit 0x10
#define	EPI_Bit 0x20
#define	ALI_Bit 0x40
#define	BEI_Bit 0x80
#define	SJA1000_BT0 ((volatile u_char) (sja_base+6))
#define	SJA1000_BT1 ((volatile u_char) (sja_base+7))
#define	SAM_Bit 0x80
#define	SJA1000_OUTCTRL ((volatile u_char) (sja_base+8))
#define	BiPhaseMode 0x00
#define	NormalMode 0x02
#define	ClkOutMode 0x03
#define	ClkOutMode 0x03
#define	OCPOL1_Bit 0x20
#define	OCPOL1_Bit 0x20
#define	Tx1Float 0x00
#define	Tx1Float 0x00
#define	Tx1PullDn 0x40
#define	Tx1PullDn 0x40
#define	Tx1PullUp 0x80
#define	Tx1PullUp 0x80
#define	Tx1PshPull 0xC0
#define	Tx1PshPull 0xC0
#define	OCPOLO_Bit 0x04
#define	Tx0Float 0x00
#define	Tx0Float 0x00
#define	Tx0PullDn 0x08
#define	Tx0PullDn 0x08
#define	Tx0PullUp 0x10
#define	Tx0PshPull 0x18
#define	SJA1000_AC0 ((volatile u_char) (sja_base+16))
#define	SJA1000_AC1 ((volatile u_char) (sja_base+17))
#define	SJA1000_AC2 ((volatile u_char) (sja_base+18))
#define	SJA1000_AC3 ((volatile u_char) (sja_base+19))
#define	SJA1000_AM0 ((volatile u_char) (sja_base+20))
#define	SJA1000_AM1 ((volatile u_char) (sja_base+21))
#define	SJA1000_AM2 ((volatile u_char) (sja_base+22))
#define	SJA1000_AM3 ((volatile u_char) (sja_base+23))
#define	SJA1000_RxFrameInfo ((volatile u_char) (sja_base+16))
#define	SJA1000_Rx1 ((volatile u_char) (sja_base+17))
#define	SJA1000_Rx2 ((volatile u_char) (sja_base+18))
#define	SJA1000_Rx3 ((volatile u_char) (sja_base+19))
#define	SJA1000_Rx4 ((volatile u_char) (sja_base+20))
#define	SJA1000_Rx5 ((volatile u_char) (sja_base+21))
#define	SJA1000_Rx6 ((volatile u_char) (sja_base+22))
#define	SJA1000_Rx7 ((volatile u_char) (sja_base+23))
#define	SJA1000_Rx8 ((volatile u_char) (sja_base+24))
#define	SJA1000_Rx9 ((volatile u_char) (sja_base+25))
#define	SJA1000_Rx10 ((volatile u_char) (sja_base+26))
#define	SJA1000_Rx11 ((volatile u_char) (sja_base+27))
#define	SJA1000_Rx12 ((volatile u_char) (sja_base+28))
#define	TestReg ((volatile u_char) (sja_base+9))
#define	SJA1000_TxFrameInfo ((volatile u_char) (sja_base+16))
#define	SJA1000_Tx1 ((volatile u_char) (sja_base+17))
#define	SJA1000_Tx2 ((volatile u_char) (sja_base+18))
#define	SJA1000_Tx3 ((volatile u_char) (sja_base+19))
#define	SJA1000_Tx4 ((volatile u_char) (sja_base+20))
#define	SJA1000_Tx5 ((volatile u_char) (sja_base+21))
#define	SJA1000_Tx6 ((volatile u_char) (sja_base+22))
#define	SJA1000_Tx7 ((volatile u_char) (sja_base+23))
#define	SJA1000_Tx8 ((volatile u_char) (sja_base+24))
#define	SJA1000_Tx9 ((volatile u_char) (sja_base+25))
#define	SJA1000_Tx10 ((volatile u_char) (sja_base+26))
#define	SJA1000_Tx11 ((volatile u_char) (sja_base+27))
#define	SJA1000_Tx12 ((volatile u_char) (sja_base+28))
#define	SJA1000_TxFrameInfoRd ((volatile u_char) (sja_base+96))
#define	SJA1000_TxRd1 ((volatile u_char) (sja_base+97))
#define	SJA1000_TxRd2 ((volatile u_char) (sja_base+98))
#define	SJA1000_TxRd3 ((volatile u_char) (sja_base+99))
#define	SJA1000_TxRd4 ((volatile u_char) (sja_base+100))
#define	SJA1000_TxRd5 ((volatile u_char) (sja_base+101))
#define	SJA1000_TxRd6 ((volatile u_char) (sja_base+102))
#define	SJA1000_TxRd7 ((volatile u_char) (sja_base+103))
#define	SJA1000_TxRd8 ((volatile u_char) (sja_base+104))
#define	SJA1000_TxRd9 ((volatile u_char) (sja_base+105))
#define	SJA1000_TxRd10 ((volatile u_char) (sja_base+106))
#define	SJA1000_TxRd11 ((volatile u_char) (sja_base+107))
#define	SJA1000_TxRd12 ((volatile u_char) (sja_base+108))
#define	SJA1000_ArbLostCap ((volatile u_char) (sja_base+11))
#define	SJA1000_ErrCodeCap ((volatile u_char) (sja_base+12))
#define	SJA1000_ErrWarnLimit ((volatile u_char) (sja_base+13))
#define	SJA1000_RxErrCount ((volatile u_char) (sja_base+14))
#define	SJA1000_TxErrCount ((volatile u_char) (sja_base+15))
#define	SJA1000_RxMsgCount ((volatile u_char) (sja_base+29))
#define	SJA1000_RxBufStartAdr ((volatile u_char) (sja_base+30))
#define	SJA1000_CLK_DIV ((volatile u_char) (sja_base+31))
#define	DivBy1 0x07
#define	DivBy2 0x00
#define	ClkOff_Bit 0x08
#define	RXINTEN_Bit 0x20
#define	CBP_Bit 0x40
#define	CANMode_Bit 0x80
#define	OCPOL0_Bit 0x04
#define	Presc_MB_16 0x00
#define	SJW_MB_16 0x00
#define	TSEG1_MB_16 0x04
#define	TSEG2_MB_16 0x10
#define	errCAN_INVALID_BAUD 7
#define	CAN_OK 0
#define	CAN_ERR 1
#define	CAN_INIT_SPEED_ERR 1
#define	CAN_NOT_INITIATED 1
#define	CAN_NOT_STARTED 1
#define	CAN_TXBUF_FULL 2
#define	CAN_RXBUF_EMPTY 2
#define	CAN_LOST_FRAME 0x01
#define	CAN_BUS_OFF 0x02
#define	CAN_29 0x80
#define	CAN_RTR 0x40
#define	ClrIntEnSJA 0x00
#define	SJA_SIGNAL sig_INTERRUPT7
#define	SJA_EICR EICRB
#define	SJA_SIGNAL_BIT 7
#define	CAN_BufSize 64
Typedefs
typedef _CANBuffer	CANBuffer
Functions
void	CANBufferInit (CANBuffer *buffer, u_short size)
CANFRAME	CANBufferGetMutex (CANBuffer *buffer)
void	CANBufferPutMutex (CANBuffer buffer, CANFRAME data)
CANFRAME	CANBufferGet (CANBuffer *buffer)
void	CANBufferPut (CANBuffer buffer, CANFRAME data)
u_short	CANBufferFree (CANBuffer *buffer)
u_char	SJARxAvail (NUTDEVICE *dev)
	checks if data is available in input buffer
u_char	SJATxFree (NUTDEVICE *dev)
	checks if there's still space in output buffer
void	SJAOutput (NUTDEVICE dev, CANFRAME frame)
	Write a frame from to output buffer.
void	SJAInput (NUTDEVICE dev, CANFRAME frame)
	Reads a frame from input buffer.
void	SJASetAccCode (NUTDEVICE dev, u_char ac)
	Sets the acceptance code.
void	SJASetAccMask (NUTDEVICE dev, u_char am)
	Sets the acceptance mask.
u_char	SJASetBaudrate (NUTDEVICE *dev, u_long baudrate)
	Sets the baudrate.
void	SJATxFrame (CANFRAME *CAN_frame)
	Sends a CAN Frane.
void	SJARxFrame (CANFRAME *CAN_frame)
	Receives a CAN Frane.
void	CAN_Tx (void *arg)
	CAN transmitter thread.
int	SJAInit (NUTDEVICE *dev)
	Initialize SJA1000 Canbus interface.
Variables
NUTDEVICE	devSJA1000
	Device information structure.
CANINFO	dcb_sja1000
volatile u_short	sja_base = 0x0000
CANBuffer	CAN_RX_BUF
CANBuffer	CAN_TX_BUF
IFCAN	ifc_sja1000
	Interface information structure.
NUTDEVICE	devSJA1000
	Device information structure.

SJA1000 [Special Hardware]

Detailed Description

Data Structures

Defines

Typedefs

Functions

Variables

Function Documentation

Variable Documentation

SJA1000
[Special Hardware]