80 lines
2.5 KiB
C
80 lines
2.5 KiB
C
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// CAN.h
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// Runs on MSPM0G3507
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// Use FDCAN0 to communicate on CAN bus PA12 and PA13
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//
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// Jonathan Valvano
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// December 11, 2025
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// derived from can_to_uart_bridge_LP_MSPM0G3507_nortos_ticlang
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/*
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Copyright 2025 by Jonathan W. Valvano, valvano@mail.utexas.edu
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You may use, edit, run or distribute this file
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as long as the above copyright notice remains
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THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
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OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
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VALVANO SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
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OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
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For more information about my classes, my research, and my books, see
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http://users.ece.utexas.edu/~valvano/
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*/
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// Use TCAN1057AVDRQ1 (not TCAN1057A-Q1, the version with pin 5 nc)
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// Pin1 TXD ---- CAN_Tx PA12 FD-CAN module 0 transmit
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// Pin2 Vss ---- ground
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// Pin3 VCC ---- +5V with 0.1uF cap to ground
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// Pin4 RXD ---- CAN_Rx PA13 FD-CAN module 0 receive (0 to 3.3V)
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// Pin5 VIO ---- +3.3V (digital interface supply)
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// Pin6 CANL ---- to other CANL on network
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// Pin7 CANH ---- to other CANH on network
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// Pin8 RS ---- ground, Slope-Control Input (maximum slew rate)
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// 120 ohm across CANH, CANL on both ends of network
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#ifndef __CAN_H__
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#define __CAN_H__
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#include <stdint.h>
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typedef uint16_t MessageType_t;
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#define CMD_MOTOR 0
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#define DATA_STATS 1
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#define CMD_CRASH 2
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typedef struct{
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MessageType_t MessageType;
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uint16_t Field1;
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uint16_t Field2;
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uint16_t Field3;
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} CanMessage_t;
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void CAN_Init(void);
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void CAN_EnableInterrupts(uint32_t priority);
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// 0 if failure
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// 1 if ok
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int CAN_Send(uint32_t id, uint32_t dlc, uint8_t *data);
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// Returns 1 if receive data is available
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// 0 if no receive data ready
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int CAN_CheckMail(void);
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// if receive data is ready, gets the data and returns true
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// if no receive data is ready, returns false
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int CAN_GetMailNonBlock(uint32_t *id, uint32_t *dlc, uint8_t *data);
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// if receive data is ready, gets the data
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// if no receive data is ready, it waits until it is ready
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void CAN_GetMail(uint32_t *id, uint32_t *dlc, uint8_t *data);
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int CAN_SendMessage(uint32_t id, CanMessage_t*);
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void CAN_ReadMessage(CanMessage_t* message);
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int CAN_SetMotors(uint16_t Duty_L, uint16_t Duty_R, int16_t SteeringAngle);
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int CAN_SendOSData(uint16_t jitter);
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int CAN_TellCrashed(int16_t steeringAngle);
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#endif // __CAN_H__
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