/*****************************************************************************
;Institue of Automation, Chinese Academy of Sciences
;Beijing Hengyi Embedded System Co.,Ltd (www.hyesco.com)
;File Name:		
;Description:   header file for can sja1000
;Date:			2006-03-15		
;Author:		Wujh origin from jzm
;E_mail:		wujh@hyesco.com
*****************************************************************************/
#ifndef __CAN_H__
#define __CAN_H__

//cs
#define CAN_DATA_CS 0x70000000 //數(shù)據(jù)鎖存
#define CAN_ADDR_CS 0x70000010 //地址鎖存

#define  SJA_INT_ID        AT91C_ID_PIOB
#define  SJA_INT_PIOA      (0x1<<0)          //PA0

//寄存器地址
#define CAN_REG_MOD	0	//內(nèi)部模式寄存器地址
#define CAN_REG_CMR	1	//控制寄存器
#define CAN_REG_SR 	2	//狀態(tài)寄存器
#define CAN_REG_IR 	3	//中斷狀態(tài)寄存器
#define CAN_REG_IER	4	//中斷使能寄存器
#define CAN_REG_BTR0 	6 	//總線(xiàn)定時(shí)寄存器0、1的設(shè)
#define CAN_REG_BTR1 	7
#define CAN_REG_OCR 	8 	//輸出控制寄存器
#define CAN_REG_TEST	9	//測(cè)試寄存器

#define CAN_REG_ALC	11	//仲裁丟失捕足
#define CAN_REG_ECC	12	//錯(cuò)誤代碼捕足
#define CAN_REG_EWLR	13	//錯(cuò)誤報(bào)警限制寄存器

#define CAN_REG_RXERR	14	//接受錯(cuò)誤計(jì)數(shù)器
#define CAN_REG_TXERR	15	//發(fā)送錯(cuò)誤計(jì)數(shù)器

#define CAN_REG_ACR0 	16	//驗(yàn)收瑪
#define CAN_REG_ACR1 	17
#define CAN_REG_ACR2 	18
#define CAN_REG_ACR3 	19

#define CAN_REG_AMR0 	20	//屏蔽碼
#define CAN_REG_AMR1 	21
#define CAN_REG_AMR2 	22
#define CAN_REG_AMR3 	23

#define CAN_REG_RMC 	29
#define CAN_REG_RBSA 	30	//FIFO淇實(shí)地質(zhì)
#define CAN_REG_CDR 	31		//時(shí)鐘寄存器

#define CAN_REG_START_FIFO	32	//內(nèi)部fifo起始地址


#define CAN_REG_TX_SFF 	16	//楨信息
#define CAN_REG_TX_ID0 	17	//楨信息
#define CAN_REG_TX_ID1 	18	//楨信息
#define CAN_REG_TX_ID2 	19	//楨信息
#define CAN_REG_TX_ID3 	20	//楨信息


#define CAN_REG_RX_SFF 	16	//楨信息
#define CAN_REG_RX_ID0 	17	//楨信息
#define CAN_REG_RX_ID1 	18	//楨信息
#define CAN_REG_RX_ID2 	19	//楨信息
#define CAN_REG_RX_ID3 	20	//楨信息


#define CAN_REG_TX_SFF_BUFFER 19 //SFF格式BUFFER
#define CAN_REG_TX_EFF_BUFFER 21//EFF格式楨BUFFER

#define CAN_REG_RX_SFF_BUFFER 19 //SFF格式BUFFER
#define CAN_REG_RX_EFF_BUFFER 21//EFF格式楨BUFFER


#define CAN_SFF
#define CAN_ID1			//標(biāo)識(shí)符
#define CAN_ID2


//錯(cuò)誤信息
#define ERROR_NO_CAN	1		//沒(méi)有檢測(cè)到can接口芯片
#define ERROR_RESET 	2		//復(fù)位錯(cuò)誤
#define ERROR_BTR	3	//波特率設(shè)置錯(cuò)誤
#define ERROR_OCR	4	//輸出控制其設(shè)置錯(cuò)誤
#define ERROR_CDR	5	//時(shí)鐘分頻器設(shè)置錯(cuò)誤
#define ERROR_RXERR	6	//
#define ERROR_ACR	7
#define ERROR_AMR	8
#define ERROR_IER	9
#define ERROR_RBSA	10
#define ERROR_TXERR	11
#define ERROR_MOD  12	//沒(méi)有正確返回工作模式

#define ERROR_TX_SFF	13	//寫(xiě)包頭錯(cuò)誤
#define ERROR_TX_ID	14	//寫(xiě)包頭錯(cuò)誤
#define ERROR_TX_BUFFER	15//填寫(xiě)發(fā)送數(shù)據(jù)緩存錯(cuò)誤


//狀態(tài)寄存器
#define STATUS_TBS	30	//發(fā)送緩存器鎖定
#define STATUS_TCS 	31	//數(shù)據(jù)還沒(méi)有被發(fā)送完
#define STATUS_RS 	32	//正在接收數(shù)據(jù)
#define STATUS_TS 	33	//發(fā)送緩存器鎖定
#define STATUS_ES 	34	//出錯(cuò)
#define STATUS_BS 	35	//總線(xiàn)關(guān)閉
#define STATUS_DOS 	36	//數(shù)據(jù)溢出
#define STATUS_RBS 	35	//FIFO中有可用信息等待讀出



//重復(fù)寫(xiě)讀寫(xiě)操作次數(shù)
#define REPEART_TIMES 5

//擴(kuò)展楨
#define    SEND_EFF_DATA    1

//參數(shù)設(shè)置
#define PARAM_OCR	0xda		//輸出控制寄存器，正常輸出模式
#define PARAM_CDR	0xc8		//攝制成pelican模式,cbp=1,rxd1接地，關(guān)閉時(shí)鐘愉出

#define PARAM_ACR0	0x00	//0x00
#define PARAM_ACR1	0x00		//
#define PARAM_ACR2	0x00
#define PARAM_ACR3	0x00
	

#define PARAM_AMR0	0xff
#define PARAM_AMR1	0xff
#define PARAM_AMR2	0xff
#define PARAM_AMR3	0xff

#define PARAM_IER	0x01	//打開(kāi)接受中斷

#define PARAM_ENTER_MOD 0x01
#define PARAM_RET_MOD	0x08	//進(jìn)入單濾波模式，返回工作模式

#define PARAM_RBSA	0x00	//fifo首地址，從can的32開(kāi)始

#define PARAM_TX_ID0	0x10  //數(shù)據(jù)ID
#define PARAM_TX_ID1	0xe1
#define PARAM_TX_ID2	0x10	//EFF格式
#define PARAM_TX_ID3	0xe1


#define PARAM_TX_FF_SFF 	0x00	//sff格式
#define PARAM_TX_FF_EFF	0x80    //eff

#define PARAM_TX_RTR_DATA 0x00  //數(shù)據(jù)
#define PARAM_TX_PTR_RF		0x40 //遠(yuǎn)程楨

#define PARAM_DATA_LENGTH 0x08



//地址，數(shù)據(jù)讀寫(xiě)宏
//寫(xiě)CAN 寄存器
//讀寫(xiě)命令
#define WRITE_CAN_DATA(data)  (*(volatile unsigned char *)(CAN_DATA_CS))=data
#define WRITE_CAN_ADDR(addr)  (*(volatile unsigned char *)(CAN_ADDR_CS))=addr 
#define READ_CAN_REG() (*(volatile unsigned char *)(CAN_DATA_CS))



//函數(shù)定義聲明
void Init_CAN_Board(void);//初始化cpu總線(xiàn)

unsigned char Init_CAN(void);//初始化can

void Write_CAN_REG(unsigned char can_reg_addr, unsigned char data);//寫(xiě)CAN 寄存器

unsigned char Read_CAN_REG(unsigned char can_reg_addr);//讀CAN寄存器

int CAN_TRANSMIT(void);//發(fā)送數(shù)據(jù)操作函數(shù)

void Eint2CanInt(void);//中斷分發(fā)函數(shù)

void CanIntReceiveData(void);////響應(yīng)中斷接受數(shù)據(jù)

void CanReceiveData(void);  //數(shù)據(jù)接受函數(shù)

void CanSendData(void);     //發(fā)送接受函數(shù)

#endif