/*******************************************************************************/
/**
Copyright (c) 2007 Freescale Semiconductor
\file       MSCAN.h
\brief      MSCAN definitions and function prototypes
\author     Freescale Semiconductor
\author     B05114
\version    0.1
\date       January/ 2008
*/
/*******************************************************************************/

#ifndef _MSCAN_H
#define _MSCAN_H

/* Data types definitions */
typedef unsigned char   UINT8;  /*unsigned 8 bit definition */
typedef unsigned short  UINT16; /*unsigned 16 bit definition*/
typedef unsigned long   UINT32; /*unsigned 32 bit definition*/

/* MSCAN module configuration constants */
/* Baud rate = CANCLK/(Prescaler * time quantas) */

#define CAN_CLK  0 /* Clock source: 0 for external oscillator, 1 for bus clock */

#define TIME_SEGM1  4   /* Time Segment 1 = 5 */
#define TIME_SEGM2  1   /* Time Segment 2 = 2 */
                        /* TSEG1 + TSEG2 + SYNCH_SEG = 8 time quantas */   
                        
/* Prescaler = CANCLK/(Baud rate * time quantas) = 4MHz/(500kHz * 8) = 1 */                                               
#define CAN_PRESC   0   /* Baud rate prescaler = 1 */ 
#define CAN_SYNJW   1   /* Sinchronization jump width = 2 clock cycles */ 

                                
/* Identifiers */
#define CAN_TXID    0x085   /* Transmit message */
#define CAN_RXID    0x080   /* Receive message */

#define CAN_MASK    0x00F   /* Four LSBs don't care for the filtering */
                
                                        
/* CAN ID definition: Standard Id formatted to be loaded in IDRx */
#define STD_ID ((UINT32)(CAN_TXID) << 21)

/* Acceptance Code Definitions */ 
#define ACC_CODE_ID (CAN_RXID << 5)   /* Standard Id */
#define ACC_CODE_ID_HIGH ((ACC_CODE_ID&0xFF00)>>8)
#define ACC_CODE_ID_LOW (ACC_CODE_ID&0x00FF)

/* Mask Code Definitions */
#define MASK_CODE_ST_ID (CAN_MASK << 5)
#define MASK_CODE_ST_ID_HIGH ((MASK_CODE_ST_ID&0xFF00)>>8)
#define MASK_CODE_ST_ID_LOW (MASK_CODE_ST_ID&0xFF)   
                     
/* Error Flags Definition */
#define NO_ERR 0x00
#define ERR_BUFFER_FULL 0x80 


/* Function Prototypes */

/* MSCAN module configuration */
void MSCAN_Init(void);

/* CAN frame transmission */
UINT8 MSCAN_SendFrame(UINT32 CAN_ID, UINT8 Msg_Prio, UINT8 Msg_Length, UINT8 *CANTxData);

/* CAN reception interupt routine */
interrupt void CANRx_ISR(void);


#endif /* _MSCAN_H */

/*******************************************************************************/


/*******************************************************************************/
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/*******************************************************************************/