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#ifndef CAN_H_
#define CAN_H_
 
/*-----------------------------------------------------------------------------
 * Includes
 *---------------------------------------------------------------------------*/
#include <inttypes.h>
#include <can_cfg.h>
 
 
/*-----------------------------------------------------------------------------
 * Type Definitions
 *---------------------------------------------------------------------------*/
/**
 * CAN Bitrate type.
 */
typedef enum {
    CAN_BITRATE_125K = 0,
    CAN_BITRATE_250K = 1,
    CAN_BITRATE_500K = 2,
    CAN_BITRATE_1M = 3
} CanBitrate_t;
 
/**
 * CAN Return Type. Most CAN functions return one of these.
 */
typedef enum {
    CAN_OK = 0,
    CAN_FAILINIT = 1,
    CAN_FAILTX = 2,
    CAN_MSGAVAIL = 3,
    CAN_NOMSG = 4,
    CAN_CTRLERROR = 5,
    CAN_FAIL = 0xFF
} CanReturn_t;
 
/**
 * CAN Message Type. Stores a complete CAN frame.
 */
typedef struct {
    /*
     * ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).
     */
    uint32_t Id;
   
    /*
     * DLC section. Contains the data length expressed in number of bytes. Range [0,8].
     */
    uint8_t DataLength;
   
    /**
     * Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.
     */
    uint8_t ExtendedFlag;
   
    /**
     * Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.
     */
    uint8_t RemoteFlag;
   
    /*
     * DATA section. Contains the 8 data bytes.
     */
    union {
        /* read as 8bit unsigned data */
        uint8_t bytes[8];
       
        /* read as 16bit unsigned data */
        uint16_t words[4];
       
        /* read as 32bit unsigned data */
        uint32_t dwords[2];
    } Data;
} CanMessage_t;
 
 
/*-----------------------------------------------------------------------------
 * Public Function Prototypes
 *---------------------------------------------------------------------------*/
 
CanReturn_t CanInit(CanBitrate_t bitrate);
void can_initMessageStruct(CanMessage_t* msg);
CanReturn_t CanSend(CanMessage_t* msg);
CanReturn_t CanReceiveAvailable(void);
CanReturn_t CanReceive(CanMessage_t *msg);
CanReturn_t CanCheckError(void);
 
#if (CANDEBUG)
void can_debug1(void);
void can_dumpMessage(CanMessage *msg);
uint8_t can_testTransmit(const uint8_t ext, const uint8_t data2);
void can_dumpStatus(void);
#endif
 
#endif
 

Rev 63	Rev 69
1	#ifndef CAN_H_	1	#ifndef CAN_H_
2	#define CAN_H_	2	#define CAN_H_
3		3
4	/*-----------------------------------------------------------------------------	4	/*-----------------------------------------------------------------------------
5	* Includes	5	* Includes
6	---------------------------------------------------------------------------/	6	---------------------------------------------------------------------------/
7	#include <inttypes.h>	7	#include <inttypes.h>
8	#include <can_cfg.h>	8	#include <can_cfg.h>
9		9
10		10
11	/*-----------------------------------------------------------------------------	11	/*-----------------------------------------------------------------------------
12	* Type Definitions	12	* Type Definitions
13	---------------------------------------------------------------------------/	13	---------------------------------------------------------------------------/
14	/**	14	/**
15	* CAN Bitrate type.	15	* CAN Bitrate type.
16	*/	16	*/
17	typedef enum {	17	typedef enum {
18	CAN_BITRATE_125K = 0,	18	CAN_BITRATE_125K = 0,
19	CAN_BITRATE_250K = 1,	19	CAN_BITRATE_250K = 1,
20	CAN_BITRATE_500K = 2,	20	CAN_BITRATE_500K = 2,
21	CAN_BITRATE_1M = 3	21	CAN_BITRATE_1M = 3
22	} CanBitrate_t;	22	} CanBitrate_t;
23		23
24	/**	24	/**
25	* CAN Return Type. Most CAN functions return one of these.	25	* CAN Return Type. Most CAN functions return one of these.
26	*/	26	*/
27	typedef enum {	27	typedef enum {
28	CAN_OK = 0,	28	CAN_OK = 0,
29	CAN_FAILINIT = 1,	29	CAN_FAILINIT = 1,
30	CAN_FAILTX = 2,	30	CAN_FAILTX = 2,
31	CAN_MSGAVAIL = 3,	31	CAN_MSGAVAIL = 3,
32	CAN_NOMSG = 4,	32	CAN_NOMSG = 4,
33	CAN_CTRLERROR = 5,	33	CAN_CTRLERROR = 5,
34	CAN_FAIL = 0xFF	34	CAN_FAIL = 0xFF
35	} CanReturn_t;	35	} CanReturn_t;
36		36
37	/**	37	/**
38	* CAN Message Type. Stores a complete CAN frame.	38	* CAN Message Type. Stores a complete CAN frame.
39	*/	39	*/
40	typedef struct {	40	typedef struct {
41	/*	41	/*
42	* ID section. Contains either 29bit ID or 11bit ID (depending on ~~ExtFlag~~).	42	* ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).
43	*/	43	*/
44	uint32_t Id;	44	uint32_t Id;
45		45
46	/*	46	/*
47	* DLC section. Contains the data length expressed in number of bytes. Range [0,8].	47	* DLC section. Contains the data length expressed in number of bytes. Range [0,8].
48	*/	48	*/
49	uint8_t DataLength;	49	uint8_t DataLength;
50		50
51	/**	51	/**
52	* Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.	52	* Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.
53	*/	53	*/
54	uint8_t ExtendedFlag;	54	uint8_t ExtendedFlag;
55		55
56	/**	56	/**
57	* Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.	57	* Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.
58	*/	58	*/
59	uint8_t RemoteFlag;	59	uint8_t RemoteFlag;
60		60
61	/*	61	/*
62	* DATA section. Contains the 8 data bytes.	62	* DATA section. Contains the 8 data bytes.
63	*/	63	*/
64	union {	64	union {
65	/* read as 8bit unsigned data */	65	/* read as 8bit unsigned data */
66	uint8_t bytes[8];	66	uint8_t bytes[8];
67		67
68	/* read as 16bit unsigned data */	68	/* read as 16bit unsigned data */
69	uint16_t words[4];	69	uint16_t words[4];
70		70
71	/* read as 32bit unsigned data */	71	/* read as 32bit unsigned data */
72	uint32_t dwords[2];	72	uint32_t dwords[2];
73	} Data;	73	} Data;
74	} CanMessage_t;	74	} CanMessage_t;
75		75
76		76
77	/*-----------------------------------------------------------------------------	77	/*-----------------------------------------------------------------------------
78	* Public Function Prototypes	78	* Public Function Prototypes
79	---------------------------------------------------------------------------/	79	---------------------------------------------------------------------------/
80		80
81	CanReturn_t CanInit(CanBitrate_t bitrate);	81	CanReturn_t CanInit(CanBitrate_t bitrate);
82	void can_initMessageStruct(CanMessage_t* msg);	82	void can_initMessageStruct(CanMessage_t* msg);
83	CanReturn_t CanSend(CanMessage_t* msg);	83	CanReturn_t CanSend(CanMessage_t* msg);
84	CanReturn_t CanReceiveAvailable(void);	84	CanReturn_t CanReceiveAvailable(void);
85	CanReturn_t CanReceive(CanMessage_t *msg);	85	CanReturn_t CanReceive(CanMessage_t *msg);
86	CanReturn_t CanCheckError(void);	86	CanReturn_t CanCheckError(void);
87		87
88	#if (CANDEBUG)	88	#if (CANDEBUG)
89	void can_debug1(void);	89	void can_debug1(void);
90	void can_dumpMessage(CanMessage *msg);	90	void can_dumpMessage(CanMessage *msg);
91	uint8_t can_testTransmit(const uint8_t ext, const uint8_t data2);	91	uint8_t can_testTransmit(const uint8_t ext, const uint8_t data2);
92	void can_dumpStatus(void);	92	void can_dumpStatus(void);
93	#endif	93	#endif
94		94
95	#endif	95	#endif
96		96

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(root)/EmbeddedSoftware/AVR/lib/src/can/can.h @ 71 – Rev 63 → 69