WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/AVR-Bios/can.h


#ifndef CAN_H_
#define CAN_H_
 
/*-----------------------------------------------------------------------------
 * Includes
 *---------------------------------------------------------------------------*/
#include <inttypes.h>
#include "can_cfg.h"
 
 
/*-----------------------------------------------------------------------------
 * Defines
 *---------------------------------------------------------------------------*/
 
/*
 * The supported CAN controller devices are listed below.
 */
#define CAN_CONTROLLER_NULL     0       /* Virtual null-device */
#define CAN_CONTROLLER_MCP2515  1       /* Microchip MCP2515 via SPI */
 
 
/*-----------------------------------------------------------------------------
 * Type Definitions
 *---------------------------------------------------------------------------*/
 
#if 0
/**
 * CAN Bitrate Type. The supported bitrates.
 */
typedef enum {
    CAN_BITRATE_125K = 0,           /* Max cable length: 500m */
    CAN_BITRATE_250K = 1,           /* Max cable length: 250m */
    CAN_BITRATE_500K = 2,           /* Max cable length: 100m */
    CAN_BITRATE_1M = 3              /* Max cable length: 40m */
} Can_Bitrate_t;
#endif
 
 
/**
 * CAN Return Type. Most CAN functions return one of these.
 */
typedef enum {
    CAN_FAIL = -1,                  /* The function failed */
    CAN_OK = 1,                     /* The function succeeded */
   
    CAN_MSG_AVAILABLE = 2,          /* Messsages are available */
    CAN_NO_MSG_AVAILABLE = -2,      /* Messages are NOT available */
   
    //CAN_CTRLERROR = -4
} Can_Return_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;
} Can_Message_t;
 
 
/*-----------------------------------------------------------------------------
 * Public Function Prototypes
 *---------------------------------------------------------------------------*/
 
Can_Return_t Can_Init(void);
Can_Return_t Can_Send(Can_Message_t* msg);
void Can_Service(void);
Can_Return_t Can_Receive(Can_Message_t *msg);
 
#endif
 

Rev 240	Rev 244
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	* Defines	12	* Defines
13	---------------------------------------------------------------------------/	13	---------------------------------------------------------------------------/
14		14
15	/*	15	/*
16	* The supported CAN controller devices are listed below.	16	* The supported CAN controller devices are listed below.
17	*/	17	*/
18	#define CAN_CONTROLLER_NULL 0 /* Virtual null-device */	18	#define CAN_CONTROLLER_NULL 0 /* Virtual null-device */
19	#define CAN_CONTROLLER_MCP2515 1 /* Microchip MCP2515 via SPI */	19	#define CAN_CONTROLLER_MCP2515 1 /* Microchip MCP2515 via SPI */
20		20
21		21
22	/*-----------------------------------------------------------------------------	22	/*-----------------------------------------------------------------------------
23	* Type Definitions	23	* Type Definitions
24	---------------------------------------------------------------------------/	24	---------------------------------------------------------------------------/
25		25
-		26	#if 0
26	/**	27	/**
27	* CAN Bitrate Type. The supported bitrates.	28	* CAN Bitrate Type. The supported bitrates.
28	*/	29	*/
29	typedef enum {	30	typedef enum {
30	CAN_BITRATE_125K = 0, /* Max cable length: 500m */	31	CAN_BITRATE_125K = 0, /* Max cable length: 500m */
31	CAN_BITRATE_250K = 1, /* Max cable length: 250m */	32	CAN_BITRATE_250K = 1, /* Max cable length: 250m */
32	CAN_BITRATE_500K = 2, /* Max cable length: 100m */	33	CAN_BITRATE_500K = 2, /* Max cable length: 100m */
33	CAN_BITRATE_1M = 3 /* Max cable length: 40m */	34	CAN_BITRATE_1M = 3 /* Max cable length: 40m */
34	} Can_Bitrate_t;	35	} Can_Bitrate_t;
-		36	#endif
35		37
36		38
37	/**	39	/**
38	* CAN Return Type. Most CAN functions return one of these.	40	* CAN Return Type. Most CAN functions return one of these.
39	*/	41	*/
40	typedef enum {	42	typedef enum {
41	CAN_FAIL = -1, /* The function failed */	43	CAN_FAIL = -1, /* The function failed */
42	CAN_OK = 1, /* The function succeeded */	44	CAN_OK = 1, /* The function succeeded */
43		45
44	CAN_MSG_AVAILABLE = 2, /* Messsages are available */	46	CAN_MSG_AVAILABLE = 2, /* Messsages are available */
45	CAN_NO_MSG_AVAILABLE = -2, /* Messages are NOT available */	47	CAN_NO_MSG_AVAILABLE = -2, /* Messages are NOT available */
46		48
47	//CAN_CTRLERROR = -4	49	//CAN_CTRLERROR = -4
48	} Can_Return_t;	50	} Can_Return_t;
49		51
50		52
51	/**	53	/**
52	* CAN Message Type. Stores a complete CAN frame.	54	* CAN Message Type. Stores a complete CAN frame.
53	*/	55	*/
54	typedef struct {	56	typedef struct {
55	/*	57	/*
56	* ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).	58	* ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).
57	*/	59	*/
58	uint32_t Id;	60	uint32_t Id;
59		61
60	/*	62	/*
61	* DLC section. Contains the data length expressed in number of bytes. Range [0,8].	63	* DLC section. Contains the data length expressed in number of bytes. Range [0,8].
62	*/	64	*/
63	uint8_t DataLength;	65	uint8_t DataLength;
64		66
65	/**	67	/**
66	* Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.	68	* Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.
67	*/	69	*/
68	uint8_t ExtendedFlag;	70	uint8_t ExtendedFlag;
69		71
70	/**	72	/**
71	* Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.	73	* Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.
72	*/	74	*/
73	uint8_t RemoteFlag;	75	uint8_t RemoteFlag;
74		76
75	/*	77	/*
76	* DATA section. Contains the 8 data bytes.	78	* DATA section. Contains the 8 data bytes.
77	*/	79	*/
78	union {	80	union {
79	/* read as 8bit unsigned data */	81	/* read as 8bit unsigned data */
80	uint8_t bytes[8];	82	uint8_t bytes[8];
81		83
82	/* read as 16bit unsigned data */	84	/* read as 16bit unsigned data */
83	uint16_t words[4];	85	uint16_t words[4];
84		86
85	/* read as 32bit unsigned data */	87	/* read as 32bit unsigned data */
86	uint32_t dwords[2];	88	uint32_t dwords[2];
87	} Data;	89	} Data;
88	} Can_Message_t;	90	} Can_Message_t;
89		91
90		92
91	/*-----------------------------------------------------------------------------	93	/*-----------------------------------------------------------------------------
92	* Public Function Prototypes	94	* Public Function Prototypes
93	---------------------------------------------------------------------------/	95	---------------------------------------------------------------------------/
94		96
95	Can_Return_t Can_Init(void);	97	Can_Return_t Can_Init(void);
96	Can_Return_t Can_Send(Can_Message_t* msg);	98	Can_Return_t Can_Send(Can_Message_t* msg);
97	void Can_Service(void);	99	void Can_Service(void);
98	Can_Return_t Can_Receive(Can_Message_t *msg);	100	Can_Return_t Can_Receive(Can_Message_t *msg);
99		101
100	#endif	102	#endif
101		103

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(root)/trunk/EmbeddedSoftware/AVR/AVR-Bios/can.h @ 249 – Rev 240 → 244