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


#ifndef CAN_H_
#define CAN_H_
 
/*-----------------------------------------------------------------------------
 * Includes
 *---------------------------------------------------------------------------*/
#include <inttypes.h>
 
 
/*-----------------------------------------------------------------------------
 * Type Definitions
 *---------------------------------------------------------------------------*/
 
 
/**
 * 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;
 
//---------------------------------------------------------------------------
// CAN ID definitions
 
#define CAN_MASK_CLASS      0x1E000000
#define CAN_SHIFT_CLASS     25
//------------------------------------
#define CAN_NMT             0x00UL
#define CAN_MASK_NMT_TYPE   0x00FF0000
#define CAN_SHIFT_NMT_TYPE  16
#define CAN_MASK_NMT_SID    0x0000FF00
#define CAN_SHIFT_NMT_SID   8
#define CAN_MASK_NMT_RID    0x000000FF
#define CAN_SHIFT_NMT_RID   0
#define CAN_NMT_TIME        0x00UL  //D0:3 UNIX_TIME, D4:7 {YY:6, MM:4, DD:5, hh:5, mm:6, ss:6}
#define CAN_NMT_RESET       0x04UL
#define CAN_NMT_BIOS_START  0x08UL  //D0: VER7:0, D1:VER15:8, D2: 0 if no app, >0 if app
#define CAN_NMT_PGM_START   0x0CUL  //D0: ADR7:0, D1:ADR15:8, D2:ADR23:16, D3:ADR31:24
#define CAN_NMT_PGM_DATA    0x10UL  //D0: OFS7:0, D1: OFS15:8, D(n+2): DATAn7:0 [n=0..x] [x=0..5]
#define CAN_NMT_PGM_END     0x14UL  //D0: CRC7:0, D1: CRC15:8
#define CAN_NMT_PGM_COPY    0x18UL  //D0: SRC7:0, D1:SRC15:8, D0: DST7:0, D1:DST15:8, D0: LEN7:0, D1:LEN15:8
#define CAN_NMT_PGM_ACK     0x1CUL  //D0: OFS7:0, D1: OFS15:8
#define CAN_NMT_PGM_NACK    0x20UL  //D0: OFS7:0, D1: OFS15:8
#define CAN_NMT_START_APP   0x24UL
#define CAN_NMT_APP_START   0x28UL  //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8
#define CAN_NMT_HEARTBEAT   0x2CUL
 
//------------------------------------
#define CAN_SNS             0x02UL
#define CAN_MASK_SNS_FUNCC  0x01FF8000
#define CAN_SHIFT_SNS_FUNCC 15
#define CAN_MASK_SNS_NID    0x00007E00
#define CAN_SHIFT_SNS_NID   9
#define CAN_MASK_SNS_SID    0x000001FF
#define CAN_SHIFT_SNS_SID   0
//------------------------------------
#define CAN_PKT             0x06UL
//------------------------------------
#define CAN_CON             0x08UL
//------------------------------------
#define CAN_TST             0x0FUL
//------------------------------------
 
#endif
 

Rev 299	Rev 315
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		8
9		9
10	/*-----------------------------------------------------------------------------	10	/*-----------------------------------------------------------------------------
11	* Type Definitions	11	* Type Definitions
12	---------------------------------------------------------------------------/	12	---------------------------------------------------------------------------/
13		13
14		14
15	/**	15	/**
16	* CAN Return Type. Most CAN functions return one of these.	16	* CAN Return Type. Most CAN functions return one of these.
17	*/	17	*/
18	typedef enum {	18	typedef enum {
19	CAN_FAIL = -1, /* The function failed */	19	CAN_FAIL = -1, /* The function failed */
20	CAN_OK = 1, /* The function succeeded */	20	CAN_OK = 1, /* The function succeeded */
21		21
22	CAN_MSG_AVAILABLE = 2, /* Messsages are available */	22	CAN_MSG_AVAILABLE = 2, /* Messsages are available */
23	CAN_NO_MSG_AVAILABLE = -2, /* Messages are NOT available */	23	CAN_NO_MSG_AVAILABLE = -2, /* Messages are NOT available */
24		24
25	//CAN_CTRLERROR = -4	25	//CAN_CTRLERROR = -4
26	} Can_Return_t;	26	} Can_Return_t;
27		27
28		28
29	/**	29	/**
30	* CAN Message Type. Stores a complete CAN frame.	30	* CAN Message Type. Stores a complete CAN frame.
31	*/	31	*/
32	typedef struct {	32	typedef struct {
33	/*	33	/*
34	* ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).	34	* ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).
35	*/	35	*/
36	uint32_t Id;	36	uint32_t Id;
37		37
38	/*	38	/*
39	* DLC section. Contains the data length expressed in number of bytes. Range [0,8].	39	* DLC section. Contains the data length expressed in number of bytes. Range [0,8].
40	*/	40	*/
41	uint8_t DataLength;	41	uint8_t DataLength;
42		42
43	/**	43	/**
44	* Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.	44	* Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit.
45	*/	45	*/
46	uint8_t ExtendedFlag;	46	uint8_t ExtendedFlag;
47		47
48	/**	48	/**
49	* Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.	49	* Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise.
50	*/	50	*/
51	uint8_t RemoteFlag;	51	uint8_t RemoteFlag;
52		52
53	/*	53	/*
54	* DATA section. Contains the 8 data bytes.	54	* DATA section. Contains the 8 data bytes.
55	*/	55	*/
56	union {	56	union {
57	/* read as 8bit unsigned data */	57	/* read as 8bit unsigned data */
58	uint8_t bytes[8];	58	uint8_t bytes[8];
59		59
60	/* read as 16bit unsigned data */	60	/* read as 16bit unsigned data */
61	uint16_t words[4];	61	uint16_t words[4];
62		62
63	/* read as 32bit unsigned data */	63	/* read as 32bit unsigned data */
64	uint32_t dwords[2];	64	uint32_t dwords[2];
65	} Data;	65	} Data;
66	} Can_Message_t;	66	} Can_Message_t;
67		67
68	//---------------------------------------------------------------------------	68	//---------------------------------------------------------------------------
69	// CAN ID definitions	69	// CAN ID definitions
70		70
71	#define CAN_MASK_CLASS 0x1E000000	71	#define CAN_MASK_CLASS 0x1E000000
72	#define CAN_SHIFT_CLASS 25	72	#define CAN_SHIFT_CLASS 25
73	//------------------------------------	73	//------------------------------------
74	#define CAN_NMT 0x00UL	74	#define CAN_NMT 0x00UL
75	#define CAN_MASK_NMT_TYPE 0x00FF0000	75	#define CAN_MASK_NMT_TYPE 0x00FF0000
76	#define CAN_SHIFT_NMT_TYPE 16	76	#define CAN_SHIFT_NMT_TYPE 16
77	#define CAN_MASK_NMT_SID 0x0000FF00	77	#define CAN_MASK_NMT_SID 0x0000FF00
78	#define CAN_SHIFT_NMT_SID 8	78	#define CAN_SHIFT_NMT_SID 8
79	#define CAN_MASK_NMT_RID 0x000000FF	79	#define CAN_MASK_NMT_RID 0x000000FF
80	#define CAN_SHIFT_NMT_RID 0	80	#define CAN_SHIFT_NMT_RID 0
-		81	#define CAN_NMT_TIME 0x00UL //D0:3 UNIX_TIME, D4:7 {YY:6, MM:4, DD:5, hh:5, mm:6, ss:6}
81	#define CAN_NMT_RESET ~~0x00UL~~	82	#define CAN_NMT_RESET 0x04UL
82	#define CAN_NMT_BIOS_START ~~0x01UL~~ //D0: VER7:0, D1:VER15:8, D2: 0 if no app, >0 if app	83	#define CAN_NMT_BIOS_START 0x08UL //D0: VER7:0, D1:VER15:8, D2: 0 if no app, >0 if app
83	#define CAN_NMT_PGM_START ~~0x02UL~~ //D0: ADR7:0, D1:ADR15:8, D2:ADR23:16, D3:ADR31:24	84	#define CAN_NMT_PGM_START 0x0CUL //D0: ADR7:0, D1:ADR15:8, D2:ADR23:16, D3:ADR31:24
84	#define CAN_NMT_PGM_DATA ~~0x03UL~~ //D0: OFS7:0, D1: OFS15:8, D(n+2): DATAn7:0 [n=0..x] [x=0..5]	85	#define CAN_NMT_PGM_DATA 0x10UL //D0: OFS7:0, D1: OFS15:8, D(n+2): DATAn7:0 [n=0..x] [x=0..5]
85	#define CAN_NMT_PGM_END ~~0x04UL~~ //D0: CRC7:0, D1: CRC15:8	86	#define CAN_NMT_PGM_END 0x14UL //D0: CRC7:0, D1: CRC15:8
-		87	#define CAN_NMT_PGM_COPY 0x18UL //D0: SRC7:0, D1:SRC15:8, D0: DST7:0, D1:DST15:8, D0: LEN7:0, D1:LEN15:8
86	#define CAN_NMT_PGM_ACK ~~0x05UL~~ //D0: OFS7:0, D1: OFS15:8	88	#define CAN_NMT_PGM_ACK 0x1CUL //D0: OFS7:0, D1: OFS15:8
87	#define CAN_NMT_PGM_NACK ~~0x06UL~~ //D0: OFS7:0, D1: OFS15:8	89	#define CAN_NMT_PGM_NACK 0x20UL //D0: OFS7:0, D1: OFS15:8
88	#define CAN_NMT_START_APP ~~0x07UL~~	90	#define CAN_NMT_START_APP 0x24UL
89	#define CAN_NMT_APP_START ~~0x08UL~~ //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8	91	#define CAN_NMT_APP_START 0x28UL //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8
90	#define CAN_NMT_HEARTBEAT ~~0x09UL~~	92	#define CAN_NMT_HEARTBEAT 0x2CUL
91	#define CAN_NMT_PGM_COPY 0x0FUL //D0: SRC7:0, D1:SRC15:8, D0: DST7:0, D1:DST15:8, D0: LEN7:0, D1:LEN15:8	-
92	//------------------------------------	93	//------------------------------------
93	#define CAN_SNS 0x02UL	94	#define CAN_SNS 0x02UL
94	#define CAN_MASK_SNS_FUNCC 0x01FF8000	95	#define CAN_MASK_SNS_FUNCC 0x01FF8000
95	#define CAN_SHIFT_SNS_FUNCC 15	96	#define CAN_SHIFT_SNS_FUNCC 15
96	#define CAN_MASK_SNS_NID 0x00007E00	97	#define CAN_MASK_SNS_NID 0x00007E00
97	#define CAN_SHIFT_SNS_NID 9	98	#define CAN_SHIFT_SNS_NID 9
98	#define CAN_MASK_SNS_SID 0x000001FF	99	#define CAN_MASK_SNS_SID 0x000001FF
99	#define CAN_SHIFT_SNS_SID 0	100	#define CAN_SHIFT_SNS_SID 0
100	//------------------------------------	101	//------------------------------------
101	#define CAN_PKT 0x06UL	102	#define CAN_PKT 0x06UL
102	//------------------------------------	103	//------------------------------------
103	#define CAN_CON 0x08UL	104	#define CAN_CON 0x08UL
104	//------------------------------------	105	//------------------------------------
105	#define CAN_TST 0x0FUL	106	#define CAN_TST 0x0FUL
106	//------------------------------------	107	//------------------------------------
107		108
108	#endif	109	#endif
109		110

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/AVR-Bios/can.h @ 331 – Rev 299 → 315