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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 59 | jimmy | 1 | #ifndef CAN_H_ |
| 2 | #define CAN_H_ |
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| 3 | |||
| 4 | /*----------------------------------------------------------------------------- |
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| 5 | * Includes |
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| 6 | *---------------------------------------------------------------------------*/ |
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| 7 | #include <inttypes.h> |
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| 8 | #include <can_cfg.h> |
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| 9 | |||
| 10 | |||
| 11 | /*----------------------------------------------------------------------------- |
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| 12 | * Type Definitions |
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| 13 | *---------------------------------------------------------------------------*/ |
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| 14 | /** |
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| 15 | * CAN Bitrate type. |
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| 16 | */ |
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| 17 | typedef enum { |
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| 18 | CAN_BITRATE_125K = 0, |
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| 19 | CAN_BITRATE_250K = 1, |
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| 20 | CAN_BITRATE_500K = 2, |
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| 21 | CAN_BITRATE_1M = 3 |
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| 127 | jimmy | 22 | } Can_Bitrate_t; |
| 59 | jimmy | 23 | |
| 24 | /** |
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| 25 | * CAN Return Type. Most CAN functions return one of these. |
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| 26 | */ |
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| 27 | typedef enum { |
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| 28 | CAN_OK = 0, |
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| 29 | CAN_FAILINIT = 1, |
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| 30 | CAN_FAILTX = 2, |
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| 31 | CAN_MSGAVAIL = 3, |
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| 32 | CAN_NOMSG = 4, |
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| 33 | CAN_CTRLERROR = 5, |
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| 34 | CAN_FAIL = 0xFF |
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| 127 | jimmy | 35 | } Can_Return_t; |
| 59 | jimmy | 36 | |
| 37 | /** |
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| 38 | * CAN Message Type. Stores a complete CAN frame. |
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| 39 | */ |
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| 40 | typedef struct { |
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| 41 | /* |
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| 69 | jimmy | 42 | * ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag). |
| 59 | jimmy | 43 | */ |
| 44 | uint32_t Id; |
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| 45 | |||
| 46 | /* |
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| 47 | * DLC section. Contains the data length expressed in number of bytes. Range [0,8]. |
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| 48 | */ |
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| 49 | uint8_t DataLength; |
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| 50 | |||
| 51 | /** |
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| 52 | * Extended frame flag. Set to 1 if the ID is 29bit, or 0 if it is 11bit. |
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| 53 | */ |
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| 54 | uint8_t ExtendedFlag; |
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| 55 | |||
| 56 | /** |
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| 57 | * Remote frame flag. Set to 1 if the frame is a remote frame. 0 otherwise. |
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| 58 | */ |
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| 59 | uint8_t RemoteFlag; |
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| 60 | |||
| 61 | /* |
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| 62 | * DATA section. Contains the 8 data bytes. |
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| 63 | */ |
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| 64 | union { |
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| 65 | /* read as 8bit unsigned data */ |
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| 66 | uint8_t bytes[8]; |
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| 67 | |||
| 68 | /* read as 16bit unsigned data */ |
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| 69 | uint16_t words[4]; |
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| 70 | |||
| 71 | /* read as 32bit unsigned data */ |
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| 72 | uint32_t dwords[2]; |
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| 73 | } Data; |
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| 127 | jimmy | 74 | } Can_Message_t; |
| 59 | jimmy | 75 | |
| 76 | |||
| 77 | /*----------------------------------------------------------------------------- |
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| 78 | * Public Function Prototypes |
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| 79 | *---------------------------------------------------------------------------*/ |
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| 80 | |||
| 127 | jimmy | 81 | Can_Return_t Can_Init(void); |
| 82 | Can_Return_t Can_Send(Can_Message_t* msg); |
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| 83 | Can_Return_t Can_ReceiveAvailable(void); |
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| 84 | Can_Return_t Can_Receive(Can_Message_t *msg); |
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| 85 | Can_Return_t Can_CheckError(void); |
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| 59 | jimmy | 86 | |
| 87 | #if (CANDEBUG) |
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| 88 | void can_debug1(void); |
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| 89 | void can_dumpMessage(CanMessage *msg); |
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| 90 | uint8_t can_testTransmit(const uint8_t ext, const uint8_t data2); |
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| 91 | void can_dumpStatus(void); |
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| 92 | #endif |
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| 93 | |||
| 94 | #endif |