157 lines
7.4 KiB
C
157 lines
7.4 KiB
C
/************************************************************************************//**
|
|
* \file candriver.h
|
|
* \brief Generic CAN driver header file.
|
|
* \ingroup CanDriver
|
|
* \internal
|
|
*----------------------------------------------------------------------------------------
|
|
* C O P Y R I G H T
|
|
*----------------------------------------------------------------------------------------
|
|
* Copyright (c) 2017 by Feaser http://www.feaser.com All rights reserved
|
|
*
|
|
*----------------------------------------------------------------------------------------
|
|
* L I C E N S E
|
|
*----------------------------------------------------------------------------------------
|
|
* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License as published by the Free
|
|
* Software Foundation, either version 3 of the License, or (at your option) any later
|
|
* version.
|
|
*
|
|
* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
|
|
* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
|
* PURPOSE. See the GNU General Public License for more details.
|
|
*
|
|
* You have received a copy of the GNU General Public License along with OpenBLT. It
|
|
* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
|
|
*
|
|
* \endinternal
|
|
****************************************************************************************/
|
|
/************************************************************************************//**
|
|
* \defgroup CanDriver CAN driver
|
|
* \brief This module implements a generic CAN driver.
|
|
* \ingroup Session
|
|
****************************************************************************************/
|
|
#ifndef CANDRIVER_H
|
|
#define CANDRIVER_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/****************************************************************************************
|
|
* Macro definitions
|
|
****************************************************************************************/
|
|
/** \brief Maximum number of data bytes in a CAN message. */
|
|
#define CAN_MSG_MAX_LEN (8u)
|
|
|
|
/** Bit mask that configures a CAN message identifier as 29-bit extended as opposed to
|
|
* 11-bit standard. Whenever this bit is set in the CAN identifier field of tCanMsg,
|
|
* then the CAN identifier is configured for 29-bit CAN extended.
|
|
*/
|
|
#define CAN_MSG_EXT_ID_MASK (0x80000000u)
|
|
|
|
|
|
/****************************************************************************************
|
|
* Type definitions
|
|
****************************************************************************************/
|
|
/** \brief Enumeration of the supported baudrates. */
|
|
typedef enum
|
|
{
|
|
CAN_BR10K = 0, /**< 10 kbits/sec */
|
|
CAN_BR20K = 1, /**< 20 kbits/sec */
|
|
CAN_BR50K = 2, /**< 50 kbits/sec */
|
|
CAN_BR100K = 3, /**< 100 kbits/sec */
|
|
CAN_BR125K = 4, /**< 125 kbits/sec */
|
|
CAN_BR250K = 5, /**< 250 kbits/sec */
|
|
CAN_BR500K = 6, /**< 500 kbits/sec */
|
|
CAN_BR800K = 7, /**< 800 kbits/sec */
|
|
CAN_BR1M = 8 /**< 1 Mbits/sec */
|
|
} tCanBaudrate;
|
|
|
|
/** \brief Layout of a CAN message. Note that \ref CAN_MSG_EXT_ID_MASK can be used to
|
|
* configure the CAN message identifier as 29-bit extended.
|
|
*/
|
|
typedef struct t_can_msg
|
|
{
|
|
uint32_t id; /**< CAN message identifier. */
|
|
uint8_t dlc; /**< CAN message data length code. */
|
|
uint8_t data[CAN_MSG_MAX_LEN]; /**< Array with CAN message data. */
|
|
} tCanMsg;
|
|
|
|
/** \brief Type to group of CAN interface related settings. The device name specifies
|
|
* the name of the CAN interface device. For some CAN interfaces this is don't
|
|
* care, but for other absolutely necessar, for example Linux SocketCAN. The
|
|
* channel specifies the channel on the CAN interface, in case it has multiple
|
|
* CAN channels. The baudrate specifies the communication speed on the CAN
|
|
* network. The code and mask values configure the message reception acceptance
|
|
* filter. A mask bit value of 0 means don't care. The code part of the filter
|
|
* determines what bit values to match in the received message identifier.
|
|
* Example 1: Receive all CAN identifiers
|
|
* .code = 0x00000000
|
|
* .mask = 0x00000000
|
|
* Example 2: Receive only CAN identifier 0x124 (11-bit or 29-bit)
|
|
* .code = 0x00000124
|
|
* .mask = 0x1fffffff
|
|
* Example 3: Receive only CAN identifier 0x124 (11-bit)
|
|
* .code = 0x00000124
|
|
* .mask = 0x9fffffff
|
|
* Example 4: Receive only CAN identifier 0x124 (29-bit)
|
|
* .code = 0x80000124
|
|
* .mask = 0x9fffffff
|
|
*/
|
|
typedef struct t_can_settings
|
|
{
|
|
char const * devicename; /**< CAN interface device name (pcanusb, vcan0).*/
|
|
uint32_t channel; /**< Zero based CAN channel index. */
|
|
tCanBaudrate baudrate; /**< Communication speed. */
|
|
uint32_t code; /**< Code of the reception acceptance filter. */
|
|
uint32_t mask; /**< Mask of the reception acceptance filter. */
|
|
} tCanSettings;
|
|
|
|
/** \brief Structure with CAN event callback functions. */
|
|
typedef struct t_can_events
|
|
{
|
|
/** \brief Event function that should be called when a message was transmitted. */
|
|
void (*MsgTxed) (tCanMsg const * msg);
|
|
/** \brief Event function that should be called when a message was received. */
|
|
void (*MsgRxed) (tCanMsg const * msg);
|
|
} tCanEvents;
|
|
|
|
/** \brief CAN interface type. */
|
|
typedef struct t_can_interface
|
|
{
|
|
/** \brief Initialization of the CAN interface. */
|
|
void (*Init) (tCanSettings const * settings);
|
|
/** \brief Terminates the CAN interface. */
|
|
void (*Terminate) (void);
|
|
/** \brief Connects the CAN interface to the CAN bus. */
|
|
bool (*Connect) (void);
|
|
/** \brief Disconnects the CAN interface from the CAN bus. */
|
|
void (*Disconnect) (void);
|
|
/** \brief Submits a CAN message for transmission. */
|
|
bool (*Transmit) (tCanMsg const * msg);
|
|
/** \brief Check if a bus off and/or bus heavy situation occurred. */
|
|
bool (*IsBusError) (void);
|
|
/** \brief Registers the event callback functions. */
|
|
void (*RegisterEvents) (tCanEvents const * events);
|
|
} tCanInterface;
|
|
|
|
|
|
/***************************************************************************************
|
|
* Function prototypes
|
|
****************************************************************************************/
|
|
void CanInit(tCanSettings const * settings, tCanInterface const * const interface);
|
|
void CanTerminate(void);
|
|
bool CanConnect(void);
|
|
void CanDisconnect(void);
|
|
bool CanIsConnected(void);
|
|
bool CanTransmit(tCanMsg const * msg);
|
|
bool CanIsBusError(void);
|
|
void CanRegisterEvents(tCanEvents const * events);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* CANDRIVER_H */
|
|
/*********************************** end of candriver.h ********************************/
|