demo/can.h

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// coding: utf-8
// ----------------------------------------------------------------------------
/*
 * Copyright (c) 2007 Fabian Greif, Roboterclub Aachen e.V.
 *  All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED.  IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 */
// ----------------------------------------------------------------------------
// ----------------------------------------------------------------------------

#ifndef CAN_H
#define CAN_H

#if defined (__cplusplus)
        extern "C" {
#endif

// ----------------------------------------------------------------------------
// ----------------------------------------------------------------------------

#include <avr/pgmspace.h>
#include <stdint.h>
#include <stdbool.h>

#include "config.h"

// ----------------------------------------------------------------------------
#define ONLY_NON_RTR            2
#define ONLY_RTR                        3


typedef enum {
        BITRATE_10_KBPS = 0,    // ungetestet
        BITRATE_20_KBPS = 1,    // ungetestet
        BITRATE_50_KBPS = 2,    // ungetestet
        BITRATE_100_KBPS = 3,   // ungetestet
        BITRATE_125_KBPS = 4,
        BITRATE_250_KBPS = 5,   // ungetestet
        BITRATE_500_KBPS = 6,   // ungetestet
        BITRATE_1_MBPS = 7,             // ungetestet
} can_bitrate_t;

#define CAN_ALL_FILTER          0xff

#ifndef SUPPORT_EXTENDED_CANID
        #define SUPPORT_EXTENDED_CANID  1
#endif

#ifndef SUPPORT_TIMESTAMPS
        #define SUPPORT_TIMESTAMPS              0
#endif

#if defined(__DOXYGEN__)

        #define MCP2515_FILTER_EXTENDED(id)
        #define MCP2515_FILTER(id)

#else

        #if SUPPORT_EXTENDED_CANID      
                #define MCP2515_FILTER_EXTENDED(id)     \
                                (uint8_t)  ((uint32_t) (id) >> 21), \
                                (uint8_t)((((uint32_t) (id) >> 13) & 0xe0) | (1<<3) | \
                                        (((uint32_t) (id) >> 16) & 0x3)), \
                                (uint8_t)  ((uint32_t) (id) >> 8), \
                                (uint8_t)  ((uint32_t) (id))
        #endif
        
        #define MCP2515_FILTER(id) \
                        (uint8_t)((uint32_t) id >> 3), \
                        (uint8_t)((uint32_t) id << 5), \
                        0, \
                        0
#endif

// ----------------------------------------------------------------------------
typedef struct
{
        #if SUPPORT_EXTENDED_CANID      
                uint32_t id;                            
                struct {
                        int rtr : 1;                    
                        int extended : 1;               
                } flags;
        #else
                uint16_t id;                            
                struct {
                        int rtr : 1;                    
                } flags;
        #endif
        
        uint8_t length;                         
        uint8_t data[8];                        
        
        #if SUPPORT_TIMESTAMPS
                uint16_t timestamp;
        #endif
} can_t;



// ----------------------------------------------------------------------------
typedef struct
{
        #if     SUPPORT_EXTENDED_CANID
                uint32_t id;                            
                uint32_t mask;                          
                struct {
                        uint8_t rtr : 2;                
                        uint8_t extended : 2;   
                } flags;
        #else
                uint16_t id;                            
                uint16_t mask;                          
                        struct {
                        uint8_t rtr : 2;                
                } flags;
        #endif
} can_filter_t;


// ----------------------------------------------------------------------------
typedef struct {
        uint8_t rx;                             
        uint8_t tx;                             
} can_error_register_t;

// ----------------------------------------------------------------------------
typedef enum {
        LISTEN_ONLY_MODE,               
        LOOPBACK_MODE,                  
        NORMAL_MODE,                            
        SLEEP_MODE                                      // sleep mode
} can_mode_t;

// ----------------------------------------------------------------------------
extern bool
can_init(can_bitrate_t bitrate);

// ----------------------------------------------------------------------------
extern void
can_sleep(void);

extern void
can_wakeup(void);

// ----------------------------------------------------------------------------
extern bool
can_set_filter(uint8_t number, const can_filter_t *filter);

// ----------------------------------------------------------------------------
extern bool
can_disable_filter(uint8_t number);

// ----------------------------------------------------------------------------
extern void
can_static_filter(const uint8_t *filter_array);

// ----------------------------------------------------------------------------
extern uint8_t
can_get_filter(uint8_t number, can_filter_t *filter);

// ----------------------------------------------------------------------------
extern bool
can_check_message(void);

// ----------------------------------------------------------------------------
extern bool
can_check_free_buffer(void);

// ----------------------------------------------------------------------------
extern uint8_t
can_send_message(const can_t *msg);

// ----------------------------------------------------------------------------
extern uint8_t
can_get_message(can_t *msg);

// ----------------------------------------------------------------------------
extern can_error_register_t
can_read_error_register(void);

// ----------------------------------------------------------------------------
extern bool
can_check_bus_off(void);

// ----------------------------------------------------------------------------
extern void
can_reset_bus_off(void);

// ----------------------------------------------------------------------------
extern void
can_set_mode(can_mode_t mode);

#if defined (__cplusplus)
}
#endif

#endif // CAN_H