#ifndef _CANBUS_H_ #define _CANBUS_H_ /* * Copyright (C) 2012 by Uwe Bonnes(bon@elektron.ikp.physik.tu-darmstadt.de) * * * 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. * 3. Neither the name of the copyright holders nor the names of * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 * COPYRIGHT OWNER 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. * * For additional information see http://www.ethernut.de/ * */ /*! * \verbatim * $Id$ * \endverbatim */ /*! * \file dev/canbus.h * \brief Headers for canbus interface */ #include #include #include #include #include /*! * \addtogroup xgCanDev */ /*@{*/ /*! * \brief CAN Baud rate constants */ #define CAN_SPEED_10K 0 ///< 10 kbit/s, max. cable length 5000 m #define CAN_SPEED_20K 1 ///< 20 kbit/s, max. cable length 2500 m #define CAN_SPEED_50K 2 ///< 50 kbit/s, max. cable length 1000 m #define CAN_SPEED_100K 3 ///< 100 kbit/s, max. cable length 600 m #define CAN_SPEED_125K 4 ///< 125 kbit/s, max. cable length 500 m #define CAN_SPEED_250K 5 ///< 250 kbit/s, max. cable length 250 m #define CAN_SPEED_500K 6 ///< 500 kbit/s, max. cable length 100 m #define CAN_SPEED_800K 7 ///< 800 kbit/s, max. cable length 50 m #define CAN_SPEED_1M 8 ///< 1 Mbit/s, max. cable length 25 m #define CAN_SPEED_CUSTOM -1 /*! * \brief CAN error codes */ enum CAN_RESULT { CAN_SUCCESS = 0, ///< Successful operation CAN_ERROR = -1, ///< Unspecified error CAN_TXBUF_FULL = -2, ///< All TX message objects busy CAN_RXBUF_EMPTY = -3, ///< All RX message objects busy CAN_ILLEGAL_MOB = -4, ///< Message object index out of range CAN_INVALID_SPEED = -5, ///< Invalid baud rate parameter CAN_PASSIVE = -6, ///< Bus is in passive state CAN_BUS_OFF = -7, ///< Bus is bus-off CAN_NO_COMPANION = -8, ///< FIFO2 needs FIFO1 active CAN_IS_COMPANION = -9, ///< FIFO2 can only set Filters }; /*! * \brief CAN event counters */ enum CAN_COUNTERS { CAN_RX_FRAMES = 0, /*!< Number of packets received. */ CAN_TX_FRAMES = 1, /*!< Number of packets sent. */ CAN_INTERRUPTS = 2, /*!< Number of interrupts. */ CAN_RX_INTERRUPTS = 3, /*!< Number of RX interrupts. */ CAN_TX_INTERRUPTS = 4, /*!< Number of TX interrupts. */ CAN_SCE_INTERRUPTS = 5, /*!< Number of ERROR interrupts. */ CAN_OVERRUNS = 6, /*!< Number of packet overruns. */ CAN_ERRORS = 7, /*!< Number of frame errors. */ CAN_NO_COUNTERS = 8, }; /* Enable / disable time triggered communication mode */ #define CAN_TTCM 0x0001 /* Enable / disable automatic bus-off management */ #define CAN_ABOM 0x0002 /* Set the automatic wake-up mode */ #define CAN_AWUM 0x0004 /* Enable / disable no automatic retransmission */ #define CAN_NART 0x0008 /* Enable / disable receive FIFO locked mode */ #define CAN_RFLM 0x0010 /* Enable / disable transmit FIFO priority */ #define CAN_TXFP 0x0020 /*! * \brief CAN bus structure, defined by device */ typedef struct _NUTCANBUS NUTCANBUS; /*! * \brief CAN bus info structure, defined by device */ typedef struct _CANBUSINFO CANBUSINFO; /*! * \brief CAN BUFFER structure, defined by device */ typedef struct _CANBUFFER CANBUFFER; /* Include architecture specific CAN implementation */ #if defined(DEV_CANBUS) #if defined(MCU_STM32) #include #else #warning DEV_CANBUS defined, but no device specific implementation givem #endif #endif /*! * \struct _CANFRAME canbus.h * \brief CAN frame structure */ struct _CANFRAME { // todo: Implement flags uint32_t id; // Identifier uint8_t byte[8]; uint8_t len; // Length of frame, max = 8 uint8_t ext; // Boolean, extendet frame uint8_t rtr; // Boolean, remote transmition bit }; /*! * \brief CAN frame type */ typedef struct _CANFRAME CANFRAME; /*! * \struct _CANFILTER canbus.h * \brief CAN message filter structure */ struct _CANFILTER{ // uint32_t id; ///< Identifier uint32_t mask; ///< Mask, use 0xffffffff for exactt match uint8_t id_ext; ///< Boolean, extended frame uint8_t id_rtr; ///< Boolean, remote transmition bit uint8_t mask_ext; ///< Boolean, match id_ext uint8_t mask_rtr; ///< Boolean, match id_rtr }; /*! * \brief CAN message filter type */ typedef struct _CANFILTER CANFILTER; #define FILTER_EXPLICIT 0xffffffff /*! * \brief _NUTCANBUS */ extern int NutRegisterCanBus( NUTCANBUS *bus, int entries ); extern int CanAddFilter( NUTCANBUS *bus, CANFILTER *filter ); extern int CanSetBaud( NUTCANBUS *bus, int baud, uint32_t alt_btr); extern void CANSetRxTimeout(NUTCANBUS *bus, uint32_t timeout); extern void CANSetTxTimeout(NUTCANBUS *bus, uint32_t timeout); extern void CanEnableRx( NUTCANBUS *bus); extern int CanRxAvail( NUTCANBUS *bus); extern int CanInput(NUTCANBUS *bus, CANFRAME *output); extern int CanTxFree(NUTCANBUS *can); extern int CanOutput( NUTCANBUS *bus, CANFRAME *output); extern int CanGetCounter( NUTCANBUS *bus, enum CAN_COUNTERS index); #endif