pcb and initial code from https://github.com/das-labor/borgware-2d.git
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126 lines
2.8 KiB
126 lines
2.8 KiB
#ifndef CAN_H
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#define CAN_H
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/*****************************************************************************
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* Simple CAN Library
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*
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* #define CAN_INTERRUPT 1 // set this to enable interrupt driven
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* // and buffering version
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* #define CAN_RX_BUFFER_SIZE 2 // only used for Interrupt
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* #define CAN_TX_BUFFER_SIZE 2 // only used for Interrupt
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*/
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/*****************************************************************************
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* Types
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*/
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#include <stdint.h>
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typedef unsigned char can_addr_t;
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typedef unsigned char can_port_t;
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typedef uint16_t can_channel_t;
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typedef uint8_t can_subchannel_t;
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typedef struct {
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uint32_t id;
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uint8_t dlc;
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uint8_t data[8];
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} can_message_raw;
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typedef struct {
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can_addr_t addr_src;
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can_addr_t addr_dst;
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can_port_t port_src;
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can_port_t port_dst;
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unsigned char dlc;
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unsigned char data[8];
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} can_message;
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typedef struct {
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can_channel_t channel;
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can_subchannel_t subchannel;
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can_addr_t addr_src;
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can_addr_t addr_dst;
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uint8_t dlc;
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uint8_t data[8];
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} can_message_v2;
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typedef enum {
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normal, mode_sleep, loopback, listenonly, config
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} can_mode_t;
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/*****************************************************************************
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* Global variables
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*/
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#ifdef CAN_HANDLEERROR
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extern unsigned char can_error;
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#endif
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/*****************************************************************************
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* Management
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*/
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void can_init();
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void can_setfilter();
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void can_setmode( can_mode_t);
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void can_setled(unsigned char led, unsigned char state);
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/*****************************************************************************
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* Sending
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*/
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can_message * can_buffer_get();
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void can_transmit(can_message *msg);
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/*****************************************************************************
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* Receiving
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*/
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can_message *can_get();
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can_message *can_get_nb();
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// this is only needed for Interrupt driven Version
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#ifndef CAN_INTERRUPT
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// # define can_free(m)
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void can_free(can_message * msg);
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#else
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void can_free(can_message * msg);
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#endif
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/*****************************************************************************
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* Sending
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*/
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can_message_raw * can_buffer_get_raw();
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void can_transmit_raw(can_message_raw *msg);
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/*****************************************************************************
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* Receiving
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*/
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can_message_raw *can_get_raw();
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can_message_raw *can_get_raw_nb();
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// this is only needed for Interrupt driven Version
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#ifndef CAN_INTERRUPT
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// # define can_free(m)
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void can_free_raw(can_message_raw * msg);
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#else
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void can_free_raw(can_message_raw * msg);
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#endif
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/*****************************************************************************
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* Sending
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*/
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void can_transmit_v2(can_message_v2 *msg);
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/*****************************************************************************
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* Receiving
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*/
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can_message_v2 *can_get_v2_nb();
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void can_free_v2(can_message_v2 *msg);
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#endif
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