134 lines
2.6 KiB
C
134 lines
2.6 KiB
C
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#ifndef CAN_h
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#define CAN_h
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#include "ftypes.h"
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#include "mcu.h"
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// ========================= CAN Configuration ======================= //
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#define CAN_PRESCALER 2 // f_osc = 24MHz, f_periph = 12MHz
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#define CAN_SEG1 6
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#define CAN_SEG2 5
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#define CAN_SJW 3
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#define CAN_INIT_ERROR -1
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#define CAN_INIT_OK 0
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#define CAN_TX_ERROR -1
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#define CAN_TX_OK 0
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#define N_FILTERS 14
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typedef enum {
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canSTD_ID,
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canEXTENDED_ID
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}canIdExtension;
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typedef enum {
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canDATA_FRAME,
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canREMOTE_FRAME
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}canDataRemote;
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typedef enum {
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canFIFO_0,
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canFIFO_1
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}canFIFO;
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typedef struct {
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canIdExtension std_ext_id;
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canDataRemote data_remote_frame;
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u32 id;
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u8 data [8];
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u8 data_len;
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}canMessage_t;
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typedef struct {
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u8 TEC;
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u8 REC;
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u8 LEC: 3;
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u8 error_warning:1;
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u8 error_passive:1;
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u8 bus_off:1;
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}canNetworkStatus_t;
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/* This enum is used for specifying the behavior of the software
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* during transmission, when all the mailboxes are full. Either
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* the message is ignored, the mailbox with lowest priority is
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* overwritten or if a mailbox has same id is overwritten so
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* that the most recent data is transmitted
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* */
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typedef enum {
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CAN_DO_NOT_OVERRIDE = 0,
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CAN_OVERRIDE_LOW_PRIO,
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CAN_OVERRIDE_IF_HIGHER_PRIO,
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CAN_OVERRIDE_ID
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}canTxOverrideBehaviorE;
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i8 can_transmit_f32 (u16 ID, f32 data, canIdExtension idType, canDataRemote dataRemote, canTxOverrideBehaviorE override);
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i8 can_transmit_u32 (u16 ID, u32 data, canIdExtension idType, canDataRemote dataRemote, canTxOverrideBehaviorE override);
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f32 can_extract_f32 (u8 *payload);
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u32 can_extract_u32 (u8 *payload);
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i8 can_init (void);
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void can_init_minimal (void);
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i8 can_transmit (u16 ID, u8 * data, u8 len, canIdExtension idType, canDataRemote dataRemote, canTxOverrideBehaviorE override);
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void can_enable_retransmission (void);
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void can_disable_retransmission (void);
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// with 16bit registers only STD IDs can be mapped
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u8 can_config_filter_mask_mode_16bit (u8 filter_id, canFIFO assigned_fifo, canDataRemote dataRemote, u16 id1, u16 id2, u16 mask1, u16 mask2);
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u8 can_config_filter_mask_mode_32bit (u8 filter_id, canFIFO assigned_fifo, canIdExtension extendedId, canDataRemote dataRemote, u32 id, u32 mask);
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u8 can_config_filter_list_mode_16bit (u8 filter_id, canFIFO assigned_fifo, canDataRemote dataRemote, u16 id1, u16 id2, u16 id3, u16 id4);
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u8 can_config_filter_list_mode_32bit (u8 filter_id, canFIFO assigned_fifo, canIdExtension extendedId, canDataRemote dataRemote, u32 id1, u32 id2);
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void can_enable_filter (u8 filter_id);
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void can_disable_filter (u8 filter_id);
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canNetworkStatus_t can_get_network_status ();
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#endif
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