can_dev.h

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#ifndef _CAN_DEV_H_
#define _CAN_DEV_H_

/*
 * Copyright (C) 2004 by Ole Reinhardt<ole.reinhardt@kernelconcepts.de>
 * Kernel concepts (http://www.kernelconcepts.de) 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.
 * 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/
 *
 */

#include <sys/types.h>
#include <sys/device.h>


#define CAN_IF_2A    0x01
#define CAN_IF_2B    0x02


/*
 * 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 255


struct _CANFRAME {              // todo: Implement flags
    uint32_t id;                  // Identifier
    uint8_t len;                 // Length of frame, max = 8
    uint8_t byte[8];
    uint8_t ext;                 // Boolean, extendet frame
    uint8_t rtr;                 // Boolean, remote transmition bit
};

typedef struct _CANFRAME CANFRAME;

struct _CANINFO {
    HANDLE volatile can_rx_rdy;     
    HANDLE volatile can_tx_rdy;     
    uint32_t can_rx_frames;         
    uint32_t can_tx_frames;         
    uint32_t can_interrupts;        
    uint32_t can_overruns;          
    uint32_t can_errors;            
};

typedef struct _CANINFO CANINFO;

struct ifcan {
    uint8_t can_type;            
    uint32_t can_baudrate;        
    uint8_t can_acc_mask[4];     
    uint8_t can_acc_code[4];     
    uint32_t can_rtimeout;        
    uint8_t (*can_rxavail) (NUTDEVICE *);           
    uint8_t (*can_txfree) (NUTDEVICE *);            
    uint8_t (*can_recv) (NUTDEVICE *, CANFRAME *);  
    void   (*can_send) (NUTDEVICE *, CANFRAME *);  
    void   (*can_set_ac) (NUTDEVICE *, uint8_t*);   
    void   (*can_set_am) (NUTDEVICE *, uint8_t*);   
    uint8_t (*can_set_baud) (NUTDEVICE *, uint32_t);  
};

typedef struct ifcan IFCAN;

uint8_t CAN_SetSpeed(NUTDEVICE *dev, uint32_t baudrate);
void    CAN_SetFilter(NUTDEVICE *dev, uint8_t *ac, uint8_t *am);

void    CAN_TxFrame(NUTDEVICE *dev, CANFRAME *frame);
uint8_t CAN_TryTxFrame(NUTDEVICE *dev, CANFRAME *frame);
uint8_t CAN_TxFree(NUTDEVICE *dev);

uint8_t CAN_RxFrame(NUTDEVICE *dev, CANFRAME *frame);
uint8_t CAN_TryRxFrame(NUTDEVICE *dev, CANFRAME *frame);
uint8_t CAN_RxAvail(NUTDEVICE *dev);
void    CAN_SetRxTimeout(NUTDEVICE *dev, uint32_t timeout);

#endif