can_api.h

00001 
00002 /** \addtogroup hal */
00003 /** @{*/
00004 /* mbed Microcontroller Library
00005  * Copyright (c) 2006-2016 ARM Limited
00006  * SPDX-License-Identifier: Apache-2.0
00007  *
00008  * Licensed under the Apache License, Version 2.0 (the "License");
00009  * you may not use this file except in compliance with the License.
00010  * You may obtain a copy of the License at
00011  *
00012  *     http://www.apache.org/licenses/LICENSE-2.0
00013  *
00014  * Unless required by applicable law or agreed to in writing, software
00015  * distributed under the License is distributed on an "AS IS" BASIS,
00016  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00017  * See the License for the specific language governing permissions and
00018  * limitations under the License.
00019  */
00020 #ifndef MBED_CAN_API_H
00021 #define MBED_CAN_API_H
00022 
00023 #include "device.h"
00024 #include "pinmap.h"
00025 
00026 #if DEVICE_CAN
00027 
00028 #include "PinNames.h"
00029 #include "PeripheralNames.h"
00030 #include "hal/can_helper.h"
00031 
00032 #ifdef __cplusplus
00033 extern "C" {
00034 #endif
00035 
00036 typedef enum {
00037     IRQ_RX,
00038     IRQ_TX,
00039     IRQ_ERROR,
00040     IRQ_OVERRUN,
00041     IRQ_WAKEUP,
00042     IRQ_PASSIVE,
00043     IRQ_ARB,
00044     IRQ_BUS,
00045     IRQ_READY
00046 } CanIrqType;
00047 
00048 
00049 typedef enum {
00050     MODE_RESET,
00051     MODE_NORMAL,
00052     MODE_SILENT,
00053     MODE_TEST_LOCAL,
00054     MODE_TEST_GLOBAL,
00055     MODE_TEST_SILENT
00056 } CanMode;
00057 
00058 typedef struct {
00059     int peripheral;
00060     PinName rd_pin;
00061     int rd_function;
00062     PinName td_pin;
00063     int td_function;
00064 } can_pinmap_t;
00065 
00066 typedef void (*can_irq_handler)(uint32_t id, CanIrqType type);
00067 
00068 typedef struct can_s can_t;
00069 
00070 void          can_init(can_t *obj, PinName rd, PinName td);
00071 void          can_init_direct(can_t *obj, const can_pinmap_t *pinmap);
00072 void          can_init_freq(can_t *obj, PinName rd, PinName td, int hz);
00073 void          can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz);
00074 void          can_free(can_t *obj);
00075 int           can_frequency(can_t *obj, int hz);
00076 
00077 void          can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id);
00078 void          can_irq_free(can_t *obj);
00079 void          can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable);
00080 
00081 int           can_write(can_t *obj, CAN_Message, int cc);
00082 int           can_read(can_t *obj, CAN_Message *msg, int handle);
00083 int           can_mode(can_t *obj, CanMode mode);
00084 int           can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle);
00085 void          can_reset(can_t *obj);
00086 unsigned char can_rderror(can_t *obj);
00087 unsigned char can_tderror(can_t *obj);
00088 void          can_monitor(can_t *obj, int silent);
00089 
00090 /** Get the pins that support CAN RD
00091  *
00092  * Return a PinMap array of pins that support CAN RD. The
00093  * array is terminated with {NC, NC, 0}.
00094  *
00095  * @return PinMap array
00096  */
00097 const PinMap *can_rd_pinmap(void);
00098 
00099 /** Get the pins that support CAN TD
00100  *
00101  * Return a PinMap array of pins that support CAN TD. The
00102  * array is terminated with {NC, NC, 0}.
00103  *
00104  * @return PinMap array
00105  */
00106 const PinMap *can_td_pinmap(void);
00107 
00108 #ifdef __cplusplus
00109 };
00110 #endif
00111 
00112 #endif    // MBED_CAN_API_H
00113 
00114 #endif
00115 
00116 /** @}*/