Sameera Nawarathne / SEEED_CAN

eeprom adding

Fork of SEEED_CAN by Sophie Dexter

seeed_can_api.h@0:f5d099885d3d, 2013-11-05 (annotated)

Committer:
Just4pLeisure
Date:
Tue Nov 05 22:37:35 2013 +0000
Revision:
0:f5d099885d3d
Child:
1:ad71faa09868
Beta release of a CAN-BUS library for Seeed Studios' CAN BUS Shield

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Just4pLeisure 0:f5d099885d3d 1 /* seeed_can_api.h
Just4pLeisure 0:f5d099885d3d 2 * Copyright (c) 2013 Sophie Dexter
Just4pLeisure 0:f5d099885d3d 3 *
Just4pLeisure 0:f5d099885d3d 4 * Licensed under the Apache License, Version 2.0 (the "License");
Just4pLeisure 0:f5d099885d3d 5 * you may not use this file except in compliance with the License.
Just4pLeisure 0:f5d099885d3d 6 * You may obtain a copy of the License at
Just4pLeisure 0:f5d099885d3d 7 *
Just4pLeisure 0:f5d099885d3d 8 * http://www.apache.org/licenses/LICENSE-2.0
Just4pLeisure 0:f5d099885d3d 9 *
Just4pLeisure 0:f5d099885d3d 10 * Unless required by applicable law or agreed to in writing, software
Just4pLeisure 0:f5d099885d3d 11 * distributed under the License is distributed on an "AS IS" BASIS,
Just4pLeisure 0:f5d099885d3d 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Just4pLeisure 0:f5d099885d3d 13 * See the License for the specific language governing permissions and
Just4pLeisure 0:f5d099885d3d 14 * limitations under the License.
Just4pLeisure 0:f5d099885d3d 15 */
Just4pLeisure 0:f5d099885d3d 16 #ifndef _SEEED_CAN_API_H_
Just4pLeisure 0:f5d099885d3d 17 #define _SEEED_CAN_API_H_
Just4pLeisure 0:f5d099885d3d 18
Just4pLeisure 0:f5d099885d3d 19 #include "seeed_can_spi.h"
Just4pLeisure 0:f5d099885d3d 20
Just4pLeisure 0:f5d099885d3d 21 // print debug information...
Just4pLeisure 0:f5d099885d3d 22 //#define DEBUG
Just4pLeisure 0:f5d099885d3d 23
Just4pLeisure 0:f5d099885d3d 24 #ifdef __cplusplus
Just4pLeisure 0:f5d099885d3d 25 extern "C" {
Just4pLeisure 0:f5d099885d3d 26 #endif
Just4pLeisure 0:f5d099885d3d 27
Just4pLeisure 0:f5d099885d3d 28 /** CAN driver typedefs
Just4pLeisure 0:f5d099885d3d 29 */
Just4pLeisure 0:f5d099885d3d 30
Just4pLeisure 0:f5d099885d3d 31 // The 'MCP_xyz' structs mimic MCP register organisations
Just4pLeisure 0:f5d099885d3d 32 // A union of the struct and a simple array can be used to:
Just4pLeisure 0:f5d099885d3d 33 // Process and manipulate the struct in an ordered way
Just4pLeisure 0:f5d099885d3d 34 // Copy the struct to/from the MCP2512 as an array
Just4pLeisure 0:f5d099885d3d 35
Just4pLeisure 0:f5d099885d3d 36 /// Type definition to hold an MCP2515 CAN id structure
Just4pLeisure 0:f5d099885d3d 37 struct MCP_CANtiming {
Just4pLeisure 0:f5d099885d3d 38 uint8_t phseg2 : 3; // PS2 length bits 2..0 (PHSEG2 + 1) Tq (minimum valid setting is 2 Tq)
Just4pLeisure 0:f5d099885d3d 39 uint8_t reserved1 : 3; // Unused bits (read as '0')
Just4pLeisure 0:f5d099885d3d 40 uint8_t wakfil : 1; // Wake-up filter enable bit (1 = enabled, 0 = disabled)
Just4pLeisure 0:f5d099885d3d 41 uint8_t sof : 1; // Start of frame bit (1 = CLKOUT pin is SOF, 0 = CLKOUT is clock)
Just4pLeisure 0:f5d099885d3d 42 uint8_t prseg : 3; // Propagation Segment length bits 2..0 (PRSEG + 1) Tq (minimum valid setting is 1 Tq)
Just4pLeisure 0:f5d099885d3d 43 uint8_t phseg1 : 3; // PS2 length bits 2..0 (PRSEG + 1) Tq (minimum valid setting is 1 Tq)
Just4pLeisure 0:f5d099885d3d 44 uint8_t sam : 1; // Sample Point Configuration bit (1 = Bus line is sampled 3 times, 0 = sampled once)
Just4pLeisure 0:f5d099885d3d 45 uint8_t btlmode : 1; // PS2 Bit Time Length (1 = determined by phseg2, 0 = greater of PS1 an IPT (2 Tq))
Just4pLeisure 0:f5d099885d3d 46 uint8_t brp : 6; // Baud Rate Prescaler bits 5..0 (Tq = 2 x (BRP + 1) / Fosc)
Just4pLeisure 0:f5d099885d3d 47 uint8_t sjw : 2; // Synchronisation Jump Width Length bits 1..0 ((SJW + 1) Tq)
Just4pLeisure 0:f5d099885d3d 48 };
Just4pLeisure 0:f5d099885d3d 49 typedef struct MCP_CANtiming CANtiming;
Just4pLeisure 0:f5d099885d3d 50
Just4pLeisure 0:f5d099885d3d 51 /// Type definition to hold an MCP2515 CAN id structure
Just4pLeisure 0:f5d099885d3d 52 struct MCP_CANid {
Just4pLeisure 0:f5d099885d3d 53 uint8_t sid10_3 : 8; // Bits 10..3 of a standard identifier
Just4pLeisure 0:f5d099885d3d 54 uint8_t eid17_16 : 2; // Bits 17..16 of an extended identifier
Just4pLeisure 0:f5d099885d3d 55 uint8_t reserved1 : 1; // Unused bit in RXBbSIDL
Just4pLeisure 0:f5d099885d3d 56 uint8_t ide : 1; // Extended Identifier Flag
Just4pLeisure 0:f5d099885d3d 57 // CANformat 'type'
Just4pLeisure 0:f5d099885d3d 58 uint8_t srtr : 1; // Standard Frame Remote Transmit Request Bit (valid when IDE = 0)
Just4pLeisure 0:f5d099885d3d 59 // CANtype 'type'
Just4pLeisure 0:f5d099885d3d 60 // Unimplimented in TXBnSIDL, filters and acceptance masks
Just4pLeisure 0:f5d099885d3d 61 uint8_t sid2_0 : 3; // Bits 2..0 of a standard identifier
Just4pLeisure 0:f5d099885d3d 62 uint8_t eid15_8 : 8; // Bits 15..8 of an extended identifier
Just4pLeisure 0:f5d099885d3d 63 uint8_t eid7_0 : 8; // Bits 7..0 of an extended identifier
Just4pLeisure 0:f5d099885d3d 64 };
Just4pLeisure 0:f5d099885d3d 65 typedef struct MCP_CANid CANid;
Just4pLeisure 0:f5d099885d3d 66
Just4pLeisure 0:f5d099885d3d 67 /// Type definition to hold an MCP2515 CAN message structure
Just4pLeisure 0:f5d099885d3d 68 struct MCP_CANMsg {
Just4pLeisure 0:f5d099885d3d 69 CANid id;
Just4pLeisure 0:f5d099885d3d 70 uint8_t dlc : 4; // Bits 3..0: DLC - Data Length Counter
Just4pLeisure 0:f5d099885d3d 71 uint8_t reserved1 : 2; // unused bits in RXBnDLC
Just4pLeisure 0:f5d099885d3d 72 uint8_t ertr : 1; // Extended Frame Remote Transmit Request Bit (valid when IDE = 1)
Just4pLeisure 0:f5d099885d3d 73 // CANtype 'type'
Just4pLeisure 0:f5d099885d3d 74 uint8_t reserved2 : 1; // unused bit in RXBnDLC
Just4pLeisure 0:f5d099885d3d 75 uint8_t data[8]; // CAN Message Data Bytes 0-7
Just4pLeisure 0:f5d099885d3d 76 };
Just4pLeisure 0:f5d099885d3d 77 typedef struct MCP_CANMsg CANMsg;
Just4pLeisure 0:f5d099885d3d 78
Just4pLeisure 0:f5d099885d3d 79 enum CANFormat {
Just4pLeisure 0:f5d099885d3d 80 CANStandard = 0,
Just4pLeisure 0:f5d099885d3d 81 CANExtended = 1
Just4pLeisure 0:f5d099885d3d 82 };
Just4pLeisure 0:f5d099885d3d 83 typedef enum CANFormat CANFormat;
Just4pLeisure 0:f5d099885d3d 84
Just4pLeisure 0:f5d099885d3d 85 enum CANType {
Just4pLeisure 0:f5d099885d3d 86 CANData = 0,
Just4pLeisure 0:f5d099885d3d 87 CANRemote = 1
Just4pLeisure 0:f5d099885d3d 88 };
Just4pLeisure 0:f5d099885d3d 89 typedef enum CANType CANType;
Just4pLeisure 0:f5d099885d3d 90
Just4pLeisure 0:f5d099885d3d 91 struct CAN_Message {
Just4pLeisure 0:f5d099885d3d 92 unsigned int id; // 11 or 29 bit identifier
Just4pLeisure 0:f5d099885d3d 93 unsigned char data[8]; // Data field
Just4pLeisure 0:f5d099885d3d 94 unsigned char len; // Length of data field in bytes
Just4pLeisure 0:f5d099885d3d 95 CANFormat format; // 0 - STANDARD, 1- EXTENDED IDENTIFIER
Just4pLeisure 0:f5d099885d3d 96 CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
Just4pLeisure 0:f5d099885d3d 97 };
Just4pLeisure 0:f5d099885d3d 98 typedef struct CAN_Message CAN_Message;
Just4pLeisure 0:f5d099885d3d 99
Just4pLeisure 0:f5d099885d3d 100 enum MCP_Mode {
Just4pLeisure 0:f5d099885d3d 101 _NORMAL,
Just4pLeisure 0:f5d099885d3d 102 _SLEEP,
Just4pLeisure 0:f5d099885d3d 103 _LOOPBACK,
Just4pLeisure 0:f5d099885d3d 104 _MONITOR,
Just4pLeisure 0:f5d099885d3d 105 _CONFIG,
Just4pLeisure 0:f5d099885d3d 106 _RESET,
Just4pLeisure 0:f5d099885d3d 107 };
Just4pLeisure 0:f5d099885d3d 108 typedef MCP_Mode CANMode;
Just4pLeisure 0:f5d099885d3d 109
Just4pLeisure 0:f5d099885d3d 110 /** CAN driver functions
Just4pLeisure 0:f5d099885d3d 111 */
Just4pLeisure 0:f5d099885d3d 112 uint8_t mcpInit(can_t *obj, const uint32_t bitRate); // Initialise the MCP2515 and set the bit rate
Just4pLeisure 0:f5d099885d3d 113 uint8_t mcpSetMode(can_t *obj, const uint8_t newmode); // set the MCP2515's operation mode
Just4pLeisure 0:f5d099885d3d 114 uint8_t mcpSetBitRate(can_t *obj, const uint32_t bitRate); // set bitrate
Just4pLeisure 0:f5d099885d3d 115
Just4pLeisure 0:f5d099885d3d 116 void mcpWriteId(can_t *obj, // write a CAN id
Just4pLeisure 0:f5d099885d3d 117 const uint8_t mcp_addr,
Just4pLeisure 0:f5d099885d3d 118 const uint8_t ext,
Just4pLeisure 0:f5d099885d3d 119 const uint32_t id );
Just4pLeisure 0:f5d099885d3d 120 uint8_t mcpCanRead(can_t *obj, CAN_Message *msg); // read a CAN message
Just4pLeisure 0:f5d099885d3d 121 uint8_t mcpCanWrite(can_t *obj, CAN_Message msg); // write a CAN message
Just4pLeisure 0:f5d099885d3d 122
Just4pLeisure 0:f5d099885d3d 123 uint8_t mcpInitMask(can_t *obj, uint8_t num, uint32_t ulData, bool ext); // initialise an Acceptance Mask
Just4pLeisure 0:f5d099885d3d 124 uint8_t mcpInitFilter(can_t *obj, uint8_t num, uint32_t ulData, bool ext); // initialise an Acceptance Filter
Just4pLeisure 0:f5d099885d3d 125
Just4pLeisure 0:f5d099885d3d 126 uint8_t mcpReceptionErrorCount(can_t *obj); // number of message reception errors
Just4pLeisure 0:f5d099885d3d 127 uint8_t mcpTransmissionErrorCount(can_t *obj); // number of message transmission errors
Just4pLeisure 0:f5d099885d3d 128
Just4pLeisure 0:f5d099885d3d 129 void mcpMonitor(can_t *obj, const bool silent); // Select between monitor (silent = 1) and normal (silent = 0) modes
Just4pLeisure 0:f5d099885d3d 130 uint8_t mcpMode(can_t *obj, const CANMode mode); // Change CAN operation to the specified mode
Just4pLeisure 0:f5d099885d3d 131
Just4pLeisure 0:f5d099885d3d 132
Just4pLeisure 0:f5d099885d3d 133 #ifdef __cplusplus
Just4pLeisure 0:f5d099885d3d 134 };
Just4pLeisure 0:f5d099885d3d 135 #endif
Just4pLeisure 0:f5d099885d3d 136
Just4pLeisure 0:f5d099885d3d 137 #endif // SEEED_CAN_API_H