Diff: seeed_can_api.h

Revision:

0:f5d099885d3d

Child:

1:ad71faa09868

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/seeed_can_api.h	Tue Nov 05 22:37:35 2013 +0000
@@ -0,0 +1,137 @@
+/* seeed_can_api.h
+ * Copyright (c) 2013 Sophie Dexter
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef _SEEED_CAN_API_H_
+#define _SEEED_CAN_API_H_
+
+#include "seeed_can_spi.h"
+
+// print debug information...
+//#define DEBUG
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** CAN driver typedefs
+ */
+
+// The 'MCP_xyz' structs mimic MCP register organisations
+// A union of the struct and a simple array can be used to:
+//  Process and manipulate the struct in an ordered way
+//  Copy the struct to/from the MCP2512 as an array
+
+/// Type definition to hold an MCP2515 CAN id structure
+    struct MCP_CANtiming {
+        uint8_t phseg2    : 3;      // PS2 length bits 2..0 (PHSEG2 + 1) Tq (minimum valid setting is 2 Tq)
+        uint8_t reserved1 : 3;      // Unused bits (read as '0')
+        uint8_t wakfil    : 1;      // Wake-up filter enable bit (1 = enabled, 0 = disabled)
+        uint8_t sof       : 1;      // Start of frame bit (1 = CLKOUT pin is SOF, 0 = CLKOUT is clock)
+        uint8_t prseg     : 3;      // Propagation Segment length bits 2..0 (PRSEG + 1) Tq (minimum valid setting is 1 Tq)
+        uint8_t phseg1    : 3;      // PS2 length bits 2..0 (PRSEG + 1) Tq (minimum valid setting is 1 Tq)
+        uint8_t sam       : 1;      // Sample Point Configuration bit (1 = Bus line is sampled 3 times, 0 = sampled once)
+        uint8_t btlmode   : 1;      // PS2 Bit Time Length (1 = determined by phseg2, 0 = greater of PS1 an IPT (2 Tq))
+        uint8_t brp       : 6;      // Baud Rate Prescaler bits 5..0 (Tq = 2 x (BRP + 1) / Fosc)
+        uint8_t sjw       : 2;      // Synchronisation Jump Width Length bits 1..0 ((SJW + 1) Tq)
+    };
+    typedef struct MCP_CANtiming CANtiming;
+
+/// Type definition to hold an MCP2515 CAN id structure
+    struct MCP_CANid {
+        uint8_t sid10_3   : 8;      // Bits 10..3 of a standard identifier
+        uint8_t eid17_16  : 2;      // Bits 17..16 of an extended identifier
+        uint8_t reserved1 : 1;      // Unused bit in RXBbSIDL
+        uint8_t ide       : 1;      // Extended Identifier Flag
+        // CANformat 'type'
+        uint8_t srtr      : 1;      // Standard Frame Remote Transmit Request Bit (valid when IDE = 0)
+        // CANtype 'type'
+        // Unimplimented  in TXBnSIDL, filters and acceptance masks
+        uint8_t sid2_0    : 3;      // Bits 2..0 of a standard identifier
+        uint8_t eid15_8   : 8;      // Bits 15..8 of an extended identifier
+        uint8_t eid7_0    : 8;      // Bits 7..0 of an extended identifier
+    };
+    typedef struct MCP_CANid CANid;
+
+/// Type definition to hold an MCP2515 CAN message structure
+    struct MCP_CANMsg {
+        CANid id;
+        uint8_t dlc       : 4;      // Bits 3..0: DLC - Data Length Counter
+        uint8_t reserved1 : 2;      // unused bits in RXBnDLC
+        uint8_t ertr      : 1;      // Extended Frame Remote Transmit Request Bit (valid when IDE = 1)
+        // CANtype 'type'
+        uint8_t reserved2 : 1;      // unused bit in RXBnDLC
+        uint8_t data[8];            // CAN Message Data Bytes 0-7
+    };
+    typedef struct MCP_CANMsg CANMsg;
+
+    enum CANFormat {
+        CANStandard = 0,
+        CANExtended = 1
+    };
+    typedef enum CANFormat CANFormat;
+
+    enum CANType {
+        CANData   = 0,
+        CANRemote = 1
+    };
+    typedef enum CANType CANType;
+
+    struct CAN_Message {
+        unsigned int   id;          // 11 or 29 bit identifier
+        unsigned char  data[8];     // Data field
+        unsigned char  len;         // Length of data field in bytes
+        CANFormat      format;      // 0 - STANDARD, 1- EXTENDED IDENTIFIER
+        CANType        type;        // 0 - DATA FRAME, 1 - REMOTE FRAME
+    };
+    typedef struct CAN_Message CAN_Message;
+    
+    enum MCP_Mode {
+        _NORMAL,
+        _SLEEP,
+        _LOOPBACK,
+        _MONITOR,
+        _CONFIG,
+        _RESET,
+    };
+    typedef MCP_Mode CANMode;
+
+/** CAN driver functions
+ */
+    uint8_t mcpInit(can_t *obj, const uint32_t bitRate);                // Initialise the MCP2515 and set the bit rate
+    uint8_t mcpSetMode(can_t *obj, const uint8_t newmode);              // set the MCP2515's operation mode
+    uint8_t mcpSetBitRate(can_t *obj, const uint32_t bitRate);          // set bitrate
+    
+    void mcpWriteId(can_t *obj,                                         // write a CAN id
+                    const uint8_t mcp_addr,
+                    const uint8_t ext,
+                    const uint32_t id );
+    uint8_t mcpCanRead(can_t *obj, CAN_Message *msg);                   // read a CAN message
+    uint8_t mcpCanWrite(can_t *obj, CAN_Message msg);                   // write a CAN message
+    
+    uint8_t mcpInitMask(can_t *obj, uint8_t num, uint32_t ulData, bool ext);  // initialise an Acceptance Mask
+    uint8_t mcpInitFilter(can_t *obj, uint8_t num, uint32_t ulData, bool ext);  // initialise an Acceptance Filter
+
+    uint8_t mcpReceptionErrorCount(can_t *obj);                         // number of message reception errors
+    uint8_t mcpTransmissionErrorCount(can_t *obj);                      // number of message transmission errors
+
+    void mcpMonitor(can_t *obj, const bool silent);                     // Select between monitor (silent = 1) and normal (silent = 0) modes
+    uint8_t mcpMode(can_t *obj, const CANMode mode);                    // Change CAN operation to the specified mode
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif    // SEEED_CAN_API_H
\ No newline at end of file