seeed_can_spi.h

00001 /* seeed_can_spi.h
00002  * Copyright (c) 2013 Sophie Dexter
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 #ifndef _SEEED_CAN_SPI_H_
00017 #define _SEEED_CAN_SPI_H_
00018 
00019 #include "seeed_can_defs.h"
00020 
00021 #ifdef __cplusplus
00022 extern "C" {
00023 #endif
00024 
00025     /** CAN driver typedefs
00026      */
00027  /// Type definition to hold a Seeed Studios CAN-BUS Shield connections and resources structure
00028    struct Seeed_MCP_CAN_Shield {
00029         SPI             spi;
00030         DigitalOut      ncs;
00031         InterruptIn     irq;
00032         Seeed_MCP_CAN_Shield(SPI _spi_, DigitalOut _ncs_, InterruptIn _irq_) :
00033             spi(_spi_),
00034             ncs(_ncs_),
00035             irq(_irq_)
00036         {}
00037     };
00038     typedef struct Seeed_MCP_CAN_Shield mcp_can_t;
00039 
00040     /** mcp2515 spi instructions
00041      */
00042     void mcpReset(mcp_can_t *obj);                                      // reset the MCP2515 CAN controller chip
00043 
00044     uint8_t mcpRead(mcp_can_t *obj,                                     // read from a single MCP2512 register
00045                     const uint8_t address);
00046     void mcpReadMultiple(mcp_can_t *obj,                                // read multiple, sequential, registers into an array
00047                          const uint8_t address,
00048                          uint8_t values[],
00049                          const uint8_t n);
00050     void mcpReadBuffer(mcp_can_t *obj,                                  // read the specified receive buffer into an array
00051                        const uint8_t command,
00052                        uint8_t values[],
00053                        const uint8_t n);
00054     void mcpWrite(mcp_can_t *obj,                                       // write to a single MCP2512 register
00055                   const uint8_t address,
00056                   const uint8_t value);
00057     void mcpWriteMultiple(mcp_can_t *obj,                               // write an array into consecutive MCP2515 registers
00058                           const uint8_t address,
00059                           const uint8_t values[],
00060                           const uint8_t n);
00061     void mcpWriteBuffer(mcp_can_t *obj,                                 // write an array into the specified transmit buffer
00062                         const uint8_t command,
00063                         uint8_t values[],
00064                         const uint8_t n);
00065     void mcpBufferRTS(mcp_can_t *obj, const uint8_t command);           // initiate transmission of the specified MCP2515 transmit buffer
00066     uint8_t mcpStatus(mcp_can_t *obj);                                  // read the MCP2515's status register
00067     uint8_t mcpReceiveStatus(mcp_can_t *obj);                           // read mcp2515's receive status register
00068     void mcpBitModify(mcp_can_t *obj,                                   // modify bits of a register specified by a mask
00069                       const uint8_t address,
00070                       const uint8_t mask,
00071                       const uint8_t data);
00072 
00073 #ifdef __cplusplus
00074 };
00075 #endif
00076 
00077 #endif    // SEEED_CAN_SPI_H