canbus.h

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#ifndef _CANBUS_H_
#define _CANBUS_H_
/*
 * Copyright (C) 2012 by Uwe Bonnes(bon@elektron.ikp.physik.tu-darmstadt.de)
 *
 *
 * 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 <cfg/arch.h>
#include <sys/types.h>
#include <sys/device.h>

#include <dev/irqreg.h>


#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

enum CAN_RESULT
{
   CAN_SUCCESS       =  0,   
   CAN_ERROR         = -1,   
   CAN_TXBUF_FULL    = -2,   
   CAN_RXBUF_EMPTY   = -3,   
   CAN_ILLEGAL_MOB   = -4,   
   CAN_INVALID_SPEED = -5,   
   CAN_PASSIVE       = -6,   
   CAN_BUS_OFF       = -7,   
   CAN_NO_COMPANION  = -8,   
   CAN_IS_COMPANION  = -9,   
};

enum CAN_COUNTERS
{
    CAN_RX_FRAMES      =  0,   
    CAN_TX_FRAMES      =  1,   
    CAN_INTERRUPTS     =  2,   
    CAN_RX_INTERRUPTS  =  3,   
    CAN_TX_INTERRUPTS  =  4,   
    CAN_SCE_INTERRUPTS =  5,   
    CAN_OVERRUNS       =  6,   
    CAN_ERRORS         =  7,   
    CAN_NO_COUNTERS    =  8,
};

/* Enable / disable time triggered communication mode */
#define CAN_TTCM    0x0001

/* Enable / disable automatic bus-off management */
#define CAN_ABOM    0x0002

/* Set the automatic wake-up mode */
#define CAN_AWUM    0x0004

/* Enable / disable no automatic retransmission */
#define CAN_NART    0x0008

/* Enable / disable receive FIFO locked mode */
#define CAN_RFLM    0x0010

/* Enable / disable transmit FIFO priority */
#define CAN_TXFP    0x0020

typedef struct _NUTCANBUS NUTCANBUS;
typedef struct _CANBUSINFO CANBUSINFO;

typedef struct _CANBUFFER CANBUFFER;


/* Include architecture specific CAN implementation */
#if defined(MCU_STM32)
#include <arch/cm3/stm/stm32_can.h>
#endif

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

typedef struct _CANFRAME CANFRAME;

struct _CANFILTER{           //
    uint32_t id;             
    uint32_t mask;           
    uint8_t id_ext;          
    uint8_t id_rtr;          
    uint8_t mask_ext;        
    uint8_t mask_rtr;        
};

typedef struct _CANFILTER CANFILTER;

#define FILTER_EXPLICIT 0xffffffff

extern int NutRegisterCanBus( NUTCANBUS *bus, int8_t ln2_size );
extern int CanAddFilter( NUTCANBUS *bus, CANFILTER *filter );
extern int CanSetBaud( NUTCANBUS *bus, uint8_t baud, uint32_t alt_btr);
extern void CANSetRxTimeout(NUTCANBUS *bus, uint32_t timeout);
extern void CanEnableRx( NUTCANBUS *bus);
extern int CanRxAvail( NUTCANBUS *bus);
extern int CanInput(NUTCANBUS *bus, CANFRAME *output);
extern int CanTxFree(NUTCANBUS *can);
extern int CanOutput( NUTCANBUS *bus, CANFRAME *output);
extern int CanGetCounter( NUTCANBUS *bus, enum CAN_COUNTERS index);

#endif