[7b35a36] | 1 | /** |
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| 2 | * @file can.h |
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| 3 | * |
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| 4 | * @ingroup lpc176x |
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| 5 | * |
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| 6 | * @brief CAN controller for the mbed lpc1768 board. |
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| 7 | */ |
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| 8 | |
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| 9 | /* |
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| 10 | * Copyright (c) 2014 Taller Technologies. |
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| 11 | * |
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| 12 | * @author Diaz Marcos (marcos.diaz@tallertechnologies.com) |
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| 13 | * @author Daniel Chicco (daniel.chicco@tallertechnologies.com) |
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| 14 | * |
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| 15 | * The license and distribution terms for this file may be |
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| 16 | * found in the file LICENSE in this distribution or at |
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[d4edbdbc] | 17 | * http://www.rtems.org/license/LICENSE. |
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[7b35a36] | 18 | */ |
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| 19 | |
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| 20 | #ifndef LPC176X_CAN_H |
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| 21 | #define LPC176X_CAN_H |
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| 22 | |
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| 23 | #include <bsp.h> |
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| 24 | #include <bsp/io.h> |
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| 25 | #include <bsp/lpc176x.h> |
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| 26 | |
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| 27 | #ifdef __cplusplus |
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| 28 | extern "C" { |
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| 29 | #endif /* __cplusplus */ |
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| 30 | |
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| 31 | /** |
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| 32 | * @brief The CAN devices of the board. |
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| 33 | */ |
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| 34 | typedef enum { |
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| 35 | CAN_0, |
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| 36 | CAN_1, |
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| 37 | CAN_DEVICES_NUMBER |
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| 38 | } lpc176x_can_number; |
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| 39 | |
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| 40 | /** |
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| 41 | * @brief A CAN message represented for the registers of the device. |
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| 42 | */ |
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| 43 | typedef struct { |
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| 44 | uint32_t info; |
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| 45 | uint32_t id; |
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| 46 | uint32_t data_a; |
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| 47 | uint32_t data_b; |
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| 48 | } registers_can_message; |
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| 49 | |
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| 50 | /** |
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| 51 | * @brief A CAN message represented with each logical parts |
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| 52 | */ |
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| 53 | typedef struct { |
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| 54 | unsigned int reserved1 : 16; |
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| 55 | unsigned int dlc : 4; /* Bits 16..19: DLC - Data Length Counter*/ |
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| 56 | unsigned int reserved0 : 10; |
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| 57 | unsigned int rtr : 1; /* Bit 30: Set if this is a RTR message*/ |
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| 58 | unsigned int type : 1; /* Bit 31: Set if this is a 29-bit ID message*/ |
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| 59 | unsigned int id; /* CAN Message ID (11-bit or 29-bit)*/ |
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| 60 | unsigned char data[ 8 ]; /* CAN Message Data Bytes 0-7*/ |
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| 61 | } low_level_can_message; |
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| 62 | |
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| 63 | /** |
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| 64 | * @brief A CAN message represented of both forms. |
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| 65 | */ |
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| 66 | typedef union { |
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| 67 | low_level_can_message low_level; |
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| 68 | registers_can_message registers; |
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| 69 | } can_message; |
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| 70 | |
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| 71 | /** |
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| 72 | * @brief The possible interrupt sources for CAN. |
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| 73 | */ |
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| 74 | typedef enum { |
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| 75 | IRQ_RX = 0, |
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| 76 | IRQ_TX, |
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| 77 | IRQ_ERROR, |
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| 78 | IRQ_OVERRUN, |
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| 79 | IRQ_WAKEUP, |
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| 80 | IRQ_PASSIVE, |
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| 81 | IRQ_ARB, |
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| 82 | IRQ_BUS, |
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| 83 | IRQ_READY, |
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| 84 | CAN_IRQ_NUMBER |
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| 85 | } can_irq_type; |
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| 86 | |
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| 87 | /** |
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| 88 | * @brief An isr for a CAN interrupt |
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| 89 | * |
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| 90 | * @param number The CAN which rised the interrupt. |
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| 91 | */ |
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| 92 | typedef void (*lpc176x_can_isr) ( lpc176x_can_number number ); |
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| 93 | |
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| 94 | /** |
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| 95 | * @brief A CAN frequency value |
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| 96 | */ |
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| 97 | typedef unsigned int can_freq; |
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| 98 | |
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| 99 | /** |
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| 100 | * @brief Opens CAN device. |
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| 101 | * @details It enables the module and gives it a clock, sets the pins, |
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| 102 | * disables the interrupts, sets the frequency and bypasses |
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| 103 | * the acceptance filter. |
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| 104 | * |
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| 105 | * @param minor The device to open. |
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| 106 | * @param freq The desired frequency. |
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| 107 | * @return RTEMS_SUCCESFUL on success. |
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| 108 | */ |
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| 109 | rtems_status_code can_open( lpc176x_can_number minor, can_freq freq ); |
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| 110 | |
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| 111 | /** |
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| 112 | * @brief Closes the passed CAN device and shut it down. |
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| 113 | * |
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| 114 | * @param minor The device to close. |
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| 115 | * @return RTEMS_SUCCESSFUL if ok, RTEMS_INVALID_NUMBER for a bad parameter. |
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| 116 | */ |
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| 117 | rtems_status_code can_close( lpc176x_can_number minor ); |
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| 118 | |
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| 119 | /** |
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| 120 | * @brief Reads the CAN device. |
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| 121 | * |
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| 122 | * @param minor The CAN device to read. |
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| 123 | * @param message The read message. |
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| 124 | * @return RTEMS_SUCCESSFUL if read ok, RTEMS_IO_ERROR otherwise. |
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| 125 | */ |
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| 126 | rtems_status_code can_read( |
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| 127 | const lpc176x_can_number minor, |
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| 128 | can_message *message |
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| 129 | ); |
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| 130 | |
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| 131 | /** |
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| 132 | * @brief Writes the passed CAN message into the selected CAN device. |
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| 133 | * |
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| 134 | * @param minor The device to write. |
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| 135 | * @param message The message to write. |
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| 136 | * @return RTEMS_SUCCESFUL if write ok. RTEMS_IO_ERROR otherwise. |
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| 137 | */ |
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| 138 | rtems_status_code can_write( |
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| 139 | const lpc176x_can_number minor, |
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| 140 | const can_message *const message |
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| 141 | ); |
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| 142 | |
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| 143 | /** |
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| 144 | * @brief Registers an isr in the driver vector, and enables the interrupt |
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| 145 | * in the device. |
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| 146 | * |
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| 147 | * @param number The CAN device to set |
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| 148 | * @param type The interrupt type. |
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| 149 | * @param isr The isr to register. |
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| 150 | * @return RTEMS_SUCCESSFUL if ok RTEMS_INVALID_NUMBER otherwise. |
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| 151 | */ |
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| 152 | rtems_status_code can_register_isr( |
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| 153 | const lpc176x_can_number number, |
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| 154 | const can_irq_type type, |
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| 155 | const lpc176x_can_isr isr |
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| 156 | ); |
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| 157 | |
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| 158 | /** |
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| 159 | * @brief Creates a CAN message. |
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| 160 | * @details [long description] |
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| 161 | * |
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| 162 | * @param msg The created message. |
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| 163 | * @param _id The can id for the message. |
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| 164 | * @param _data The data of the message. |
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[612297e8] | 165 | * @param _len The length of the message. |
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[7b35a36] | 166 | * @return RTEMS_SUCCESFUL if created, RTEMS_INVALID_NUMBER otherwise. |
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| 167 | */ |
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| 168 | rtems_status_code create_can_message( |
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| 169 | can_message *const msg, |
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| 170 | const int _id, |
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| 171 | const char *const _data, |
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| 172 | const char _len |
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| 173 | ); |
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| 174 | |
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| 175 | #ifdef __cplusplus |
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| 176 | } |
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| 177 | #endif /* __cplusplus */ |
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| 178 | |
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| 179 | #endif /* ifndef LPC176X_CAN_H */ |
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