source: rtems/c/src/lib/libbsp/arm/lpc176x/include/can.h @ 55bde66

5
Last change on this file since 55bde66 was 612297e8, checked in by Joel Sherrill <joel@…>, on Jul 12, 2016 at 10:44:17 AM

Misc: Spell length correctly

  • Property mode set to 100755
File size: 4.2 KB
Line 
1/**
2 * @file can.h
3 *
4 * @ingroup lpc176x
5 *
6 * @brief CAN controller for the mbed lpc1768 board.
7 */
8
9/*
10 * Copyright (c) 2014 Taller Technologies.
11 *
12 * @author  Diaz Marcos (marcos.diaz@tallertechnologies.com)
13 * @author  Daniel Chicco  (daniel.chicco@tallertechnologies.com)
14 *
15 * The license and distribution terms for this file may be
16 * found in the file LICENSE in this distribution or at
17 * http://www.rtems.org/license/LICENSE.
18 */
19
20#ifndef LPC176X_CAN_H
21#define LPC176X_CAN_H
22
23#include <bsp.h>
24#include <bsp/io.h>
25#include <bsp/lpc176x.h>
26
27#ifdef __cplusplus
28extern "C" {
29#endif /* __cplusplus */
30
31/**
32 * @brief The CAN devices of the board.
33 */
34typedef enum {
35  CAN_0,
36  CAN_1,
37  CAN_DEVICES_NUMBER
38} lpc176x_can_number;
39
40/**
41 * @brief  A CAN message represented for the registers of the device.
42 */
43typedef struct {
44  uint32_t info;
45  uint32_t id;
46  uint32_t data_a;
47  uint32_t data_b;
48} registers_can_message;
49
50/**
51 * @brief A CAN message represented with each logical parts
52 */
53typedef struct {
54  unsigned int reserved1 : 16;
55  unsigned int dlc       :  4;   /* Bits 16..19: DLC - Data Length Counter*/
56  unsigned int reserved0 : 10;
57  unsigned int rtr       :  1;   /* Bit 30: Set if this is a RTR message*/
58  unsigned int type      :  1;   /* Bit 31: Set if this is a 29-bit ID message*/
59  unsigned int id;               /* CAN Message ID (11-bit or 29-bit)*/
60  unsigned char data[ 8 ];       /* CAN Message Data Bytes 0-7*/
61} low_level_can_message;
62
63/**
64 * @brief A CAN message represented of both forms.
65 */
66typedef union {
67  low_level_can_message low_level;
68  registers_can_message registers;
69} can_message;
70
71/**
72 * @brief The possible interrupt sources for CAN.
73 */
74typedef enum {
75  IRQ_RX = 0,
76  IRQ_TX,
77  IRQ_ERROR,
78  IRQ_OVERRUN,
79  IRQ_WAKEUP,
80  IRQ_PASSIVE,
81  IRQ_ARB,
82  IRQ_BUS,
83  IRQ_READY,
84  CAN_IRQ_NUMBER
85} can_irq_type;
86
87/**
88 * @brief An isr for a CAN interrupt
89 *
90 * @param number The CAN which rised the interrupt.
91 */
92typedef void (*lpc176x_can_isr) ( lpc176x_can_number number );
93
94/**
95 * @brief A CAN frequency value
96 */
97typedef unsigned int can_freq;
98
99/**
100 * @brief Opens CAN device.
101 * @details It enables the module and gives it a clock, sets the pins,
102 * disables the interrupts, sets the frequency and bypasses
103 * the acceptance filter.
104 *
105 * @param  minor The device to open.
106 * @param freq The desired frequency.
107 * @return RTEMS_SUCCESFUL on success.
108 */
109rtems_status_code can_open( lpc176x_can_number minor, can_freq freq );
110
111/**
112 * @brief Closes the passed CAN device and shut it down.
113 *
114 * @param minor The device to close.
115 * @return RTEMS_SUCCESSFUL  if ok, RTEMS_INVALID_NUMBER for a bad parameter.
116 */
117rtems_status_code can_close( lpc176x_can_number minor );
118
119/**
120 * @brief Reads the CAN device.
121 *
122 * @param minor The CAN device to read.
123 * @param message The read message.
124 * @return RTEMS_SUCCESSFUL if read ok, RTEMS_IO_ERROR otherwise.
125 */
126rtems_status_code can_read(
127  const lpc176x_can_number minor,
128  can_message             *message
129);
130
131/**
132 * @brief Writes the passed CAN message into the selected CAN device.
133 *
134 * @param minor The device to write.
135 * @param message The message to write.
136 * @return RTEMS_SUCCESFUL if write ok. RTEMS_IO_ERROR otherwise.
137 */
138rtems_status_code can_write(
139  const lpc176x_can_number minor,
140  const can_message *const message
141);
142
143/**
144 * @brief Registers an isr in the driver vector, and enables the interrupt
145*  in the device.
146 *
147 * @param number The CAN device to set
148 * @param type The interrupt type.
149 * @param isr The isr to register.
150 * @return RTEMS_SUCCESSFUL if ok RTEMS_INVALID_NUMBER otherwise.
151 */
152rtems_status_code can_register_isr(
153  const lpc176x_can_number number,
154  const can_irq_type       type,
155  const lpc176x_can_isr    isr
156);
157
158/**
159 * @brief Creates a CAN message.
160 * @details [long description]
161 *
162 * @param msg The created message.
163 * @param _id The can id for the message.
164 * @param _data The data of the message.
165 * @param _len The length of the message.
166 * @return RTEMS_SUCCESFUL if created, RTEMS_INVALID_NUMBER otherwise.
167 */
168rtems_status_code create_can_message(
169  can_message *const msg,
170  const int          _id,
171  const char *const  _data,
172  const char         _len
173);
174
175#ifdef __cplusplus
176}
177#endif /* __cplusplus */
178
179#endif /* ifndef LPC176X_CAN_H */
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