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72 lines
1.8 KiB
C
72 lines
1.8 KiB
C
/*
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* geany_encoding=koi8-r
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* can.h
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#pragma once
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#ifndef __CAN_H__
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#define __CAN_H__
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#include "hardware.h"
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// simple 1-byte commands
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#define CMD_TOGGLE (0xDA)
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#define CMD_BCAST (0xAD)
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// mask heading 8 bits of can ID
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#define CAN_ID_MASK (0x7F8)
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// prefix to make ID from any number (0..7)
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#define CAN_ID_PREFIX (0xAAA)
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// "target" ID: num=0
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#define TARG_ID (CAN_ID_PREFIX & CAN_ID_MASK)
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// "broadcast" ID: all ones
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#define BCAST_ID (0x7FF)
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// incoming message buffer size
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#define CAN_INMESSAGE_SIZE (8)
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typedef struct{
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uint8_t data[8];
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uint8_t length;
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} CAN_message;
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typedef enum{
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CAN_STOP,
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CAN_READY,
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CAN_BUSY,
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CAN_OK,
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CAN_FIFO_OVERRUN
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} CAN_status;
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CAN_status CAN_get_status();
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void readCANID();
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uint16_t getCANID();
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void CAN_reinit();
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void CAN_setup();
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void can_send_dummy();
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void can_send_broadcast();
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void can_proc();
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CAN_message *CAN_messagebuf_pop();
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#endif // __CAN_H__
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