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69 lines
2.1 KiB
C
69 lines
2.1 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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// identifier mask (for ORing with Controller_address
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#define CAN_ID_MASK ((uint16_t)0x7F8)
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// prefix of identifiers
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#define CAN_ID_PREFIX ((uint16_t)0xAAA)
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// this is master - Controller_address==0
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#define MASTER_ID (CAN_ID_PREFIX & CAN_ID_MASK)
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// broadcasting to every slave
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#define BCAST_ID ((uint16_t)0x7F7)
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// send dummy message to this ID for testing CAN bus status
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#define NOONE_ID ((uint16_t)0x7FF)
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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_NOTMASTER, // can't send command - not a mastar
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CAN_STOP, // CAN stopped
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CAN_READY, // ready to send
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CAN_BUSY, // bus is busy
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CAN_OK, // all OK?
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CAN_FIFO_OVERRUN, // FIFO overrun
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CAN_ERROR // no recipients on bus or too many errors
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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_proc();
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CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
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CAN_message *CAN_messagebuf_pop();
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#endif // __CAN_H__
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