can.h

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/*
 * Copyright (c) 2014 Taller Technologies.
 *
 * @author  Diaz Marcos (marcos.diaz@tallertechnologies.com)
 * @author  Daniel Chicco  (daniel.chicco@tallertechnologies.com)
 *
 * The license and distribution terms for this file may be
 * found in the file LICENSE in this distribution or at
 * http://www.rtems.org/license/LICENSE.
 */

#ifndef LPC176X_CAN_H
#define LPC176X_CAN_H

#include <bsp.h>
#include <bsp/io.h>
#include <bsp/lpc176x.h>

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

typedef enum {
  CAN_0,
  CAN_1,
  CAN_DEVICES_NUMBER
} lpc176x_can_number;

typedef struct {
  uint32_t info;
  uint32_t id;
  uint32_t data_a;
  uint32_t data_b;
} registers_can_message;

typedef struct {
  unsigned int reserved1 : 16;
  unsigned int dlc       :  4;   /* Bits 16..19: DLC - Data Length Counter*/
  unsigned int reserved0 : 10;
  unsigned int rtr       :  1;   /* Bit 30: Set if this is a RTR message*/
  unsigned int type      :  1;   /* Bit 31: Set if this is a 29-bit ID message*/
  unsigned int id;               /* CAN Message ID (11-bit or 29-bit)*/
  unsigned char data[ 8 ];       /* CAN Message Data Bytes 0-7*/
} low_level_can_message;

typedef union {
  low_level_can_message low_level;
  registers_can_message registers;
} can_message;

typedef enum {
  IRQ_RX = 0,
  IRQ_TX,
  IRQ_ERROR,
  IRQ_OVERRUN,
  IRQ_WAKEUP,
  IRQ_PASSIVE,
  IRQ_ARB,
  IRQ_BUS,
  IRQ_READY,
  CAN_IRQ_NUMBER
} can_irq_type;

typedef void (*lpc176x_can_isr) ( lpc176x_can_number number );

typedef unsigned int can_freq;

rtems_status_code can_open( lpc176x_can_number minor, can_freq freq );

rtems_status_code can_close( lpc176x_can_number minor );

rtems_status_code can_read(
  const lpc176x_can_number minor,
  can_message             *message
);

rtems_status_code can_write(
  const lpc176x_can_number minor,
  const can_message *const message
);

rtems_status_code can_register_isr(
  const lpc176x_can_number number,
  const can_irq_type       type,
  const lpc176x_can_isr    isr
);

rtems_status_code create_can_message(
  can_message *const msg,
  const int          _id,
  const char *const  _data,
  const char         _len
);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* ifndef LPC176X_CAN_H */