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Diffstat (limited to 'include/bsp/can.h')
| -rwxr-xr-x | include/bsp/can.h | 179 |
1 files changed, 179 insertions, 0 deletions
diff --git a/include/bsp/can.h b/include/bsp/can.h new file mode 100755 index 0000000000..c323608da2 --- /dev/null +++ b/include/bsp/can.h @@ -0,0 +1,179 @@ +/** + * @file can.h + * + * @ingroup lpc176x + * + * @brief CAN controller for the mbed lpc1768 board. + */ + +/* + * 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 */ + +/** + * @brief The CAN devices of the board. + */ +typedef enum { + CAN_0, + CAN_1, + CAN_DEVICES_NUMBER +} lpc176x_can_number; + +/** + * @brief A CAN message represented for the registers of the device. + */ +typedef struct { + uint32_t info; + uint32_t id; + uint32_t data_a; + uint32_t data_b; +} registers_can_message; + +/** + * @brief A CAN message represented with each logical parts + */ +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; + +/** + * @brief A CAN message represented of both forms. + */ +typedef union { + low_level_can_message low_level; + registers_can_message registers; +} can_message; + +/** + * @brief The possible interrupt sources for CAN. + */ +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; + +/** + * @brief An isr for a CAN interrupt + * + * @param number The CAN which rised the interrupt. + */ +typedef void (*lpc176x_can_isr) ( lpc176x_can_number number ); + +/** + * @brief A CAN frequency value + */ +typedef unsigned int can_freq; + +/** + * @brief Opens CAN device. + * @details It enables the module and gives it a clock, sets the pins, + * disables the interrupts, sets the frequency and bypasses + * the acceptance filter. + * + * @param minor The device to open. + * @param freq The desired frequency. + * @return RTEMS_SUCCESFUL on success. + */ +rtems_status_code can_open( lpc176x_can_number minor, can_freq freq ); + +/** + * @brief Closes the passed CAN device and shut it down. + * + * @param minor The device to close. + * @return RTEMS_SUCCESSFUL if ok, RTEMS_INVALID_NUMBER for a bad parameter. + */ +rtems_status_code can_close( lpc176x_can_number minor ); + +/** + * @brief Reads the CAN device. + * + * @param minor The CAN device to read. + * @param message The read message. + * @return RTEMS_SUCCESSFUL if read ok, RTEMS_IO_ERROR otherwise. + */ +rtems_status_code can_read( + const lpc176x_can_number minor, + can_message *message +); + +/** + * @brief Writes the passed CAN message into the selected CAN device. + * + * @param minor The device to write. + * @param message The message to write. + * @return RTEMS_SUCCESFUL if write ok. RTEMS_IO_ERROR otherwise. + */ +rtems_status_code can_write( + const lpc176x_can_number minor, + const can_message *const message +); + +/** + * @brief Registers an isr in the driver vector, and enables the interrupt +* in the device. + * + * @param number The CAN device to set + * @param type The interrupt type. + * @param isr The isr to register. + * @return RTEMS_SUCCESSFUL if ok RTEMS_INVALID_NUMBER otherwise. + */ +rtems_status_code can_register_isr( + const lpc176x_can_number number, + const can_irq_type type, + const lpc176x_can_isr isr +); + +/** + * @brief Creates a CAN message. + * @details [long description] + * + * @param msg The created message. + * @param _id The can id for the message. + * @param _data The data of the message. + * @param _len The lenght of the message. + * @return RTEMS_SUCCESFUL if created, RTEMS_INVALID_NUMBER otherwise. + */ +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 */ |