/**
* @file
*
* @ingroup RTEMSBSPsARMLPC176X
*
* @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 length 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 */
