can.h

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/*
 *     SocialLedge.com - Copyright (C) 2013
 *
 *     This file is part of free software framework for embedded processors.
 *     You can use it and/or distribute it as long as this copyright header
 *     remains unmodified.  The code is free for personal use and requires
 *     permission to use in a commercial product.
 *
 *      THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
 *      OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
 *      MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
 *      I SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
 *      CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
 *
 *     You can reach the author of this software at :
 *          p r e e t . w i k i @ g m a i l . c o m
 */

#ifndef CAN_H__
#define CAN_H__
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>



typedef union {
    uint64_t qword;     
    uint32_t dwords[2]; 
    uint16_t words [4]; 
    uint8_t  bytes [8]; 
} can_data_t;

typedef struct {
    union {
        uint32_t frame; 
        struct {
            uint32_t          : 16; 
            uint32_t data_len : 4;  
            uint32_t          : 10; 
            uint32_t is_rtr   : 1;  
            uint32_t is_29bit : 1;  
        } frame_fields;
    };

    uint32_t msg_id; 
    can_data_t data; 
} __attribute__((__packed__)) can_msg_t;

typedef struct {
    struct {
        uint32_t msg_id   : 11; 
        uint32_t          :  5; 
        uint32_t data_len :  4; 
        uint32_t          :  4; 
        uint32_t semphr   :  2; 
        uint32_t          :  4; 
        uint32_t rtr      :  1; 
        uint32_t          :  1; 
    };

    can_data_t data;    
} __attribute__((__packed__)) can_fullcan_msg_t;

typedef enum {
    can1,        
    can2,        
    can_max,     
} can_t;

typedef void (*can_void_func_t)(uint32_t);

bool CAN_init(can_t can, uint32_t baudrate_kbps, uint16_t rxq_size, uint16_t txq_size,
              can_void_func_t bus_off_cb, can_void_func_t data_ovr_cb);

bool CAN_rx(can_t can, can_msg_t *msg, uint32_t timeout_ms);

bool CAN_tx(can_t can, can_msg_t *msg, uint32_t timeout_ms);

bool CAN_is_bus_off(can_t can);
void CAN_reset_bus(can_t can);
uint16_t CAN_get_rx_watermark(can_t can); 
uint16_t CAN_get_tx_watermark(can_t can); 
uint16_t CAN_get_tx_count(can_t can); 
uint16_t CAN_get_rx_count(can_t can); 

uint16_t CAN_get_rx_dropped_count(can_t can);

void CAN_bypass_filter_accept_all_msgs(void);

/* ---------------------------------------------------------------------------------------
 * Rest of the API is for filtering specific messages.
 * Any messages not defined in the acceptance filter are ignored, and will not be
 * acknowledged by the CAN BUS.
 * ---------------------------------------------------------------------------------------
 */

typedef union {
    struct {
        uint16_t id      : 11;
        uint16_t fc_intr : 1; 
        uint16_t disable : 1; 
        uint16_t can_num : 3; 
    };
    uint16_t raw;
} __attribute__((__packed__)) can_std_id_t;

typedef struct {            
    can_std_id_t low;       
    can_std_id_t high;      
} can_std_grp_id_t;

typedef struct {
    uint32_t id      : 29;  
    uint32_t can_num : 3;   
} __attribute__((__packed__)) can_ext_id_t;

typedef struct {            
    can_ext_id_t low;       
    can_ext_id_t high;      
} can_ext_grp_id_t;

can_std_id_t CAN_gen_sid(can_t can, uint16_t id);
can_ext_id_t CAN_gen_eid(can_t can, uint32_t id);
bool CAN_fullcan_add_entry(can_t can, can_std_id_t id1, can_std_id_t id2);

can_fullcan_msg_t* CAN_fullcan_get_entry_ptr(can_std_id_t fc_id);

bool CAN_fullcan_read_msg_copy(can_fullcan_msg_t *fc_msg_ptr, can_fullcan_msg_t *msg_copy_ptr);

uint8_t CAN_fullcan_get_num_entries(void);

bool CAN_setup_filter(const can_std_id_t *std_id_list,           uint16_t sid_cnt,
                      const can_std_grp_id_t *std_group_id_list, uint16_t sgp_cnt,
                      const can_ext_id_t *ext_id_list,           uint16_t eid_cnt,
                      const can_ext_grp_id_t *ext_group_id_list, uint16_t egp_cnt);



#ifdef __cplusplus
}
#endif
#endif /* CAN_H__ */