CYGNUM_CAN_KBAUD_500,
CYGNUM_CAN_KBAUD_800,
CYGNUM_CAN_KBAUD_1000,
+ CYGNUM_CAN_KBAUD_AUTO, // automatic detection of baudrate (if supported by hardware)
} cyg_can_baud_rate_t;
#define CYGNUM_CAN_KBAUD_MIN CYGNUM_CAN_KBAUD_10
#define CYGNUM_CAN_KBAUD_MAX CYGNUM_CAN_KBAUD_1000
CYGNUM_CAN_EVENT_LEAVING_STANDBY = 0x0200, // CAN hardware leaves standby / power don mode or is waked up
CYGNUM_CAN_EVENT_ENTERING_STANDBY = 0x0400, // CAN hardware enters standby / power down mode
CYGNUM_CAN_EVENT_ARBITRATION_LOST = 0x0800, // arbitration lost
- CYGNUM_CAN_EVENT_DEVICE_CHANGED = 0x1000, // device changed event
+ CYGNUM_CAN_EVENT_FILTER_ERR = 0x1000, // CAN message filter / acceptance filter error
+ CYGNUM_CAN_EVENT_PHY_FAULT = 0x2000, // General failure of physical layer detected (if supported by hardware)
+ CYGNUM_CAN_EVENT_PHY_H = 0x4000, // Fault on CAN-H detected (Low Speed CAN)
+ CYGNUM_CAN_EVENT_PHY_L = 0x8000, // Fault on CAN-L detected (Low Speed CAN)
} cyg_can_event_flags;
+//
+// State of CAN controller
+//
+typedef enum e_cyg_can_state
+{
+ CYGNUM_CAN_STATE_ACTIVE, // CAN controller is active, no errors
+ CYGNUM_CAN_STATE_STOPPED, // CAN controller is in stopped mode
+ CYGNUM_CAN_STATE_STANDBY, // CAN controller is in Sleep mode
+ CYGNUM_CAN_STATE_BUS_WARN, // CAN controller is active, warning level is reached
+ CYGNUM_CAN_STATE_ERR_PASSIVE, // CAN controller went into error passive mode
+ CYGNUM_CAN_STATE_BUS_OFF, // CAN controller went into bus off mode
+ CYGNUM_CAN_STATE_PHY_FAULT, // General failure of physical layer detected (if supported by hardware)
+ CYGNUM_CAN_STATE_PHY_H, // Fault on CAN-H detected (Low Speed CAN)
+ CYGNUM_CAN_STATE_PHY_L, // Fault on CAN-L detected (Low Speed CAN)
+ CYGNUM_CAN_STATE_CONFIG, // CAN controller is in configuration state
+} cyg_can_state;
+
+//
+// Identifiers for operating mode of the CAN controller.
+//
+typedef enum e_cyg_can_mode
+{
+ CYGNUM_CAN_MODE_STOP, // set controller into stop mode
+ CYGNUM_CAN_MODE_START, // set controller into operational mode
+ CYGNUM_CAN_MODE_STANDBY,// set controller into standby / sleep mode
+ CYGNUM_CAN_MODE_CONFIG // set controller and driver into a state where it is safe to add/delete message buffers
+} cyg_can_mode;
+
//
// Type of CAN identifier.
//
-typedef enum
+typedef enum e_cyg_can_id_type
{
CYGNUM_CAN_ID_STD = 0x00, // standard ID 11 Bit
CYGNUM_CAN_ID_EXT = 0x01 // extended ID 29 Bit
//
// Type of CAN frame
//
-typedef enum
+typedef enum e_cyg_can_frame_type
{
CYGNUM_CAN_FRAME_DATA = 0x00, // CAN data frame
CYGNUM_CAN_FRAME_RTR = 0x01 // CAN remote transmission request
} cyg_can_frame_type;
+//
+// Message buffer configuration identifier - we do not use an enum here so that
+// a specific device driver can add its own configuration identifier
+//
+typedef cyg_uint8 cyg_can_msgbuf_cfg_id;
+#define CYGNUM_CAN_MSGBUF_RESET_ALL 0 // no message will be received, all remote buffers deleted
+#define CYGNUM_CAN_MSGBUF_RX_FILTER_ALL 1 // cfg driver for reception of all can messges
+#define CYGNUM_CAN_MSGBUF_RX_FILTER_ADD 2 // add single message filter
+#define CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD 3 // add new remote response buffer
+#define CYGNUM_CAN_MSGBUF_REMOTE_BUF_WRITE 4 // store data into existing remote buffer (remote buf handle required)
+
+
+//
+// CAN message data - this union is a container for the 8 data bytes of a can
+// message and the union is alway part of a can message - no matter if this type
+// is defined by generic CAN layer or by CAN hardware device driver
+//
+typedef union u_cyg_can_msg_data
+{
+ cyg_uint8 bytes[8]; // byte access (array of 8 bytes)
+ cyg_uint16 words[4]; // word access (array of 4 words)
+ cyg_uint32 dwords[2]; // double word access (array of 2 dwords)
+} cyg_can_msg_data;
//
// CAN message type for transport or transmit of CAN messages
+// The message data is a union. This enables byte, word and dword access and
+// also ensures a 4 byte alignment of the message data
//
-typedef struct can_message
+typedef struct st_cyg_can_message
{
cyg_uint32 id; // 11 Bit or 29 Bit CAN identifier - cyg_can_id_type
- cyg_uint8 data[8];// 8 data bytes
+ cyg_can_msg_data data; // CAN data (8 data bytes)
cyg_can_id_type ext; // CYGNUM_CAN_ID_STD = 11 Bit CAN id, CYGNUM_CAN_ID_EXT = 29 Bit CAN id
cyg_can_frame_type rtr; // CYGNUM_CAN_FRAME_DATA = data frame, CYGNUM_CAN_FRAME_RTR = remote transmission request
cyg_uint8 dlc; // data length code (number of bytes (0 - 8) containing valid data
cyg_can_baud_rate_t baud;
} cyg_can_info_t;
+
+#define CYG_CAN_INFO_INIT(_baud) \
+ { _baud}
+
//
// buffer configuration - bufsize and count for tx are the number of messages
// and for rx the number of events
//
typedef struct cyg_can_buf_info_st
{
- cyg_int32 rx_bufsize;
- cyg_int32 rx_count;
- cyg_int32 tx_bufsize;
- cyg_int32 tx_count;
+ cyg_uint32 rx_bufsize;
+ cyg_uint32 rx_count;
+ cyg_uint32 tx_bufsize;
+ cyg_uint32 tx_count;
} cyg_can_buf_info_t;
+//
+// Message box configuration
+//
+typedef struct cyg_can_msgbox_info_st
+{
+ cyg_uint16 count; // number of message buffers available for this device
+ cyg_uint16 free; // number of free message buffers
+} cyg_can_msgbuf_info;
+
+
//
// Timeout configuration
//
cyg_uint32 tx_timeout;
} cyg_can_timeout_info_t;
+
//
-// this data type defines a remote transmission request buffer
+// this data type defines a handle to a message buffer or message box
+// of the CAN hardware device
//
-typedef struct cyg_can_rtr_buf_st
+typedef cyg_int32 cyg_can_msgbuf_handle;
+
+
+//
+// structure for configuration of message buffers
+//
+typedef struct cyg_can_msgbox_cfg_st
{
- cyg_int8 handle;
- cyg_can_message msg;
-} cyg_can_rtr_buf_t;
+ cyg_can_msgbuf_cfg_id cfg_id; // configuration id - cfg. what to do with message buffer
+ cyg_can_msgbuf_handle handle; // handle to message buffer
+ cyg_can_message msg; // CAN message - for configuration of buffer
+} cyg_can_msgbuf_cfg;
//
-// Values for the handle field of the cyg_can_rtr_buf_t data structure
+// this data type defines a CAN message filter. It consits
+// of a handle to a message box or message buffer and a CAN message.
+// For the filtering only the id and the ext field of the CAN message are
+// important. The values of the other fields doesn't matter
//
-#define CYGNUM_CAN_RTR_BUF_NA -0x01 // no free message buffer available
-#define CYGNUM_CAN_RTR_BUF_INIT -0x02 // initialize the remote message buffer
+typedef cyg_can_msgbuf_cfg cyg_can_filter;
+//
+// this data type defines a remote buffer. It consits
+// of a handle to a message box or message buffer and the message data
+// to send on reception of a remote request
+//
+typedef cyg_can_msgbuf_cfg cyg_can_remote_buf;
+
+//
+// Values for the handle field of the cyg_can_rtr_buf, cyg_can_filter and
+// cyg_can_msgbuf_cfg data structure
+//
+#define CYGNUM_CAN_MSGBUF_NA -0x01 // no free message buffer available
+
+
+//
+// The Hardware Description Interface provides a method to gather information
+// about the CAN hardware and the functionality of the driver. For
+// this purpose the following structure is defined:
+//
+// Support flags:
+// | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
+// +-------+-------+-------+-------+--------+-------+-------+--------+
+// | res | res | res |timest.|autobaud|FullCAN| Frametype |
+//
+typedef struct cyg_can_hdi_st
+{
+ cyg_uint8 support_flags;
+ cyg_uint8 controller_type;
+} cyg_can_hdi;
+
+//
+// Bit 0 and Bit 1 of the structure member support_flags describe the
+// possibities of the CAN controller. The following values are defined:
+//
+#define CYGNUM_CAN_HDI_FRAMETYPE_STD 0x00 // standard frame (11-bit identifier), 2.0A
+#define CYGNUM_CAN_HDI_FRAMETYPE_EXT_PASSIVE 0x01 // extended frame (29-bit identifier), 2.0B passive
+#define CYGNUM_CAN_HDI_FRAMETYPE_EXT_ACTIVE 0x02 // extended frame (29-bit identifier), 2.0B active
+#define CYGNUM_CAN_HDI_FULLCAN 0x04 // controller supports more than one receive and transmit buffer
+#define CYGNUM_CAN_HDI_AUTBAUD 0x08 // driver supports automatic baudrate detection
+#define CYGNUM_CAN_HDI_TIMESTAMP 0x10 // driver supports timestamps
+
+
+//
+// Callback configuration structure.
+//
+
+typedef void (*cyg_can_event_cb_t)(cyg_uint16, CYG_ADDRWORD);
+//
+// flag_mask should be set with a combination of CYGNUM_CAN_EVENT_* flags.
+// If one of these events happens, the callback function will be called,
+// with the actually event flags passed as a parameter.
+//
+typedef struct cyg_can_callback_cfg_st
+{
+ cyg_can_event_cb_t callback_func; // callback function
+ cyg_uint16 flag_mask; // flags mask
+ CYG_ADDRWORD data; // data passed to callback
+} cyg_can_callback_cfg;
+
+
+//===========================================================================
+// CAN MESSAGE ACCESS MACROS
+//
+// An application should not access a cyg_can_message directly instead it
+// should use these macros for all manipulations to a CAN message.
+//===========================================================================
+
+//---------------------------------------------------------------------------
+// Frame type macros
+//
+#define CYG_CAN_MSG_SET_FRAME_TYPE(_msg_, _type_) ((_msg_).rtr = (_type_))
+#define CYG_CAN_MSG_GET_FRAME_TYPE(_msg_) ((_msg_).rtr)
+#define CYG_CAN_MSG_SET_RTR(_msg_) ((_msg_).rtr = CYGNUM_CAN_FRAME_RTR)
+#define CYG_CAN_MSG_IS_REMOTE(_msg_) ((_msg_).rtr == CYGNUM_CAN_FRAME_RTR)
+
+
+//---------------------------------------------------------------------------
+// ID type macros
+//
+#define CYG_CAN_MSG_SET_ID_TYPE(_msg_, _type_) ((_msg_).ext = (_type_))
+#define CYG_CAN_MSG_GET_ID_TYPE(_msg_) ((_msg_).ext)
+#define CYG_CAN_MSG_SET_EXT(_msg_) ((_msg_).ext = CYGNUM_CAN_ID_EXT)
+#define CYG_CAN_MSG_SET_STD(_msg_) ((_msg_).ext = CYGNUM_CAN_ID_STD)
+#define CYG_CAN_MSG_IS_EXT(_msg_) ((_msg_).ext == CYGNUM_CAN_ID_EXT)
+
+
+//---------------------------------------------------------------------------
+// Identifier access macros
+//
+#define CYG_CAN_MSG_GET_ID(_msg_) ((_msg_).id)
+#define CYG_CAN_MSG_SET_ID(_msg_, _id_) ((_msg_).id = (_id_))
+#define CYG_CAN_MSG_SET_STD_ID(_msg_, _id_) \
+CYG_MACRO_START \
+ CYG_CAN_MSG_SET_ID(_msg_, _id_); \
+ CYG_CAN_MSG_SET_STD(_msg_); \
+CYG_MACRO_END
+
+#define CYG_CAN_MSG_SET_EXT_ID(_msg_, _id_) \
+CYG_MACRO_START \
+ CYG_CAN_MSG_SET_ID(_msg_, _id_); \
+ CYG_CAN_MSG_SET_EXT(_msg_); \
+CYG_MACRO_END
+
+
+//---------------------------------------------------------------------------
+// DLC (data length code) access macros
+//
+#define CYG_CAN_MSG_GET_DATA_LEN(_msg_) ((_msg_).dlc)
+#define CYG_CAN_MSG_SET_DATA_LEN(_msg_, _len_) ((_msg_).dlc = (_len_))
+
+
+//---------------------------------------------------------------------------
+// CAN message data access
+// This macro returns a pointer to a cyg_can_msg_data union
+//
+#define CYG_CAN_MSG_DATA_PTR(_msg_) (&(_msg_).data)
+#define CYG_CAN_MSG_GET_DATA(_msg_, _pos_) ((_msg_).data.bytes[_pos_])
+#define CYG_CAN_MSG_SET_DATA(_msg_, _pos_, _val_) ((_msg_).data.bytes[_pos_] = (_val_))
+
+
+//---------------------------------------------------------------------------
+// Access multiple parameters
+//
+#define CYG_CAN_MSG_SET_PARAM(_msg_, _id_, _ext_, _dlc_, _rtr_) \
+CYG_MACRO_START \
+ CYG_CAN_MSG_SET_ID(_msg_, _id_); \
+ CYG_CAN_MSG_SET_ID_TYPE(_msg_, _ext_); \
+ CYG_CAN_MSG_SET_DATA_LEN(_msg_, _dlc_); \
+ CYG_CAN_MSG_SET_FRAME_TYPE(_msg_, _rtr_); \
+CYG_MACRO_END
+
+#define CYG_CAN_MSG_INIT(_clabel_, _id_, _ext_, _dlc_, _rtr_) \
+cyg_can_message _clabel_ = \
+{ \
+ id : _id_, \
+ ext : _ext_, \
+ rtr : _rtr_, \
+ dlc : _dlc_, \
+}
+
-#define CYG_CAN_INFO_INIT(_baud) \
- { _baud}
#ifdef __cplusplus
}
projects / karo-tx-redboot.git / blobdiff