77 lines
3.1 KiB
C
77 lines
3.1 KiB
C
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/*
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Cubesat Space Protocol - A small network-layer protocol designed for Cubesats
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Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com)
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Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifndef _CSP_IF_CAN_H_
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#define _CSP_IF_CAN_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <csp/csp.h>
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#include <csp/csp_interface.h>
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/* CAN header macros */
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#define CFP_HOST_SIZE 5
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#define CFP_TYPE_SIZE 1
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#define CFP_REMAIN_SIZE 8
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#define CFP_ID_SIZE 10
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/* Macros for extracting header fields */
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#define CFP_FIELD(id,rsiz,fsiz) ((uint32_t)((uint32_t)((id) >> (rsiz)) & (uint32_t)((1 << (fsiz)) - 1)))
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#define CFP_SRC(id) CFP_FIELD(id, CFP_HOST_SIZE + CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_HOST_SIZE)
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#define CFP_DST(id) CFP_FIELD(id, CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_HOST_SIZE)
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#define CFP_TYPE(id) CFP_FIELD(id, CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_TYPE_SIZE)
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#define CFP_REMAIN(id) CFP_FIELD(id, CFP_ID_SIZE, CFP_REMAIN_SIZE)
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#define CFP_ID(id) CFP_FIELD(id, 0, CFP_ID_SIZE)
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/* Macros for building CFP headers */
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#define CFP_MAKE_FIELD(id,fsiz,rsiz) ((uint32_t)(((id) & (uint32_t)((uint32_t)(1 << (fsiz)) - 1)) << (rsiz)))
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#define CFP_MAKE_SRC(id) CFP_MAKE_FIELD(id, CFP_HOST_SIZE, CFP_HOST_SIZE + CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE)
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#define CFP_MAKE_DST(id) CFP_MAKE_FIELD(id, CFP_HOST_SIZE, CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE)
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#define CFP_MAKE_TYPE(id) CFP_MAKE_FIELD(id, CFP_TYPE_SIZE, CFP_REMAIN_SIZE + CFP_ID_SIZE)
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#define CFP_MAKE_REMAIN(id) CFP_MAKE_FIELD(id, CFP_REMAIN_SIZE, CFP_ID_SIZE)
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#define CFP_MAKE_ID(id) CFP_MAKE_FIELD(id, CFP_ID_SIZE, 0)
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/* Mask to uniquely separate connections */
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#define CFP_ID_CONN_MASK (CFP_MAKE_SRC((uint32_t)(1 << CFP_HOST_SIZE) - 1) | \
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CFP_MAKE_DST((uint32_t)(1 << CFP_HOST_SIZE) - 1) | \
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CFP_MAKE_ID((uint32_t)(1 << CFP_ID_SIZE) - 1))
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/**
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Default Maximum Transmission Unit (MTU) for CSP over CAN.
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Maximum value is 2042 bytes.
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*/
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#define CSP_CAN_MTU 256
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int csp_can_rx(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc, CSP_BASE_TYPE *task_woken);
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int csp_can_tx(csp_iface_t *interface, csp_packet_t *packet, uint32_t timeout);
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/* Must be implemented by the driver */
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int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif /* _CSP_IF_CAN_H_ */
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