123 lines
3.7 KiB
C
123 lines
3.7 KiB
C
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#ifndef GS_UTIL_DRIVERS_CAN_CAN_H
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#define GS_UTIL_DRIVERS_CAN_CAN_H
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/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
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/**
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@file
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CAN interface.
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*/
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#include <gs/util/log.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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Default log group for CAN driver.
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*/
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GS_LOG_GROUP_EXTERN(gs_can_log);
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/**
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Bit-rate (default).
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*/
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#define GS_CAN_DEFAULT_BPS 1000000
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/**
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Callback for handling received data (from CAN driver).
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@param[in] device hardware device
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@param[in] canMsgId standard or extended message id.
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@param[in] extendedMsgId \a true if extended id, \a false if standard id.
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@param[in] data pointer to data.
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@param[in] data_size size of data.
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@param[in] nowMs current relative time in mS.
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@param[in] user_data user data.
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@param[in] cswitch If called from within an ISR (embedded platform), this will none NULL.
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*/
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typedef void (*gs_can_rxdata_callback_t)(int hdl,
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uint32_t canMsgId,
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bool extendedMsgId,
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const void * data,
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size_t data_size,
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uint32_t nowMs,
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void * user_data,
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gs_context_switch_t * cswitch);
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/**
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Send CAN message with standard id (11 bits).
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@param[in] device hardware device
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@param[in] canMsgId standard CAN message id.
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@param[in] data pointer to data.
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@param[in] data_size size of data.
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@param[in] timeout_ms timeout in mS.
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@return GS_ERROR_FULL if Tx queue is full
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@return_gs_error_t
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*/
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gs_error_t gs_can_send_standard(uint8_t device, uint32_t canMsgId, const void * data, size_t data_size, int timeout_ms);
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/**
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Send CAN message with exended id (29 bits).
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@param[in] device hardware device
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@param[in] canExtMsgId exteneded message id.
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@param[in] data pointer to data.
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@param[in] data_size size of data.
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@param[in] timeout_ms timeout in mS.
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@return GS_ERROR_FULL if Tx queue is full
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@return_gs_error_t
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*/
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gs_error_t gs_can_send_extended(uint8_t device, uint32_t canExtMsgId, const void * data, size_t data_size, int timeout_ms);
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/**
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Set filter and callback for standard message id.
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@param[in] device hardware device
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@param[in] canMsgId standard message id.
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@param[in] mask filter mask.
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@param[in] rx_callback callback function.
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@param[in] rx_user_data user data provided in callback.
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@return GS_ERROR_FULL if all message id slots are used.
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@return_gs_error_t
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*/
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gs_error_t gs_can_set_standard_filter_mask(uint8_t device, uint32_t canMsgId, uint32_t mask, gs_can_rxdata_callback_t rx_callback, void * rx_user_data);
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/**
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Set filter and callback for extended message id.
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@param[in] device hardware device
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@param[in] canExtMsgId extended message id.
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@param[in] mask filter mask.
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@param[in] rx_callback callback function.
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@param[in] rx_user_data user data provided in callback.
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@return GS_ERROR_FULL if all message id slots are used.
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@return_gs_error_t
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*/
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gs_error_t gs_can_set_extended_filter_mask(uint8_t device, uint32_t canExtMsgId, uint32_t mask, gs_can_rxdata_callback_t rx_callback, void * rx_user_data);
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/**
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Stop CAN layer.
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If a CAN transceiver is present and controlled, it will be disabled.
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@param[in] device hardware device
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@return_gs_error_t
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*/
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gs_error_t gs_can_stop(uint8_t device);
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/**
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Start CAN layer.
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Clear all buffers and start CAN.
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If a CAN transceiver is present and controlled, it will be enabled.
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@param[in] device hardware device
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@return_gs_error_t
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*/
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gs_error_t gs_can_start(uint8_t device);
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/**
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Get current CAN layer error state.
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@param[in] device hardware device
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@param[out] restart_required \a true if CAN layer should be re-started. Pass NULL, if not wanted.
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@return_gs_error_t
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*/
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gs_error_t gs_can_error_state(uint8_t device, bool * restart_required);
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#ifdef __cplusplus
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}
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#endif
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#endif
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