130 lines
3.3 KiB
C
130 lines
3.3 KiB
C
/*
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* @copyright (c) 2023-2024, MR Development Team
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*
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* @license SPDX-License-Identifier: Apache-2.0
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*
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* @date 2023-11-22 MacRsh First version
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*/
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#ifndef _CAN_H_
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#define _CAN_H_
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#include "include/mr_api.h"
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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#ifdef MR_USING_CAN
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/**
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* @brief CAN default configuration.
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*/
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#define MR_CAN_CONFIG_DEFAULT \
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{ \
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500000, \
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}
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/**
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* @brief CAN configuration structure.
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*/
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struct mr_can_config
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{
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uint32_t baud_rate; /**< Baud rate */
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};
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/**
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* @brief CAN identifier.
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*/
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#define MR_CAN_IDE_STD (0 << 29)
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#define MR_CAN_IDE_EXT (1 << 29)
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/**
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* @brief CAN remote transmission request.
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*/
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#define MR_CAN_RTR_DATA (0 << 30)
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#define MR_CAN_RTR_REMOTE (1 << 30)
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/**
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* @brief Help to set id.
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*/
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#define MR_CAN_ID(id, ide, rtr) ((id) | (ide) | (rtr)) /**< Set id-ide-rtr */
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/**
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* @brief CAN control command.
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*/
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#define MR_CTL_CAN_SET_ID MR_CTL_SET_OFFSET /**< Set id */
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#define MR_CTL_CAN_GET_ID MR_CTL_GET_OFFSET /**< Get id */
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#define MR_CTL_CAN_SET_RD_CALL MR_CTL_SET_RD_CALL /**< Set read call */
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#define MR_CTL_CAN_GET_RD_CALL MR_CTL_GET_RD_CALL /**< Get read call */
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/**
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* @brief CAN data type.
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*/
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typedef uint8_t mr_can_data_t; /**< CAN read/write data type */
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/**
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* @brief CAN ISR events.
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*/
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#define MR_ISR_CAN_RD_INT (MR_ISR_RD | (0x01 << 8)) /**< Read interrupt */
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/**
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* @brief CAN bus structure.
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*/
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struct mr_can_bus
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{
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struct mr_dev dev; /**< Device */
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struct mr_can_config config; /**< Configuration */
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volatile void *owner; /**< Owner */
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volatile int hold; /**< Owner hold */
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};
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/**
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* @brief CAN bus operations structure.
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*/
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struct mr_can_bus_ops
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{
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int (*configure)(struct mr_can_bus *can_bus, struct mr_can_config *config);
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int (*filter_configure)(struct mr_can_bus *can_bus, int id, int ide, int state);
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int (*get_id)(struct mr_can_bus *can_bus);
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ssize_t (*read)(struct mr_can_bus *can_bus, uint8_t *buf, size_t size);
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ssize_t (*write)(struct mr_can_bus *can_bus, int id, int ide, int rtr, const uint8_t *buf, size_t size);
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};
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/**
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* @brief CAN id identifier.
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*/
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#define MR_CAN_ID_STD (0) /**< Standard identifier */
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#define MR_CAN_ID_EXT (1) /**< Extended identifier */
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/**
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* @brief CAN device structure.
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*/
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struct mr_can_dev
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{
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struct mr_dev dev;
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struct mr_can_config config;
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struct mr_ringbuf rd_fifo;
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size_t rd_bufsz;
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uint32_t id: 29;
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uint32_t ide: 1;
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uint32_t reserved: 2;
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};
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/**
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* @addtogroup CAN.
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* @{
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*/
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int mr_can_bus_register(struct mr_can_bus *can_bus, const char *name, struct mr_drv *drv);
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int mr_can_dev_register(struct mr_can_dev *can_dev, const char *name, int id, int ide);
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/** @} */
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#endif /* MR_USING_CAN */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* _CAN_H_ */
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