can.h

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//*****************************************************************************
// Author               : Christian Illy
// Created              : 04.05.2009
// Revised              : 05.07.2009
// Version              : 0.1
// Target MCU   : Fujitsu MB96300 series
//
//  This program is free software: you can redistribute it and/or modify
//  it under the terms of the GNU General Public License as published by
//  the Free Software Foundation, either version 3 of the License, or
//  (at your option) any later version.
//
//  This program is distributed in the hope that it will be useful,
//  but WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//  GNU General Public License for more details.
//
//  You should have received a copy of the GNU General Public License
//  along with this program.  If not, see <http://www.gnu.org/licenses/>.
//
//*****************************************************************************


#ifndef CAN_H_
#define CAN_H_

#include "../inttypes.h"
#include "can.cfg.h"

uint8_t can_init(uint8_t prescaler, uint8_t propSeg, uint8_t phSeg1, uint8_t phSeg2,
                uint8_t jumpWidth, uint8_t interrupts);

uint8_t can_config_buffer(uint8_t buffer, uint32_t id, uint8_t options, uint8_t maskOptions,
                uint32_t idMask);

uint8_t can_set_buffer_autoreply(uint8_t buffer, uint8_t enable);

uint8_t can_set_buffer_data(uint8_t buffer, uint8_t* data, uint8_t len);

uint8_t can_send_buffer(uint8_t buffer);

uint8_t can_buffer_newData(uint8_t buffer);

int8_t can_buffer_getData(uint8_t buffer, uint8_t* data, uint32_t* id);



#define ID_TO_STDFRAME(id) ((id & 0x000007FFL) << 18)

#define ID_TO_EXTFRAME(id) (id & 0x1FFFFFFFL)

#define STDFRAME_TO_ID(reg) (((reg & 0x1FFFFFFFL) >> 18) & 0x000007FFL)

#define EXTFRAME_TO_ID(reg) (reg & 0x1FFFFFFFL)




#define CAN_BAUD_50K    14, 8, 6, 5, 1

#define CAN_BAUD_125K   7, 7, 4, 4, 1

#define CAN_BAUD_1000K  1, 7, 3, 3, 1





#define CAN_BUF_OPT_ENABLED     (_BV(0))

#define CAN_BUF_OPT_TRANSMIT    (_BV(1))

#define CAN_BUF_OPT_EXTENDED    (_BV(2))

#define CAN_BUF_OPT_RX_INTERRUPT        (_BV(4))

#define CAN_BUF_OPT_TX_INTERRUPT        (_BV(5))




#define CAN_BUF_MASK_USE        (_BV(0))

#define CAN_BUF_MASK_EXTENDED   (_BV(1))

#define CAN_BUF_MASK_DIRECTION  (_BV(2))



#endif /* CAN_H_ */