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ca13734bf0
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
121 lines
3.3 KiB
C
121 lines
3.3 KiB
C
/**
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* @file can_driver.h
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* @brief CAN (Controller Area Network) driver interface
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* @note Supports classical CAN and CAN FD
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*/
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#ifndef CAN_DRIVER_H
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#define CAN_DRIVER_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "kernel.h"
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/* CAN Configuration Constants */
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#define CAN_MAX_MESSAGE_LENGTH 8 /* Classical CAN */
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#define CAN_FD_MAX_MESSAGE_LENGTH 64 /* CAN FD */
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#define CAN_MAX_FILTERS 32
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#define CAN_MAX_TX_MAILBOXES 3
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#define CAN_MAX_RX_FIFO_DEPTH 16
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/* CAN Baudrates */
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typedef enum {
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CAN_BAUD_125K = 125000,
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CAN_BAUD_250K = 250000,
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CAN_BAUD_500K = 500000,
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CAN_BAUD_1M = 1000000,
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CAN_FD_BAUD_2M = 2000000,
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CAN_FD_BAUD_5M = 5000000
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} CanBaudrate_t;
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/* CAN Message Types */
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typedef enum {
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CAN_FRAME_CLASSIC = 0,
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CAN_FRAME_FD = 1,
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CAN_FRAME_FD_BRS = 2 /* FD with Bit Rate Switch */
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} CanFrameType_t;
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/* CAN Frame Format */
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typedef enum {
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CAN_FORMAT_STANDARD = 0, /* 11-bit identifier */
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CAN_FORMAT_EXTENDED = 1 /* 29-bit identifier */
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} CanFrameFormat_t;
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/* CAN Message ID */
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typedef struct {
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uint32_t id : 29;
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CanFrameFormat_t format : 1;
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bool is_remote : 1;
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bool is_extended : 1;
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} CanMessageId_t;
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/* CAN Message Structure */
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typedef struct {
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CanMessageId_t id;
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CanFrameType_t type;
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uint8_t data[CAN_FD_MAX_MESSAGE_LENGTH];
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uint8_t length;
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uint32_t timestamp;
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bool is_rx;
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} CanMessage_t;
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/* CAN Filter Configuration */
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typedef struct {
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uint32_t filter_id;
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uint32_t filter_mask;
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CanFrameFormat_t format;
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bool enable;
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} CanFilterConfig_t;
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/* CAN Statistics */
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typedef struct {
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uint32_t tx_messages;
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uint32_t rx_messages;
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uint32_t tx_errors;
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uint32_t rx_errors;
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uint32_t bus_off_count;
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uint32_t error_warning_count;
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uint32_t error_passive_count;
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uint32_t tx_overflow;
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uint32_t rx_overflow;
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} CanStatistics_t;
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/* CAN Callbacks */
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typedef void (*CanRxCallback_t)(const CanMessage_t* message);
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typedef void (*CanTxCallback_t)(uint32_t mailbox, bool success);
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typedef void (*CanErrorCallback_t)(uint32_t error_code);
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/* CAN Configuration Structure */
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typedef struct {
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CanBaudrate_t nominal_baudrate;
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CanBaudrate_t data_baudrate; /* For CAN FD */
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CanFrameType_t frame_type;
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bool enable_fd;
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bool enable_automatic_retransmission;
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CanFilterConfig_t filters[CAN_MAX_FILTERS];
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uint8_t filter_count;
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CanRxCallback_t rx_callback;
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CanTxCallback_t tx_callback;
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CanErrorCallback_t error_callback;
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} CanConfig_t;
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/* CAN Driver Interface */
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KernelStatus_t can_init(CanConfig_t* config);
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KernelStatus_t can_deinit(void);
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KernelStatus_t can_send_message(const CanMessage_t* message, uint32_t timeout_ms);
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KernelStatus_t can_receive_message(CanMessage_t* message, uint32_t timeout_ms);
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KernelStatus_t can_configure_filter(const CanFilterConfig_t* filter);
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KernelStatus_t can_set_baudrate(CanBaudrate_t baudrate);
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KernelStatus_t can_get_statistics(CanStatistics_t* stats);
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KernelStatus_t can_clear_statistics(void);
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bool can_is_bus_off(void);
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KernelStatus_t can_recover_bus_off(void);
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void can_process_interrupt(void);
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/* CAN FD Specific Functions */
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KernelStatus_t can_fd_set_data_baudrate(CanBaudrate_t baudrate);
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KernelStatus_t can_fd_set_transmit_delay(uint16_t delay_us);
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bool can_fd_is_enabled(void);
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#endif /* CAN_DRIVER_H */
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