92 lines
1.6 KiB
C
92 lines
1.6 KiB
C
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#ifndef _DRV_CAN_H_
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#define _DRV_CAN_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "kit_macro.h"
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#define CAN_DATA_LEN (8u)
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typedef enum
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{
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kcan_dev_e_1,
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kcan_dev_e_2,
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kcan_dev_e_End,
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}can_dev_e;
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typedef enum
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{
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kcan_interrupt_e_Rx = 0,
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kcan_interrupt_e_Tx,
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kcan_interrupt_e_End,
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}can_interrupt_e;
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typedef enum
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{
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kcan_frame_type_e_Std = 0,
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kcan_frame_type_e_Ext,
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kcan_frame_type_e_End,
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} can_frame_type_e;
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//1远程帧 0数据帧
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typedef enum
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{
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kCanRtr_Data = 0,
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kCanRtr_Remote,
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kCanRtr_End,
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}CanRtr;
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typedef enum
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{
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kcan_filter_e_Mask,
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kcan_filter_e_List,
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kcan_filter_e_End,
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}can_filter_e;
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typedef union
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{
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uint32_t value;
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struct
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{
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uint8_t b0;
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uint8_t b1;
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uint8_t b2;
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uint8_t b3;
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}b;
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}CanId;
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typedef union
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{
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uint8_t byte[CAN_DATA_LEN];
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uint32_t value[2];
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}CanData;
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typedef struct
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{
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CanId id;
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uint8_t len;
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can_frame_type_e ide; //标示符类型
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CanRtr rtr; //远程数据类型
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CanData data;
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}CanMsg;
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kit_ret_e drv_can_init(can_dev_e dev, uint32_t baud_rate, uint16_t rx_idx, uint16_t tx_idx);
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kit_ret_e drv_can_send(can_dev_e dev, CanMsg *msg);
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kit_ret_e drv_can_receive(can_dev_e dev, CanMsg *msg);
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uint8_t drv_can_get_mailbox(can_dev_e dev);
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kit_ret_e drv_can_set_interrupt(can_dev_e dev, can_interrupt_e it_type, uint16_t priority, KitIrqCall call);
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kit_ret_e drv_can_set_filter(uint8_t channel, can_filter_e mode, can_frame_type_e ide, uint32_t rcv_id, uint32_t mask_id);
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kit_ret_e drv_can_ctrl_interrupt(can_dev_e dev, can_interrupt_e it_type, bool is_enable);
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#ifdef __cplusplus
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}
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#endif
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#endif
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