143 lines
3.5 KiB
C
143 lines
3.5 KiB
C
/*
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* can_api.h
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*
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* Created on: 2010-5-31
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* Author: zhl
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*/
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#ifndef CAN_API_H_
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#define CAN_API_H_
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#include "em9x60_drivers.h"
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/* special address description flags for the CAN_ID */
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* error frame */
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/**
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* struct can_frame - basic CAN frame structure
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* @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
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* bit 0-28: CAN identifier (11/29 bit)
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* bit 29 : error frame flag (0 = data frame, 1 = error frame)
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* bit 30 : remote transmission request flag (1 = rtr frame)
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* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
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* @can_dlc: the data length field of the CAN frame
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* @data: the CAN frame payload.
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*/
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#ifdef EMTRONIX_EM9360
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struct can_frame{
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unsigned int can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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unsigned char can_dlc; /* data length code: 0 .. 8 */
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unsigned char data[8] __attribute__((aligned(8)));
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} ;
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#elif defined (WIN32)
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struct can_frame{
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unsigned int can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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unsigned char can_dlc; /* data length code: 0 .. 8 */
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unsigned char data[8];
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} ;
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#endif
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/*
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* 功能描述：设置CAN控制芯片为操作模式。
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* 输入参数：
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* fd: CAN设备文件描述符
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_StartChip( int fd );
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/*
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* 功能描述：设置CAN控制芯片为复位模式。
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* 输入参数：
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* fd: CAN设备文件描述符
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_StopChip( int fd );
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/*
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* 功能描述：设置CAN通讯的波特率
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* 输入参数：
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* fd: CAN设备文件描述符
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* Baud： 枚举变量，分别对应不同的波特率
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* CAN_BAUDRATE_10K = 0: 10Kbps
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* CAN_BAUDRATE_20K = 1: 20Kbps
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* CAN_BAUDRATE_50K = 2: 50Kbps
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* CAN_BAUDRATE_100K = 3: 100Kbps
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* CAN_BAUDRATE_125K = 4: 125Kbps
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* CAN_BAUDRATE_250K = 5: 250Kbps
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* CAN_BAUDRATE_500K = 6: 500Kbps
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* CAN_BAUDRATE_1000K = 7: 1Mbps
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* CAN_BAUDRATE_60K = 8: 60Kbps
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_SetBaudRate( int fd , CAN_BAUDRATE Baud );
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/*
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* 功能描述：设置CAN通讯验收滤波器配置
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* 输入参数：
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* fd: CAN设备文件描述符
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* *AcceptanceFilter: 验收滤波器结构指针
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* struct accept_filter
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* {
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* unsigned int accept_code;
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* unsigned int accept_mask;
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* unsigned char filter_mode;
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* };
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* accept_code: 滤波器接收码
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* accept_mask: 滤波器屏蔽码
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* filter_mode: 0-双滤波器 1-单滤波器
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*
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_SetGlobalAcceptanceFilter( int fd , accept_filter *AcceptanceFilter );
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/*
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* 功能描述：用于启动或关闭CAN自检测模式
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* 输入参数：
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* fd: CAN设备文件描述符
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* Mode： 1-启动自检测模式
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* 0-关闭自检测模式，返回正常模式
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_SelfTest( int fd , int Mode );
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/*
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* 功能描述：获取CAN通讯时的错误编码
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* 输入参数：
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* fd: CAN设备文件描述符
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* 输出参数：
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* *ErrorPtr：错误编码
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_GetError( int fd , unsigned int *ErrorPtr);
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/*
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* 功能描述：获取CAN通讯中相关统计数据以及CAN控制芯片的状态寄存器值
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* 输入参数：
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* fd: CAN设备文件描述符
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* 输出参数：
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* *DriverStatistics：得到相应统计结构数据
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* 返回值：
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* 0: 成功
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* <0: 失败
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*/
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int CAN_GetCANDriverStatistics( int fd , drv_statistics *DriverStatistics );
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#endif /* CAN_API_H_ */
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