87 lines
2.1 KiB
C
87 lines
2.1 KiB
C
#ifndef _CAN2040_H
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#define _CAN2040_H
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#include <stdint.h> // uint32_t
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struct can2040_msg {
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uint32_t id;
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uint32_t dlc;
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union {
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uint8_t data[8];
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uint32_t data32[2];
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};
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};
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enum {
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CAN2040_ID_RTR = 1<<30,
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CAN2040_ID_EFF = 1<<31,
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};
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enum {
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CAN2040_NOTIFY_RX = 1<<20,
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CAN2040_NOTIFY_TX = 1<<21,
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CAN2040_NOTIFY_ERROR = 1<<23,
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};
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struct can2040;
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typedef void (*can2040_rx_cb)(struct can2040 *cd, uint32_t notify
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, struct can2040_msg *msg);
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struct can2040_stats {
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uint32_t rx_total, tx_total;
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uint32_t tx_attempt;
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uint32_t parse_error;
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};
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void can2040_setup(struct can2040 *cd, uint32_t pio_num);
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void can2040_callback_config(struct can2040 *cd, can2040_rx_cb rx_cb);
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void can2040_start(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate
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, uint32_t gpio_rx, uint32_t gpio_tx);
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void can2040_stop(struct can2040 *cd);
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void can2040_get_statistics(struct can2040 *cd, struct can2040_stats *stats);
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void can2040_pio_irq_handler(struct can2040 *cd);
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int can2040_check_transmit(struct can2040 *cd);
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int can2040_transmit(struct can2040 *cd, struct can2040_msg *msg);
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/****************************************************************
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* Internal definitions
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****************************************************************/
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struct can2040_bitunstuffer {
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uint32_t stuffed_bits, count_stuff;
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uint32_t unstuffed_bits, count_unstuff;
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};
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struct can2040_transmit {
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struct can2040_msg msg;
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uint32_t crc, stuffed_words, stuffed_data[5];
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};
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struct can2040 {
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// Setup
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uint32_t pio_num;
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void *pio_hw;
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uint32_t gpio_rx, gpio_tx;
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can2040_rx_cb rx_cb;
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struct can2040_stats stats;
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// Bit unstuffing
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struct can2040_bitunstuffer unstuf;
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uint32_t raw_bit_count;
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// Input data state
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uint32_t parse_state;
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uint32_t parse_crc, parse_crc_bits, parse_crc_pos;
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struct can2040_msg parse_msg;
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// Reporting
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uint32_t report_state;
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// Transmits
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uint32_t tx_state;
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uint32_t tx_pull_pos, tx_push_pos;
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struct can2040_transmit tx_queue[4];
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};
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#endif // can2040.h
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