can.h

#ifndef _AVRIO_CAN_H_
#  define _AVRIO_CAN_H_

#  include <avrio/defs.h>

__BEGIN_C_DECLS
  /* ======================================================================== */
  /* constants ============================================================== */
   typedef enum {

  CAN_2A = 0x01,  
  CAN_2B = 0x02   
} eCanSpecification;

typedef enum {
  CAN_SPEED_10K = 0,      
  CAN_SPEED_20K = 1,      
  CAN_SPEED_50K = 2,      
  CAN_SPEED_100K = 3,     
  CAN_SPEED_125K = 4,     
  CAN_SPEED_250K = 5,     
  CAN_SPEED_500K = 6,     
  CAN_SPEED_800K = 7,     
  CAN_SPEED_1M = 8,       
  CAN_SPEED_CUSTOM = 255  
} eCanSpeed;

typedef enum {

  CAN_SUCCESS = 0,          
  CAN_TXBUF_FULL = -1,      
  CAN_RXBUF_EMPTY = -2,     
  CAN_ILLEGAL_MOB = -3,     
  CAN_INVALID_SPEED = -4,   
  CAN_PASSIVE = -5,         
  CAN_BUS_OFF = -6,         
  CAN_TIMEOUT = -7          
} eCanError;

/* structures =============================================================== */
typedef union xCanArbField {

  uint32_t xValue;
  struct {
    uint32_t xIde:1;        
    uint32_t xRtr:1;        
    uint32_t xUnused:1;
    uint32_t xId:29;        
  };
} xCanArbField;

typedef union xCanCtrlField {

  uint8_t xValue;
  struct {

    uint8_t xUnused:2;
    uint8_t xR1:1;       
    uint8_t xR0:1;       
    uint8_t xDlc:4;      
  };
} xCanCtrlField;

typedef struct xCanFrame {

  xCanArbField xArb;      
  xCanCtrlField xCtrl;    
  uint8_t ucData[8];      
} xCanFrame;

/* internal public functions ================================================ */
eCanError eCanInit (eCanSpecification eType);

eCanError eCanSetSpeed (eCanSpeed eBaudrate);

void vCanSetFilter (uint8_t * pucAcceptanceCode, uint8_t * pucAcceptanceMask);

eCanError eCanSendFrame (const xCanFrame * pxFrame);

bool xCanTxFree (void);

eCanError eCanTrySendFrame (const xCanFrame * pxFrame);

eCanError eCanReceiveFrame (xCanFrame * pxFrame);

uint8_t ucCanRxAvail (void);

eCanError eCanTryReceiveFrame (xCanFrame * pxFrame);

void vCanSetRxTimeout (uint16_t usTimeout);

#  if defined(__DOXYGEN__)
/* 
 * __DOXYGEN__ defined
 * Partie documentation ne devant pas être compilée.
 * =============================================================================
 */

#  else
/* 
 * __DOXYGEN__ not defined
 * Partie ne devant pas être documentée.
 * =============================================================================
 */

#  endif /* __DOXYGEN__ not defined */
/* ========================================================================== */
__END_C_DECLS
#endif /* _AVRIO_CAN_H_ */