can_library.h

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/*
 * <copyright>
 * Copyright (c) 2014: Tuomas Huuki / Proximia, http://proximia.fi/
 *
 * This file is free software; you can redistribute it and/or modify
 * it under the terms of either the GNU General Public License version 2
 * or the GNU Lesser General Public License version 2.1, both as
 * published by the Free Software Foundation.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * Lesser GNU General Public License for more details.
 *
 * You should have received a copy of the (Lesser) GNU General Public License
 * along with this program. If not, see <?http://www.gnu.org/licenses/>.
 * </copyright>
 */

/* $Id$ */

#ifndef CAN_LIBRARY_AVR_
#define CAN_LIBRARY_AVR_

#include "can_drv.h"

#ifdef BOOTLOADER
    #include "loaderconfiguration.h"
#else
    #include "canlibraryconfiguration.h"
    #ifndef _CANLIBRARYCONFIGURATION_H_
        #error You need to #include the "configuration.h" file to set port and speed options.
    #endif
#endif

#define CAN_BUFFEREMPTY -1

#ifdef FILTER_CAN_DEBUG
    #define MTYPESYNCEMER 0x0080
    #define NODE_ADDRESS_MASK 0x007F
#endif

typedef struct _canMessage{
    uint32_t cantime;   
    uint32_t mesid;     
    uint8_t rtr;        
    uint8_t length;     
    uint8_t data[8];    
} canMessage;

#define NB_TX_MOB (NB_MOB - NB_RX_MOB)

#if (NB_TX_MOB < 1)
    #error You will need at least 1 object buffer to be able to transmit messages.
#endif
#if (NB_MOB > 8)
    #error This version of canlib does not support more than 8 MOBs.
#endif

#define FIRST_TX_MOB NB_RX_MOB

uint8_t can_init();

void can_close();

uint8_t can_sendMessage(canMessage *m);

int8_t can_hasFreeTxBuffer();

int8_t can_getMessage(canMessage *m);

uint8_t can_getRxBufferLength();

void can_enableTransciever();
void can_disableTransciever();
#endif //CAN_LIBRARY_AVR_