CANDefs.h

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/*
 * Copyright (C) 2012 MetraLabs GmbH (MLAB), GERMANY.
 * All rights reserved.
 * Contact: info@MetraLabs.com
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 * GNU General Public License Usage:
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
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#ifndef _MLAB_CANDEFS_H_
#define _MLAB_CANDEFS_H_

#include <platform/Types.h>
#include <utils/EnumToFlags.h>
#include <utils/Time.h>

#include <can/CANExports.h>

namespace mira { namespace can {


enum CANBaudRate {
    CAN_BAUDRATE_1M   = 1000000,        
    CAN_BAUDRATE_500K =  500000,        
    CAN_BAUDRATE_250K =  250000,        
    CAN_BAUDRATE_125K =  125000,        
    CAN_BAUDRATE_100K =  100000,        
    CAN_BAUDRATE_50K  =   50000,        
    CAN_BAUDRATE_20K  =   20000,        
    CAN_BAUDRATE_10K  =   10000,        
    CAN_BAUDRATE_5K   =    5000         
};


enum CANStatusFlags {
    CAN_STATUS_OK                 = 0x0000,   
    CAN_STATUS_XMT_FULL           = 0x0001,   
    CAN_STATUS_XMT_QUEUE_FULL     = 0x0002,   
    CAN_STATUS_RECV_OVERRUN       = 0x0004,   
    CAN_STATUS_RECV_QUEUE_OVERRUN = 0x0008,   
    CAN_STATUS_BUS_LIGHT          = 0x0010,   
    CAN_STATUS_BUS_HEAVY          = 0x0020,   
    CAN_STATUS_BUS_OFF            = 0x0040,   
    CAN_STATUS_UNKNOWN_ERROR      = 0x8000    
};

MIRA_ENUM_TO_FLAGS(CANStatusFlags);

MLAB_CAN_EXPORT std::string convertCANStatus2String(CANStatusFlags);


#define CAN_MAX_STANDARD_ID         0x7ff          // 11 bits
#define CAN_MAX_EXTENDED_ID         0x1fffffff     // 29 bits

#define CAN_MSG_TYPE_STANDARD       0x00    // a standard frame
#define CAN_MSG_TYPE_RTR            0x01    // a remote frame
#define CAN_MSG_TYPE_EXTENDED       0x02    // an extended frame

struct CANMessage {
    uint32 id;                     
    uint8  type;                   
    uint8  len;                    
    uint8  data[8];                
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("ID", id, "11/29 bit identifier");
        r.member("Type", type, "CAN message type");
        r.member("Length", len, "Number of data bytes (0..8)");
        r.member("Data", data, "Data - Up to 8 data bytes");
    }

    CANMessage() :
        id(0xFFFFFFFF), type(CAN_MSG_TYPE_STANDARD), len(0)
    {
        memset(&data, 0x00, 8);
    };
};

struct CANEmergencyMessage {
    uint8 errorRegister;     
    uint16 errorCode;        
    uint8 specific[5];       

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("ErrorRegister", errorRegister, "One byte error register");
        r.member("ErrorCode", errorCode, "16 bit error code");
        r.member("Specific", specific,
                 "Up to 5 data bytes manufacturer specific error information");
    }

    CANEmergencyMessage() :
        errorRegister(0),
        errorCode(0)
    {
        memset(&specific, 0x00, 5);
    }
};


}} // namespaces

#endif