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Diffstat (limited to 'can_hal/hal_api/can_hal.h')
| -rw-r--r-- | can_hal/hal_api/can_hal.h | 303 |
1 files changed, 303 insertions, 0 deletions
diff --git a/can_hal/hal_api/can_hal.h b/can_hal/hal_api/can_hal.h new file mode 100644 index 00000000..5f3ef4fa --- /dev/null +++ b/can_hal/hal_api/can_hal.h @@ -0,0 +1,303 @@ +/* + * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef HAL_API_CAN_HAL_H_ +#define HAL_API_CAN_HAL_H_ +/** + * @file can_hal.h + */ + +/** @addtogroup communication + * @{ + */ +/** @addtogroup can_hal + * @ingroup communication + * @{ + */ + +#include <native_service/frameworkunified_types.h> +#include <string> + +/** + * \~english Max data length of nomarl can send + */ +#define CAN_NORMAL_MESSAGE_LEN (8) + +/** + * \~english Maximum data length + */ +#define CAN_MESSAGE_LEN (2048) + +/** + * \~english Maximum CAN_ID data length + */ +#define CAN_NUM_MAX (125) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_CAN_SEND_STATUS, CANHalSndStsProcess); + * @endcode + * \~english Command ID to send CAN data and get the send status + */ +#define CID_CANHAL_CMD_CAN_SEND_STATUS (0x0A03) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_CAN_RECV, CANHalRcvProcess); + * @endcode + * \~english Command ID to receive the CAN data + */ +#define CID_CANHAL_CMD_CAN_RECV (0x0A04) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_CAN_READY, AnyCallback); + * @endcode + * \~english Command ID to receive Global CAN is ready. + */ +#define CID_CANHAL_CMD_CAN_READY (0x0A0C) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_ERROR_NOTIFY, AnyCallback); + * @endcode + * \~english Command ID to receive can hal error. + */ +#define CID_CANHAL_CMD_ERROR_NOTIFY (0x0A10) + +/** + * \~english No target address + */ +#define CAN_NTA_NONE (0x00) + +/** + * \~english Size of error message. + */ +#define CANHAL_ERROR_MESSAGE_LEN (2048) + +/** + * \~english Return type of the API + */ +enum CANHAL_RET_API { + CANHAL_RET_NORMAL = 0, //!< \~english API Success + CANHAL_RET_ERR_ERR, //!< \~english API Failed + CANHAL_RET_ERR_PARAM, //!< \~english Parameter error + CANHAL_RET_ERR_STATE, //!< \~english Uninitialized(not called CanOpen) +}; + +/** + * \~english CAN type + */ +enum CanHalType { + CAN_HAL_TYPE_CAN = 0, //!< \~english CAN + NR_CAN_HAL_TYPES //!< \~english Number of CAN type +}; + +/** + * \~english device State + */ +enum DEVICE_STATE { + DEVICE_STATE_UNAVAILABLE, //!< \~english device unavailable + DEVICE_STATE_AVAILABLE, //!< \~english device available +}; + +/** + * \~english CAN Send Result + */ +enum CAN_SEND_RESULT { + CAN_SEND_RESULT_FAILURE = 0, //!< \~english Send failure + CAN_SEND_RESULT_SUCCESS, //!< \~english Send success +}; + +/** + * \~english structure of can data + */ +typedef struct CanMessageT { + uint32_t can_id; //!< \~english Target CAN ID + uint32_t dlc; //!< \~english Data length(1~2048) + uint8_t rid; //!< \~english Replay ID + uint8_t data[CAN_MESSAGE_LEN]; //!< \~english Data buffer +} CanMessage; + +/** + * \~english structure of can send result + */ +typedef struct CanSendResultT { + uint32_t can_id; //!< \~english CAN ID + uint8_t rid; //!< \~english RID + CAN_SEND_RESULT result; //!< \~english Send result +} CanSendResult; + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \ingroup CanOpen + * \~english @par Brief + * API to start the can_hal service + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [in] type + * CanHalType - CAN type + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @par Prerequisite + * None + * \~english @par Change of internal state + * - When calling of this API succeeds, the requested channel state is set to open. + * \~english @par Conditions of processing failure + * - Input paramter is invalid. + * - Internal processing failure. + * \~english @par Classification + * Public + * \~english @par Type + * Method + * \~english @par Detail + * - Perform device use preparation processing of the requested communication path. + * - Up to one process can use this library. + * \~english @see + * Nothing + */ +CANHAL_RET_API CanOpen(HANDLE h_app, CanHalType type); + +/** + * \ingroup CanClose + * \~english @par Brief + * API to stop the can_hal service + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [in] type + * CanHalType - CAN type + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @retval CANHAL_RET_ERR_STATE : Failed because CanOpen is not called + * \~english @par Prerequisite + * Communication path status is open + * \~english @par Change of internal state + * - In the case of normal termination, the requested channel state is close. + * \~english @par Conditions of processing failure + * - CanOpen is not called. + * - Input paramter is invalid. + * - Internal processing failure. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Perform device use finalize processing of the requested communication path. + * - Up to one process can use this library. + * \~english @see + * None + */ +CANHAL_RET_API CanClose(HANDLE h_app, CanHalType type); + +/** + * \ingroup CanSend + * \~english @par Brief + * API to send the Can data + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [in] message + * const CanMessage * - Pointer to the structure of + * the data which is sent to the CAN + * \~english @param [in] type + * CanHalType - CAN type + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_STATE : Failed because CanOpen is not called + * \~english @par Prerequisite + * - can_hal start successfully + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Input paramter is invalid. + * - CanOpen is not called. + * - Send data to the sending thread failed. + * \~english @par Classification + * Public + * \~english @par Type + * Method + * \~english @par Detail + * - Check the sending data, if data is valid, then send the data + * to the sending thread; If data if invalid, then return error. + * - The API can only be used by 1 process. + * \~english @see + * \ref CanSendResult + */ +CANHAL_RET_API CanSend(HANDLE h_app, const CanMessage *message, CanHalType type); + +/** + * \ingroup CanGetVersion + * \~english @par Brief + * API to get the CAN micon version + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [out] p_version + * std::string * - Pointer to the version buffer + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_STATE : Failed because CanOpen is not called + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @par Prerequisite + * - can_hal start successfully + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Input paramter is invalid. + * - CanOpen is not called. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - This API gets the CAN version. + * - The API can only be used by 1 process. + * - p_version detail\n + * Information on the following pink shaded part 4 BYTE in the version information \n + * of the CAN microcomputer is stored in string and returned.\n + * <table> + * <tr> + * <th></th><th>7bit-0bit</th> + * </tr> + * <tr> + * <td>1BYTE</td><td>7bit:M/S 6-0bit:Message kind</td> + * </tr> + * <tr> + * <td>2BYTE</td><td>7bit-0bit Operation Code</td> + * </tr> + * <tr> + * <td>3BYTE</td><td bgcolor="pink">7bit-0bit Software kind</td> + * </tr> + * <tr> + * <td>4BYTE</td><td bgcolor="pink">7bit-0bit version(Higher order)</td> + * </tr> + * <tr> + * <td>5BYTE</td><td bgcolor="pink">7bit-0bit version(middle order)</td> + * </tr> + * <tr> + * <td>6BYTE</td><td bgcolor="pink">7bit-0bit version(lower order)</td> + * </tr> + * </table> + * \~english @see + * None + */ +CANHAL_RET_API CanGetVersion(HANDLE h_app, std::string *p_version); + +/** @}*/ // end of can_hal +/** @}*/ // end of communication +#ifdef __cplusplus +} +#endif +#endif // HAL_API_CAN_HAL_H_ |