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/*
* @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_
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