MC100/Applications/bsp/gd32/can.h

#ifndef _Shark_Can0_h__
#define _Shark_Can0_h__
#include <stdio.h>
#include "os/os_types.h"
#include "config.h"
//CAN DLC lenght
#define   CAN_DLC_LENGTH     8


#define CAN_EXTENDE_FRAME 1
#ifdef CAN_EXTENDE_FRAME
#define CAN_DATA_SIZE CAN_DLC_LENGTH
#else
#define CAN_DATA_SIZE 64
#endif

typedef union {
	uint32_t id;
	struct {
		uint32_t	dest		:7; /*bit 0-6  */
		uint32_t	src 			:7; /*bit 7-13 */
		uint32_t	idx 			:5; /*bit 14-18 */
		uint32_t	total		:5; /*bit 19-23 */
		uint32_t	type		:2; /*bit 24-25 */ /*1:PT_REQ_NEED_RES ; 2:PT_RES 3:PT_REQ_NO_IND*/
		uint32_t	retry		:3; /*bit 26-28 */
		uint32_t	length 		:3; /*bit 29-13 */ //0-7:1-8
	};
}can_id_t;

#if 0
typedef union {
	uint32_t id;
	struct {
		uint32_t	dest		:5; /*bit 0-4  */
		uint32_t	src 		:5; /*bit 5-9 */
		uint32_t	idx 		:4; /*bit 10-13 */
		uint32_t	total		:4; /*bit 14-17 */
		uint32_t	command		:8; /*bit 18-25 */
		uint32_t	type 		:1; /*bit 26, 1:Request(Need ack), 0:Ack(No ack needed)*/
		uint32_t	res			:1; /*bit 27 */
		uint32_t    lpkg		:1; /*bit 28 , 0: short package, 1: long package*/
	};
	struct {
		uint32_t ext_command		:27; /*bit 0-26 */
		uint32_t ext_type			:1;  /*bit 26, 1:Request(Need ack), 0:Ack(No ack needed)*/
		uint32_t ext_pkg			:1;  /*bit 28 , 0: short package, 1: long package*/
	};
}cid_v2;
#endif

//CAN filter setting
#ifdef CAN_COMMUNICATION_SPEC_V1P4
//specification 1.4
#define CAN_ID_FILTER_START_OFFSET       3
#define CAN_ID_FILTER_FLAG_OFFSET         7
#define CAN_ID_FILTER_FLAG                       0x7F
#else
//specification 1.3
#define CAN_ID_FILTER_START_OFFSET       3
#define CAN_ID_FILTER_FLAG_OFFSET         8
#define CAN_ID_FILTER_FLAG                       0xFF
#endif

#define CAN_FILTER_DEST_MASK 0x7F

#define ptype_beat_heart		0 // can heat heart
#define ptype_request  	1 // can request with need response
#define ptype_response			2 // can response of the request
#define ptype_indicater	3 // can request with no need response


#define  can_packet_priority_value       0x06
#define  can_packet_quick_packet_value    0x01  

//used when can recv
static __inline__ uint16_t decoder_can_key(const void *buf){
	uint8_t *key_buf = (uint8_t *)buf;
	return key_buf[1]<<8 | key_buf[0];
} 

//used when can send
static __inline__ void encoder_can_key(uint8_t *buff, uint16_t key) {
	buff[0] = key & 0xFF;
	buff[1] = (key >> 8) & 0xFF;
}


int shark_can0_send_message(uint32_t can_id, const void*buff, int len);
void shark_can0_route_message(uint32_t can_id, const void *buff, int len);
int shark_can0_send_ext_message(uint32_t can_id, const void*buff, int len);
void shark_can0_init(void);
void shark_can0_reset(void);
void shark_can0_deinit(void);
void can_rx_poll(void);

#endif /* _Shark_Can0_h__ */