#ifndef __CAN_H__
#define __CAN_H__

#include "../inc/def.h"

typedef enum{
	BandRate_125kbps,
	BandRate_250kbps,
	BandRate_500kbps,
	BandRate_1Mbps
}CanBandRate;

typedef struct {
	unsigned int id;	//CAN總線ID
	unsigned char data[8];		//CAN總線數(shù)據(jù)
	unsigned char dlc;		//數(shù)據(jù)長(zhǎng)度
	BOOL IsExt; 	//是否是擴(kuò)展總線
	BOOL rxRTR;	//是否是遠(yuǎn)程幀
}CanData, *PCanData;

/*********************************************************************\
	CAN設(shè)備設(shè)置接收過濾器結(jié)構(gòu)體
	參數(shù):	IdMask，Mask
			IdFilter，F(xiàn)ilter
	是否接收數(shù)據(jù)按照如下規(guī)律:
	Mask	Filter	RevID	Receive
	0		x		x		yes
	1		0		0		yes
	1		0		1		no
	1		1		0		no
	1		1		1		yes
	
\*********************************************************************/
typedef struct{
	unsigned int Mask;
	unsigned int Filter;
	BOOL IsExt;	//是否是擴(kuò)展ID
}CanFilter,*PCanFilter;

/*********************************************************************\
	CAN設(shè)備初始化函數(shù)
	參數(shù):	bandrate，CAN波特率
			LoopBack，是否是LoopBack模式
			pfilter，CAN過濾器結(jié)構(gòu)體指針，
					如果為NULL，則接受所有數(shù)據(jù)
\*********************************************************************/
typedef int (*can_init_func_t)(CanBandRate bandrate, BOOL LoopBack, PCanFilter pfilter);

typedef void (*can_Open_func_t)(void);
typedef void (*can_Close_func_t)(void);
typedef BOOL (*can_read_func_t)(PCanData data, int ntimeout);
typedef void (*can_write_func_t)(PCanData data);
typedef int (*can_flush_input_func_t)(void);
typedef int (*can_flush_output_func_t)(void);


typedef struct {
	can_init_func_t init;
	can_Open_func_t Open;
	can_Close_func_t Close;

	can_read_func_t read;
	can_write_func_t write;

	can_flush_input_func_t flush_input;
	can_flush_output_func_t flush_output;
} can_driver_t;

void Init_Can(int ndev, CanBandRate bandrate, PCanFilter pfilter);
void Open_Can(int ndev);
void Close_Can(int ndev);

BOOL CanRead(int ndev, PCanData data, int ntimeout);
void CanSend(int ndev, PCanData data);

#endif