add changes to can_api.h and can_helper.h

Author: wdx04

drivers/include/drivers/CAN.h

@@ -148,7 +148,7 @@ class CAN
      */
     int read(CANMessage &msg, int handle = 0);
 
-#ifdef DEVICE_CAN_FD
+#if DEVICE_CAN_FD
 
     /** Write a CANFDMessage to the bus.
      *

drivers/include/drivers/interfaces/InterfaceCAN.h

@@ -140,7 +140,7 @@ class CANMessage : public CAN_Message {
     }
 };
 
-#ifdef DEVICE_CAN_FD
+#if DEVICE_CAN_FD
 
 /** CANFDMessage class
  *

drivers/source/CAN.cpp

@@ -33,7 +33,7 @@ CAN::CAN(PinName rd, PinName td) : _can(), _irq()
 CAN::CAN(PinName rd, PinName td, int hz, int data_hz) : _can(), _irq()
 {
     // No lock needed in constructor
-#ifdef DEVICE_CAN_FD
+#if DEVICE_CAN_FD
     canfd_init_freq(&_can, rd, td, hz, data_hz);
 #else
     can_init_freq(&_can, rd, td, hz);
@@ -51,7 +51,7 @@ CAN::CAN(const can_pinmap_t &pinmap) : _can(), _irq()
 CAN::CAN(const can_pinmap_t &pinmap, int hz, int data_hz) : _can(), _irq()
 {
     // No lock needed in constructor
-#ifdef DEVICE_CAN_FD
+#if DEVICE_CAN_FD
     canfd_init_freq_direct(&_can, &pinmap, hz, data_hz);
 #else
     can_init_freq_direct(&_can, &pinmap, hz);
@@ -74,7 +74,7 @@ CAN::~CAN()
 int CAN::frequency(int f, int data_f)
 {
     lock();
-#ifdef DEVICE_CAN_FD
+#if DEVICE_CAN_FD
     int ret = canfd_frequency(&_can, f, data_f);
 #else
     int ret = can_frequency(&_can, f);
@@ -102,7 +102,7 @@ int CAN::read(CANMessage &msg, int handle)
     return ret;
 }
 
-#ifdef DEVICE_CAN_FD
+#if DEVICE_CAN_FD
 
 int CAN::write(CANFDMessage msg)
 {

hal/include/hal/can_api.h

@@ -87,6 +87,14 @@ unsigned char can_rderror(can_t *obj);
 unsigned char can_tderror(can_t *obj);
 void          can_monitor(can_t *obj, int silent);
 
+#if DEVICE_CAN_FD
+void          canfd_init_freq(can_t *obj, PinName rd, PinName td, int hz, int data_hz);
+void          canfd_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz, int data_hz);
+int           canfd_frequency(can_t *obj, int hz, int data_hz);
+int           canfd_write(can_t *obj, CANFD_Message, int cc);
+int           canfd_read(can_t *obj, CANFD_Message *msg, int handle);
+#endif
+
 /** Get the pins that support CAN RD
  *
  * Return a PinMap array of pins that support CAN RD. The

hal/include/hal/can_helper.h

@@ -67,6 +67,26 @@ struct CAN_Message {
 };
 typedef struct CAN_Message CAN_Message;
 
+#if DEVICE_CAN_FD
+
+/**
+ *
+ * \struct  CAN_Message
+ *
+ * \brief   Holder for single CAN message.
+ *
+**/
+struct CANFD_Message {
+    unsigned int   id;                 // 29 bit identifier
+    unsigned char  data[64];            // Data field
+    unsigned char  len;                // Length of data field in bytes
+    CANFormat      format;             // Format ::CANFormat
+    CANType        type;               // Type ::CANType
+};
+typedef struct CANFD_Message CANFD_Message;
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif