255 lines
8.9 KiB
C
255 lines
8.9 KiB
C
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/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file hal_can.h
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* @brief CAN Driver macros and structures.
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*
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* @addtogroup CAN
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* @{
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*/
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#ifndef HAL_CAN_H
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#define HAL_CAN_H
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#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name CAN status flags
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* @{
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*/
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/**
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* @brief Errors rate warning.
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*/
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#define CAN_LIMIT_WARNING 1U
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/**
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* @brief Errors rate error.
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*/
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#define CAN_LIMIT_ERROR 2U
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/**
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* @brief Bus off condition reached.
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*/
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#define CAN_BUS_OFF_ERROR 4U
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/**
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* @brief Framing error of some kind on the CAN bus.
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*/
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#define CAN_FRAMING_ERROR 8U
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/**
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* @brief Overflow in receive queue.
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*/
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#define CAN_OVERFLOW_ERROR 16U
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/** @} */
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/**
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* @brief Special mailbox identifier.
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*/
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#define CAN_ANY_MAILBOX 0U
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name CAN configuration options
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* @{
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*/
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/**
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* @brief Sleep mode related APIs inclusion switch.
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* @details This option can only be enabled if the CAN implementation supports
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* the sleep mode, see the macro @p CAN_SUPPORTS_SLEEP exported by
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* the underlying implementation.
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*/
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#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
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#define CAN_USE_SLEEP_MODE TRUE
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#endif
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/**
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* @brief Enforces the driver to use direct callbacks rather than OSAL events.
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*/
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#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
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#define CAN_ENFORCE_USE_CALLBACKS FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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CAN_UNINIT = 0, /**< Not initialized. */
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CAN_STOP = 1, /**< Stopped. */
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CAN_STARTING = 2, /**< Starting. */
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CAN_READY = 3, /**< Ready. */
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CAN_SLEEP = 4 /**< Sleep state. */
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} canstate_t;
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#include "hal_can_lld.h"
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Converts a mailbox index to a bit mask.
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*/
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#define CAN_MAILBOX_TO_MASK(mbx) (1U << ((mbx) - 1U))
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/**
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* @brief Legacy name for @p canTransmitTimeout().
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*
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* @deprecated
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*/
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#define canTransmit(canp, mailbox, ctfp, timeout) \
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canTransmitTimeout(canp, mailbox, ctfp, timeout)
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/**
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* @brief Legacy name for @p canReceiveTimeout().
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*
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* @deprecated
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*/
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#define canReceive(canp, mailbox, crfp, timeout) \
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canReceiveTimeout(canp, mailbox, crfp, timeout)
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/** @} */
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/**
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* @name Low level driver helper macros
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* @{
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*/
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#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined(__DOXYGEN__)
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/**
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* @brief TX mailbox empty event.
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*/
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#define _can_tx_empty_isr(canp, flags) { \
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osalSysLockFromISR(); \
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osalThreadDequeueAllI(&(canp)->txqueue, MSG_OK); \
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osalEventBroadcastFlagsI(&(canp)->txempty_event, flags); \
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osalSysUnlockFromISR(); \
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}
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/**
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* @brief RX mailbox empty full event.
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*/
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#define _can_rx_full_isr(canp, flags) { \
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osalSysLockFromISR(); \
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osalThreadDequeueAllI(&(canp)->rxqueue, MSG_OK); \
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osalEventBroadcastFlagsI(&(canp)->rxfull_event, flags); \
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osalSysUnlockFromISR(); \
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}
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/**
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* @brief Error event.
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*/
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#define _can_wakeup_isr(canp) { \
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osalSysLockFromISR(); \
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osalEventBroadcastFlagsI(&(canp)->wakeup_event, 0U); \
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osalSysUnlockFromISR(); \
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}
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/**
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* @brief Error event.
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*/
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#define _can_error_isr(canp, flags) { \
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osalSysLockFromISR(); \
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osalEventBroadcastFlagsI(&(canp)->error_event, flags); \
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osalSysUnlockFromISR(); \
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}
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#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
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#define _can_tx_empty_isr(canp, flags) { \
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if ((canp)->txempty_cb != NULL) { \
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(canp)->txempty_cb(canp, flags); \
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} \
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osalSysLockFromISR(); \
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osalThreadDequeueAllI(&(canp)->txqueue, MSG_OK); \
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osalSysUnlockFromISR(); \
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}
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#define _can_rx_full_isr(canp, flags) { \
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if ((canp)->rxfull_cb != NULL) { \
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(canp)->rxfull_cb(canp, flags); \
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} \
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osalSysLockFromISR(); \
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osalThreadDequeueAllI(&(canp)->rxqueue, MSG_OK); \
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osalSysUnlockFromISR(); \
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}
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#define _can_wakeup_isr(canp) { \
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if ((canp)->wakeup_cb != NULL) { \
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(canp)->wakeup_cb(canp, 0U); \
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} \
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}
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#define _can_error_isr(canp, flags) { \
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if ((canp)->error_cb != NULL) { \
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(canp)->error_cb(canp, flags); \
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} \
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}
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#endif /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void canInit(void);
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void canObjectInit(CANDriver *canp);
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void canStart(CANDriver *canp, const CANConfig *config);
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void canStop(CANDriver *canp);
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bool canTryTransmitI(CANDriver *canp,
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canmbx_t mailbox,
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const CANTxFrame *ctfp);
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bool canTryReceiveI(CANDriver *canp,
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canmbx_t mailbox,
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CANRxFrame *crfp);
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msg_t canTransmitTimeout(CANDriver *canp,
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canmbx_t mailbox,
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const CANTxFrame *ctfp,
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sysinterval_t timeout);
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msg_t canReceiveTimeout(CANDriver *canp,
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canmbx_t mailbox,
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CANRxFrame *crfp,
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sysinterval_t timeout);
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#if CAN_USE_SLEEP_MODE
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void canSleep(CANDriver *canp);
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void canWakeup(CANDriver *canp);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_CAN == TRUE */
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#endif /* HAL_CAN_H */
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/** @} */
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