274 lines
9.3 KiB
C
274 lines
9.3 KiB
C
|
/*
|
||
|
|
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
|
||
|
|
|
||
|
|
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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file hal_can_lld.h
|
||
|
|
* @brief PLATFORM CAN subsystem low level driver header.
|
||
|
|
*
|
||
|
|
* @addtogroup CAN
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef HAL_CAN_LLD_H
|
||
|
|
#define HAL_CAN_LLD_H
|
||
|
|
|
||
|
|
#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver constants. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Number of transmit mailboxes.
|
||
|
|
*/
|
||
|
|
#define CAN_TX_MAILBOXES 1
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Number of receive mailboxes.
|
||
|
|
*/
|
||
|
|
#define CAN_RX_MAILBOXES 1
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver pre-compile time settings. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name PLATFORM configuration options
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief CAN1 driver enable switch.
|
||
|
|
* @details If set to @p TRUE the support for CAN1 is included.
|
||
|
|
* @note The default is @p FALSE.
|
||
|
|
*/
|
||
|
|
#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)
|
||
|
|
#define PLATFORM_CAN_USE_CAN1 FALSE
|
||
|
|
#endif
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Derived constants and error checks. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver data structures and types. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of a structure representing an CAN driver.
|
||
|
|
*/
|
||
|
|
typedef struct CANDriver CANDriver;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of a transmission mailbox index.
|
||
|
|
*/
|
||
|
|
typedef uint32_t canmbx_t;
|
||
|
|
|
||
|
|
#if defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Type of a CAN notification callback.
|
||
|
|
*
|
||
|
|
* @param[in] canp pointer to the @p CANDriver object triggering the
|
||
|
|
* callback
|
||
|
|
* @param[in] flags flags associated to the mailbox callback
|
||
|
|
*/
|
||
|
|
typedef void (*can_callback_t)(CANDriver *canp, uint32_t flags);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN transmission frame.
|
||
|
|
* @note Accessing the frame data as word16 or word32 is not portable because
|
||
|
|
* machine data endianness, it can be still useful for a quick filling.
|
||
|
|
*/
|
||
|
|
typedef struct {
|
||
|
|
/*lint -save -e46 [6.1] Standard types are fine too.*/
|
||
|
|
uint8_t DLC:4; /**< @brief Data length. */
|
||
|
|
uint8_t RTR:1; /**< @brief Frame type. */
|
||
|
|
uint8_t IDE:1; /**< @brief Identifier type. */
|
||
|
|
union {
|
||
|
|
uint32_t SID:11; /**< @brief Standard identifier.*/
|
||
|
|
uint32_t EID:29; /**< @brief Extended identifier.*/
|
||
|
|
uint32_t _align1;
|
||
|
|
};
|
||
|
|
/*lint -restore*/
|
||
|
|
union {
|
||
|
|
uint8_t data8[8]; /**< @brief Frame data. */
|
||
|
|
uint16_t data16[4]; /**< @brief Frame data. */
|
||
|
|
uint32_t data32[2]; /**< @brief Frame data. */
|
||
|
|
};
|
||
|
|
} CANTxFrame;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CAN received frame.
|
||
|
|
* @note Accessing the frame data as word16 or word32 is not portable because
|
||
|
|
* machine data endianness, it can be still useful for a quick filling.
|
||
|
|
*/
|
||
|
|
typedef struct {
|
||
|
|
/*lint -save -e46 [6.1] Standard types are fine too.*/
|
||
|
|
uint8_t FMI; /**< @brief Filter id. */
|
||
|
|
uint16_t TIME; /**< @brief Time stamp. */
|
||
|
|
uint8_t DLC:4; /**< @brief Data length. */
|
||
|
|
uint8_t RTR:1; /**< @brief Frame type. */
|
||
|
|
uint8_t IDE:1; /**< @brief Identifier type. */
|
||
|
|
union {
|
||
|
|
uint32_t SID:11; /**< @brief Standard identifier.*/
|
||
|
|
uint32_t EID:29; /**< @brief Extended identifier.*/
|
||
|
|
uint32_t _align1;
|
||
|
|
};
|
||
|
|
/*lint -restore*/
|
||
|
|
union {
|
||
|
|
uint8_t data8[8]; /**< @brief Frame data. */
|
||
|
|
uint16_t data16[4]; /**< @brief Frame data. */
|
||
|
|
uint32_t data32[2]; /**< @brief Frame data. */
|
||
|
|
};
|
||
|
|
} CANRxFrame;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Driver configuration structure.
|
||
|
|
*/
|
||
|
|
typedef struct {
|
||
|
|
/* End of the mandatory fields.*/
|
||
|
|
uint32_t dummy;
|
||
|
|
} CANConfig;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Structure representing an CAN driver.
|
||
|
|
*/
|
||
|
|
struct CANDriver {
|
||
|
|
/**
|
||
|
|
* @brief Driver state.
|
||
|
|
*/
|
||
|
|
canstate_t state;
|
||
|
|
/**
|
||
|
|
* @brief Current configuration data.
|
||
|
|
*/
|
||
|
|
const CANConfig *config;
|
||
|
|
/**
|
||
|
|
* @brief Transmission threads queue.
|
||
|
|
*/
|
||
|
|
threads_queue_t txqueue;
|
||
|
|
/**
|
||
|
|
* @brief Receive threads queue.
|
||
|
|
*/
|
||
|
|
threads_queue_t rxqueue;
|
||
|
|
#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined (__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief One or more frames become available.
|
||
|
|
* @note After broadcasting this event it will not be broadcasted again
|
||
|
|
* until the received frames queue has been completely emptied. It
|
||
|
|
* is <b>not</b> broadcasted for each received frame. It is
|
||
|
|
* responsibility of the application to empty the queue by
|
||
|
|
* repeatedly invoking @p chReceive() when listening to this event.
|
||
|
|
* This behavior minimizes the interrupt served by the system
|
||
|
|
* because CAN traffic.
|
||
|
|
* @note The flags associated to the listeners will indicate which
|
||
|
|
* receive mailboxes become non-empty.
|
||
|
|
*/
|
||
|
|
event_source_t rxfull_event;
|
||
|
|
/**
|
||
|
|
* @brief One or more transmission mailbox become available.
|
||
|
|
* @note The flags associated to the listeners will indicate which
|
||
|
|
* transmit mailboxes become empty.
|
||
|
|
*/
|
||
|
|
event_source_t txempty_event;
|
||
|
|
/**
|
||
|
|
* @brief A CAN bus error happened.
|
||
|
|
* @note The flags associated to the listeners will indicate the
|
||
|
|
* error(s) that have occurred.
|
||
|
|
*/
|
||
|
|
event_source_t error_event;
|
||
|
|
#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Entering sleep state event.
|
||
|
|
*/
|
||
|
|
event_source_t sleep_event;
|
||
|
|
/**
|
||
|
|
* @brief Exiting sleep state event.
|
||
|
|
*/
|
||
|
|
event_source_t wakeup_event;
|
||
|
|
#endif
|
||
|
|
#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
|
||
|
|
/**
|
||
|
|
* @brief One or more frames become available.
|
||
|
|
* @note After calling this function it will not be called again
|
||
|
|
* until the received frames queue has been completely emptied. It
|
||
|
|
* is <b>not</b> called for each received frame. It is
|
||
|
|
* responsibility of the application to empty the queue by
|
||
|
|
* repeatedly invoking @p chTryReceiveI().
|
||
|
|
* This behavior minimizes the interrupt served by the system
|
||
|
|
* because CAN traffic.
|
||
|
|
*/
|
||
|
|
can_callback_t rxfull_cb;
|
||
|
|
/**
|
||
|
|
* @brief One or more transmission mailbox become available.
|
||
|
|
* @note The flags associated to the callback will indicate which
|
||
|
|
* transmit mailboxes become empty.
|
||
|
|
*/
|
||
|
|
can_callback_t txempty_cb;
|
||
|
|
/**
|
||
|
|
* @brief A CAN bus error happened.
|
||
|
|
*/
|
||
|
|
can_callback_t error_cb;
|
||
|
|
#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Exiting sleep state.
|
||
|
|
*/
|
||
|
|
can_callback_t wakeup_cb;
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
/* End of the mandatory fields.*/
|
||
|
|
};
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver macros. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if (PLATFORM_CAN_USE_CAN1 == TRUE) && !defined(__DOXYGEN__)
|
||
|
|
extern CANDriver CAND1;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
void can_lld_init(void);
|
||
|
|
void can_lld_start(CANDriver *canp);
|
||
|
|
void can_lld_stop(CANDriver *canp);
|
||
|
|
bool can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
|
||
|
|
void can_lld_transmit(CANDriver *canp,
|
||
|
|
canmbx_t mailbox,
|
||
|
|
const CANTxFrame *ctfp);
|
||
|
|
bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
|
||
|
|
void can_lld_receive(CANDriver *canp,
|
||
|
|
canmbx_t mailbox,
|
||
|
|
CANRxFrame *crfp);
|
||
|
|
#if CAN_USE_SLEEP_MODE == TRUE
|
||
|
|
void can_lld_sleep(CANDriver *canp);
|
||
|
|
void can_lld_wakeup(CANDriver *canp);
|
||
|
|
#endif
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /* HAL_USE_CAN == TRUE */
|
||
|
|
|
||
|
|
#endif /* HAL_CAN_LLD_H */
|
||
|
|
|
||
|
|
/** @} */
|