git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1326 35acf78f-673a-0410-8e92-d51de3d6d3f4
gdisirio
parent
11ebb9cdfb
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0ed2cd487a
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/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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|
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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||||||
|
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You should have received a copy of the GNU General Public License
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|
along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file CAN.c
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* @brief CAN Driver code.
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* @addtogroup CAN
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* @{
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*/
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#include <ch.h>
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#include <can.h>
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/**
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* @brief CAN Driver initialization.
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*/
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void canInit(void) {
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can_lld_init();
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}
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/**
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* @brief Initializes the standard part of a @p CANDriver structure.
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*
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* @param[in] canp pointer to the @p CANDriver object
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*/
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void canObjectInit(CANDriver *canp) {
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canp->can_state = CAN_STOP;
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canp->can_config = NULL;
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chSemInit(&canp->can_txsem);
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chSemInit(&canp->can_rxsem);
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chEvtInit(&canp->can_rxfull_event);
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chEvtInit(&canp->can_txempty_event);
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#if CAN_USE_SLEEP_MODE
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chEvtInit(&canp->can_sleep_event);
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chEvtInit(&canp->can_wakeup_event);
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#endif /* CAN_USE_SLEEP_MODE */
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}
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/**
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* @brief Configures and activates the CAN peripheral.
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*
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* @param[in] canp pointer to the @p CANDriver object
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* @param[in] config pointer to the @p CANConfig object
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*/
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void canStart(CANDriver *canp, const CANConfig *config) {
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chDbgCheck((canp != NULL) && (config != NULL), "canStart");
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chSysLock();
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chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),
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"canStart(), #1",
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"invalid state");
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canp->can_config = config;
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can_lld_start(canp);
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canp->can_state = CAN_READY;
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chSysUnlock();
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}
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/**
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* @brief Deactivates the CAN peripheral.
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*
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* @param[in] canp pointer to the @p CANDriver object
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*/
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void canStop(CANDriver *canp) {
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chDbgCheck(canp != NULL, "canStop");
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chSysLock();
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chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),
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"canStop(), #1",
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"invalid state");
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can_lld_stop(canp);
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canp->can_state = CAN_STOP;
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chSysUnlock();
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}
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/**
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* @brief Can frame transmission.
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* @details The specified frame is queued for transmission, if the hardware
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* queue is full then the invoking thread is queued.
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* @note Trying to transmit while in sleep mode simply enqueues the thread.
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*
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* @param canp[in] pointer to the @p CANDriver object
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* @param cfp[in] pointer to the CAN frame to be transmitted
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* @param[in] timeout the number of ticks before the operation timeouts,
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* the following special values are allowed:
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* - @a TIME_IMMEDIATE immediate timeout.
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* - @a TIME_INFINITE no timeout.
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* .
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* @return The operation result.
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* @retval RDY_OK the frame has been queued for transmission.
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* @retval RDY_TIMEOUT operation not finished within the specified time.
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* @retval RDY_RESET driver stopped while waiting.
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*/
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msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
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msg_t msg;
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chDbgCheck((canp != NULL) && (cfp != NULL), "canTransmit");
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chSysLock();
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chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
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"canTransmit(), #1",
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"invalid state");
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if ((canp->can_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
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msg = chSemWaitTimeoutS(&canp->can_txsem, timeout);
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if (msg != RDY_OK) {
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chSysUnlock();
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return msg;
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}
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}
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msg = can_lld_transmit(canp, cfp);
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chSysUnlock();
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return msg;
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}
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/**
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* @brief Can frame receive.
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* @details The function waits until a frame is received.
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* @note Trying to receive while in sleep mode simply enqueues the thread.
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*
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* @param canp[in] pointer to the @p CANDriver object
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* @param cfp[out] pointer to the buffer where the CAN frame is copied
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* @param[in] timeout the number of ticks before the operation timeouts,
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* the following special values are allowed:
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* - @a TIME_IMMEDIATE immediate timeout.
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* - @a TIME_INFINITE no timeout.
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* .
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* @return The operation result.
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* @retval RDY_OK a frame has been received and placed in the buffer.
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* @retval RDY_TIMEOUT operation not finished within the specified time.
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* @retval RDY_RESET driver stopped while waiting.
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*/
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msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {
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msg_t msg;
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chDbgCheck((canp != NULL) && (cfp != NULL), "canReceive");
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chSysLock();
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chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
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"canReceive(), #1",
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"invalid state");
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if ((canp->can_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
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msg = chSemWaitTimeoutS(&canp->can_rxsem, timeout);
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if (msg != RDY_OK) {
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chSysUnlock();
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return msg;
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}
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}
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msg = can_lld_receive(canp, cfp);
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chSysUnlock();
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return msg;
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}
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#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
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/**
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* @brief Enters the sleep mode.
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*
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* @param canp[in] pointer to the @p CANDriver object
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*/
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void canSleep(CANDriver *canp) {
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chDbgCheck(canp != NULL, "canSleep");
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chSysLock();
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chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
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"canSleep(), #1",
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"invalid state");
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if (canp->can_state = CAN_READY) {
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can_lld_sleep(canp);
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canp->can_state = CAN_SLEEP;
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chEvtBroadcastI(&canp->can_sleep_event);
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chSchRescheduleS();
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}
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chSysUnlock();
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}
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/**
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* @brief Enforces leaving the sleep mode.
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* @note The sleep mode is supposed to be usually exited automatically by an
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* hardware event.
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*
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* @param canp[in] pointer to the @p CANDriver object
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*/
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void canWakeup(CANDriver *canp) {
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chDbgCheck(canp != NULL, "canWakeup");
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chSysLock();
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chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
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"canWakeup(), #1",
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"invalid state");
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if (canp->can_state = CAN_SLEEP) {
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can_lld_wakeup(canp);
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canp->can_state = CAN_READY;
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chEvtBroadcastI(&canp->can_wakeup_event);
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chSchRescheduleS();
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}
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chSysUnlock();
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}
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#endif /* CAN_USE_SLEEP_MODE */
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/** @} */
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@ -0,0 +1,61 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file can.h
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* @brief CAN Driver macros and structures.
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* @addtogroup CAN
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* @{
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*/
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#ifndef _CAN_H_
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#define _CAN_H_
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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, /**< @brief Not initialized. */
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CAN_STOP = 1, /**< @brief Stopped. */
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CAN_READY = 2, /**< @brief Ready. */
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CAN_SLEEP = 3 /**< @brief Sleep state. */
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} canstate_t;
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#include "can_lld.h"
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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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msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout);
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msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_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 /* CAN_USE_SLEEP_MODE */
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#ifdef __cplusplus
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}
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#endif
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#endif /* _CAN_H_ */
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/** @} */
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@ -0,0 +1,155 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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|
|
||||||
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ChibiOS/RT is free software; you can redistribute it and/or modify
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|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation; either version 3 of the License, or
|
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|
(at your option) any later version.
|
||||||
|
|
||||||
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ChibiOS/RT is distributed in the hope that it will be useful,
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|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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|
GNU General Public License for more details.
|
||||||
|
|
||||||
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You should have received a copy of the GNU General Public License
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||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file templates/can_lld.c
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* @brief CAN Driver subsystem low level driver source template
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* @addtogroup CAN_LLD
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* @{
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*/
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#include <ch.h>
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#include <can.h>
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/*===========================================================================*/
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/* Low Level Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Low Level Driver local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Low Level Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Low Level Driver interrupt handlers. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Low Level Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level CAN driver initialization.
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*/
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void can_lld_init(void) {
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}
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/**
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* @brief Configures and activates the CAN peripheral.
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*
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* @param[in] canp pointer to the @p CANDriver object
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*/
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void can_lld_start(CANDriver *canp) {
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if (canp->can_state == CAN_STOP) {
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/* Clock activation.*/
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}
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/* Configuration.*/
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}
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/**
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* @brief Deactivates the CAN peripheral.
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*
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* @param[in] canp pointer to the @p CANDriver object
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*/
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void can_lld_stop(CANDriver *canp) {
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}
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/**
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* @brief Determines whether a frame can be transmitted.
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*
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* @param[in] canp pointer to the @p CANDriver object
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*
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* @return The queue space availability.
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* @retval FALSE no space in the transmit queue.
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* @retval TRUE transmit slot available.
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*/
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bool_t can_lld_can_transmit(CANDriver *canp) {
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return false;
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}
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/**
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* @brief Inserts a frame into the transmit queue.
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*
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* @param canp[in] pointer to the @p CANDriver object
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* @param cfp[in] pointer to the CAN frame to be transmitted
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*
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* @return The operation status.
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* @retval RDY_OK frame transmitted.
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*/
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msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) {
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return RDY_OK;
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}
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/**
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* @brief Determines whether a frame has been received.
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*
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* @param[in] canp pointer to the @p CANDriver object
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|
*
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* @return The queue space availability.
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* @retval FALSE no space in the transmit queue.
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* @retval TRUE transmit slot available.
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*/
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||||||
|
bool_t can_lld_can_receive(CANDriver *canp) {
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Receives a frame from the input queue.
|
||||||
|
*
|
||||||
|
* @param canp[in] pointer to the @p CANDriver object
|
||||||
|
* @param cfp[out] pointer to the buffer where the CAN frame is copied
|
||||||
|
*
|
||||||
|
* @return The operation status.
|
||||||
|
* @retval RDY_OK frame received.
|
||||||
|
*/
|
||||||
|
msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) {
|
||||||
|
|
||||||
|
return RDY_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
|
||||||
|
/**
|
||||||
|
* @brief Enters the sleep mode.
|
||||||
|
*
|
||||||
|
* @param canp[in] pointer to the @p CANDriver object
|
||||||
|
*/
|
||||||
|
void can_lld_sleep(CANDriver *canp) {
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Enforces leaving the sleep mode.
|
||||||
|
*
|
||||||
|
* @param canp[in] pointer to the @p CANDriver object
|
||||||
|
*/
|
||||||
|
void can_lld_wakeup(CANDriver *canp) {
|
||||||
|
|
||||||
|
}
|
||||||
|
#endif /* CAN_USE_SLEEP_MODE */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
@ -0,0 +1,134 @@
|
||||||
|
/*
|
||||||
|
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
|
||||||
|
|
||||||
|
This file is part of ChibiOS/RT.
|
||||||
|
|
||||||
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation; either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file templates/can_lld.h
|
||||||
|
* @brief CAN Driver subsystem low level driver header template
|
||||||
|
* @addtogroup CAN_LLD
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _CAN_LLD_H_
|
||||||
|
#define _CAN_LLD_H_
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This switch defines whether the driver implementation supports
|
||||||
|
* a low power switch mode with automatic an wakeup feature.
|
||||||
|
*/
|
||||||
|
#define CAN_SUPPORTS_SLEEP TRUE
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver pre-compile time settings. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Sleep mode related APIs inclusion switch.
|
||||||
|
* @note This switch is enforced to @p FALSE if the driver implementation
|
||||||
|
* does not support the sleep mode.
|
||||||
|
*/
|
||||||
|
#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__)
|
||||||
|
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
|
||||||
|
#define CAN_USE_SLEEP_MODE TRUE
|
||||||
|
#endif
|
||||||
|
#else /* !CAN_SUPPORTS_SLEEP */
|
||||||
|
#define CAN_USE_SLEEP_MODE FALSE
|
||||||
|
#endif /* !CAN_SUPPORTS_SLEEP */
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver constants. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver data structures and types. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Driver configuration structure.
|
||||||
|
* @note It could be empty on some architectures.
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
|
||||||
|
} CANConfig;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Structure representing an CAN driver.
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
/**
|
||||||
|
* @brief Driver state.
|
||||||
|
*/
|
||||||
|
canstate_t can_state;
|
||||||
|
/**
|
||||||
|
* @brief Current configuration data.
|
||||||
|
*/
|
||||||
|
const CANConfig *can_config;
|
||||||
|
/**
|
||||||
|
* @brief Transmission queue semaphore.
|
||||||
|
*/
|
||||||
|
Semaphore can_txsem;
|
||||||
|
/**
|
||||||
|
* @brief Receive queue semaphore.
|
||||||
|
*/
|
||||||
|
Semaphore can_rxsem;
|
||||||
|
/**
|
||||||
|
* @brief One or more frames become available.
|
||||||
|
*/
|
||||||
|
EventSource can_rxfull_event;
|
||||||
|
/**
|
||||||
|
* @brief One or more transmission slots become available.
|
||||||
|
*/
|
||||||
|
EventSource can_txempty_event;
|
||||||
|
#if CAN_USE_SLEEP_MODE || defined __DOXYGEN__)
|
||||||
|
/**
|
||||||
|
* @brief Entering sleep state event.
|
||||||
|
*/
|
||||||
|
EventSource can_sleep_event;
|
||||||
|
/**
|
||||||
|
* @brief Exiting sleep state event.
|
||||||
|
*/
|
||||||
|
EventSource can_wakeup_event;
|
||||||
|
#endif /* CAN_USE_SLEEP_MODE */
|
||||||
|
/* End of the mandatory fields.*/
|
||||||
|
} CANDriver;
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* External declarations. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
void can_lld_init(void);
|
||||||
|
void can_lld_start(CANDriver *canp);
|
||||||
|
void can_lld_stop(CANDriver *canp);
|
||||||
|
bool_t can_lld_can_transmit(CANDriver *canp);
|
||||||
|
msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp);
|
||||||
|
bool_t can_lld_can_receive(CANDriver *canp);
|
||||||
|
msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp);
|
||||||
|
#if CAN_USE_SLEEP_MODE
|
||||||
|
void can_lld_sleep(CANDriver *canp);
|
||||||
|
void can_lld_wakeup(CANDriver *canp);
|
||||||
|
#endif /* CAN_USE_SLEEP_MODE */
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* _CAN_LLD_H_ */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
Loading…
Reference in New Issue