256 lines
8.5 KiB
C
256 lines
8.5 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2013 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 templates/can_lld.h
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* @brief CAN Driver subsystem low level driver header template.
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*
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* @addtogroup CAN
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* @{
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*/
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#ifndef _CAN_LLD_H_
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#define _CAN_LLD_H_
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#if HAL_USE_CAN || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief This switch defines whether the driver implementation supports
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* a low power switch mode with automatic an wakeup feature.
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*/
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#define CAN_SUPPORTS_SLEEP TRUE
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/**
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* @brief This implementation supports three transmit mailboxes.
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*/
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#define CAN_TX_MAILBOXES 3
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/**
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* @brief This implementation supports two receive mailboxes.
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*/
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#define CAN_RX_MAILBOXES 2
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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 Configuration options
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* @{
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*/
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/**
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* @brief CAN1 driver enable switch.
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* @details If set to @p TRUE the support for CAN1 is included.
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*/
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#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)
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#define PLATFORM_CAN_USE_CAN1 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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#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP
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#error "CAN sleep mode not supported in this architecture"
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#endif
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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 Type of a transmission mailbox index.
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*/
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typedef uint32_t canmbx_t;
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/**
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* @brief CAN transmission frame.
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* @note Accessing the frame data as word16 or word32 is not portable because
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* machine data endianness, it can be still useful for a quick filling.
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*/
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typedef struct {
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struct {
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uint8_t DLC:4; /**< @brief Data length. */
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uint8_t RTR:1; /**< @brief Frame type. */
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uint8_t IDE:1; /**< @brief Identifier type. */
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};
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union {
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struct {
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uint32_t SID:11; /**< @brief Standard identifier.*/
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};
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struct {
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uint32_t EID:29; /**< @brief Extended identifier.*/
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};
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};
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union {
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uint8_t data8[8]; /**< @brief Frame data. */
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uint16_t data16[4]; /**< @brief Frame data. */
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uint32_t data32[2]; /**< @brief Frame data. */
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};
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} CANTxFrame;
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/**
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* @brief CAN received frame.
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* @note Accessing the frame data as word16 or word32 is not portable because
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* machine data endianness, it can be still useful for a quick filling.
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*/
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typedef struct {
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struct {
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uint8_t DLC:4; /**< @brief Data length. */
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uint8_t RTR:1; /**< @brief Frame type. */
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uint8_t IDE:1; /**< @brief Identifier type. */
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};
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union {
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struct {
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uint32_t SID:11; /**< @brief Standard identifier.*/
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};
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struct {
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uint32_t EID:29; /**< @brief Extended identifier.*/
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};
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};
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union {
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uint8_t data8[8]; /**< @brief Frame data. */
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uint16_t data16[4]; /**< @brief Frame data. */
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uint32_t data32[2]; /**< @brief Frame data. */
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};
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} CANRxFrame;
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/**
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* @brief CAN filter.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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* @note It could not be present on some architectures.
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*/
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typedef struct {
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uint32_t dummy;
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} CANFilter;
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/**
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* @brief Driver configuration structure.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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* @note It could be empty on some architectures.
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*/
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typedef struct {
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uint32_t dummy;
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} CANConfig;
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/**
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* @brief Structure representing an CAN driver.
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*/
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typedef struct {
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/**
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* @brief Driver state.
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*/
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canstate_t state;
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/**
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* @brief Current configuration data.
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*/
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const CANConfig *config;
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/**
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* @brief Transmission queue semaphore.
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*/
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Semaphore txsem;
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/**
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* @brief Receive queue semaphore.
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*/
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Semaphore rxsem;
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/**
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* @brief One or more frames become available.
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* @note After broadcasting this event it will not be broadcasted again
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* until the received frames queue has been completely emptied. It
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* is <b>not</b> broadcasted for each received frame. It is
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* responsibility of the application to empty the queue by
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* repeatedly invoking @p chReceive() when listening to this event.
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* This behavior minimizes the interrupt served by the system
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* because CAN traffic.
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* @note The flags associated to the listeners will indicate which
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* receive mailboxes become non-empty.
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*/
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EventSource rxfull_event;
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/**
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* @brief One or more transmission mailbox become available.
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* @note The flags associated to the listeners will indicate which
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* transmit mailboxes become empty.
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*
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*/
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EventSource txempty_event;
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/**
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* @brief A CAN bus error happened.
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* @note The flags associated to the listeners will indicate the
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* error(s) that have occurred.
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*/
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EventSource error_event;
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#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
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/**
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* @brief Entering sleep state event.
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*/
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EventSource sleep_event;
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/**
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* @brief Exiting sleep state event.
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*/
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EventSource wakeup_event;
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#endif /* CAN_USE_SLEEP_MODE */
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/* End of the mandatory fields.*/
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} CANDriver;
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if PLATFORM_CAN_USE_CAN1 && !defined(__DOXYGEN__)
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extern CANDriver CAND1;
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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void can_lld_init(void);
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void can_lld_start(CANDriver *canp);
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void can_lld_stop(CANDriver *canp);
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bool_t can_lld_is_tx_empty(CANDriver *canp,
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canmbx_t mailbox);
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void can_lld_transmit(CANDriver *canp,
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canmbx_t mailbox,
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const CANTxFrame *crfp);
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bool_t can_lld_is_rx_nonempty(CANDriver *canp,
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canmbx_t mailbox);
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void can_lld_receive(CANDriver *canp,
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canmbx_t mailbox,
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CANRxFrame *ctfp);
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#if CAN_USE_SLEEP_MODE
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void can_lld_sleep(CANDriver *canp);
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void can_lld_wakeup(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 /* HAL_USE_CAN */
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#endif /* _CAN_LLD_H_ */
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/** @} */
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