521 lines
16 KiB
C
521 lines
16 KiB
C
/*
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SPC5 HAL - Copyright (C) 2013 STMicroelectronics
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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 FlexCAN_v1/can_lld.h
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* @brief SPC5xx CAN subsystem low level driver header.
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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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#include "spc5_flexcan.h"
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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 an automatic wakeup feature.
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*/
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#define CAN_SUPPORTS_SLEEP FALSE
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/**
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* @brief This implementation supports 24 transmit mailboxes.
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*/
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#define CAN_TX_MAILBOXES 24
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/**
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* @brief This implementation supports one FIFO receive mailbox.
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*/
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#define CAN_RX_MAILBOXES 8
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/**
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* @brief This implementation supports eight FIFO receive filters.
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*/
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#define SPC5_CAN_MAX_FILTERS 8
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/**
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* @brief Enable filters.
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*/
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#define SPC5_CAN_FILTER_ON 1
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/**
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* @brief Disable filters.
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*/
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#define SPC5_CAN_FILTER_OFF 0
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/**
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* @name CAN registers helper macros
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* @{
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*/
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#define CAN_MCR_MAXMB(n) (n)
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#define CAN_MCR_AEN (1 << 12)
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#define CAN_MCR_LPRIO_EN (1 << 13)
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#define CAN_MCR_BCC (1 << 16)
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#define CAN_MCR_SRX_DIS (1 << 17)
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#define CAN_MCR_LPM_ACK (1 << 20)
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#define CAN_MCR_WRN_EN (1 << 21)
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#define CAN_MCR_SUPV (1 << 23)
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#define CAN_MCR_FRZ_ACK (1 << 24)
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#define CAN_MCR_WAK_MSK (1 << 26)
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#define CAN_MCR_NOT_RDY (1 << 27)
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#define CAN_MCR_HALT (1 << 28)
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#define CAN_MCR_FEN (1 << 29)
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#define CAN_MCR_FRZ (1 << 30)
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#define CAN_MCR_MDIS (1 << 31)
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#define CAN_CTRL_PROPSEG(n) (n)
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#define CAN_CTRL_LOM (1 << 3)
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#define CAN_CTRL_TSYN (1 << 5)
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#define CAN_CTRL_BOFF_REC (1 << 6)
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#define CAN_CTRL_SMP (1 << 7)
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#define CAN_CTRL_RWRN_MSK (1 << 10)
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#define CAN_CTRL_TWRN_MSK (1 << 11)
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#define CAN_CTRL_LPB (1 << 12)
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#define CAN_CTRL_CLK_SRC (1 << 13)
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#define CAN_CTRL_ERR_MSK (1 << 14)
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#define CAN_CTRL_BOFF_MSK (1 << 15)
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#define CAN_CTRL_PSEG2(n) ((n) << 16)
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#define CAN_CTRL_PSEG1(n) ((n) << 19)
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#define CAN_CTRL_RJW(n) ((n) << 22)
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#define CAN_CTRL_PRESDIV(n) ((n) << 24)
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#define CAN_IDE_STD 0 /**< @brief Standard id. */
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#define CAN_IDE_EXT 1 /**< @brief Extended id. */
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#define CAN_RTR_DATA 0 /**< @brief Data frame. */
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#define CAN_RTR_REMOTE 1 /**< @brief Remote frame. */
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#define CAN_ESR_ERR_INT (1 << 1)
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#define CAN_ESR_BOFF_INT (1 << 2)
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#define CAN_ESR_TWRN_INT (1 << 14)
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#define CAN_ESR_RWRN_INT (1 << 15)
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/** @} */
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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(SPC5_CAN_USE_FLEXCAN0) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FLEXCAN0 FALSE
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#endif
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/**
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* @brief CAN2 driver enable switch.
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* @details If set to @p TRUE the support for CAN2 is included.
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*/
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#if !defined(SPC5_CAN_USE_FLEXCAN1) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FLEXCAN1 FALSE
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#endif
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/**
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* @brief CAN3 driver enable switch.
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* @details If set to @p TRUE the support for CAN3 is included.
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*/
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#if !defined(SPC5_CAN_USE_FLEXCAN2) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FLEXCAN2 FALSE
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#endif
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/**
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* @brief CAN4 driver enable switch.
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* @details If set to @p TRUE the support for CAN4 is included.
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*/
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#if !defined(SPC5_CAN_USE_FLEXCAN3) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FLEXCAN3 FALSE
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#endif
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/**
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* @brief CAN5 driver enable switch.
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* @details If set to @p TRUE the support for CAN5 is included.
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*/
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#if !defined(SPC5_CAN_USE_FLEXCAN4) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FLEXCAN4 FALSE
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#endif
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/**
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* @brief CAN6 driver enable switch.
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* @details If set to @p TRUE the support for CAN6 is included.
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*/
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#if !defined(SPC5_CAN_USE_FLEXCAN5) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FLEXCAN5 FALSE
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#endif
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/**
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* @brief CAN1 interrupt priority level setting.
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*/
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#if !defined(SPC5_CAN_FLEXCAN0_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define SPC5_CAN_FLEXCAN0_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN2 interrupt priority level setting.
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*/
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#if !defined(SPC5_CAN_FLEXCAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define SPC5_CAN_FLEXCAN1_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN3 interrupt priority level setting.
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*/
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#if !defined(SPC5_CAN_FLEXCAN2_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define SPC5_CAN_FLEXCAN2_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN4 interrupt priority level setting.
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*/
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#if !defined(SPC5_CAN_FLEXCAN3_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define SPC5_CAN_FLEXCAN3_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN5 interrupt priority level setting.
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*/
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#if !defined(SPC5_CAN_FLEXCAN4_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define SPC5_CAN_FLEXCAN4_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN6 interrupt priority level setting.
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*/
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#if !defined(SPC5_CAN_FLEXCAN5_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define SPC5_CAN_FLEXCAN5_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN filters enable setting.
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*/
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#if !defined(SPC5_CAN_USE_FILTERS) || defined(__DOXYGEN__)
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#define SPC5_CAN_USE_FILTERS 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 SPC5_CAN_USE_FLEXCAN0 && !SPC5_HAS_FLEXCAN0
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#error "CAN1 not present in the selected device"
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#endif
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#if SPC5_CAN_USE_FLEXCAN1 && !SPC5_HAS_FLEXCAN1
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#error "CAN2 not present in the selected device"
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#endif
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#if SPC5_CAN_USE_FLEXCAN2 && !SPC5_HAS_FLEXCAN2
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#error "CAN3 not present in the selected device"
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#endif
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#if SPC5_CAN_USE_FLEXCAN3 && !SPC5_HAS_FLEXCAN3
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#error "CAN4 not present in the selected device"
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#endif
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#if SPC5_CAN_USE_FLEXCAN4 && !SPC5_HAS_FLEXCAN4
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#error "CAN5 not present in the selected device"
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#endif
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#if SPC5_CAN_USE_FLEXCAN5 && !SPC5_HAS_FLEXCAN5
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#error "CAN6 not present in the selected device"
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#endif
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#if !SPC5_CAN_USE_FLEXCAN0 && !SPC5_CAN_USE_FLEXCAN1 \
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&& !SPC5_CAN_USE_FLEXCAN2 && !SPC5_CAN_USE_FLEXCAN3 \
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&& !SPC5_CAN_USE_FLEXCAN4 && !SPC5_CAN_USE_FLEXCAN5
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#error "CAN driver activated but no CAN peripheral assigned"
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#endif
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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 TX MB structure.
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*/
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typedef struct {
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union {
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vuint32_t R;
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struct {
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vuint8_t:4;
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vuint8_t CODE:4;
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vuint8_t:1;
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vuint8_t SRR:1;
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vuint8_t IDE:1;
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vuint8_t RTR:1;
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vuint8_t LENGTH:4;
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vuint16_t TIMESTAMP:16;
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} B;
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} CS;
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union {
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vuint32_t R;
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struct {
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vuint8_t PRIO:3;
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vuint32_t ID:29;
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} B;
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} ID;
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vuint32_t DATA[2]; /* Data buffer in words (32 bits) */
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} CAN_TxMailBox_TypeDef;
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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 LENGTH: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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uint16_t TIME; /**< @brief Time stamp. */
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};
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struct {
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uint8_t LENGTH: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 Refer to the SPC5 reference manual for info about filters.
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*/
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typedef struct {
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/**
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* @brief Filter scale.
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* @note This bit represents the EXT bit associated to this
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* filter (0=standard ID mode, 1=extended ID mode).
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*/
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uint32_t scale:1;
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/**
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* @brief Filter register (identifier).
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*/
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uint32_t register1;
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} CANFilter;
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/**
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* @brief Driver configuration structure.
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*/
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typedef struct {
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/**
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* @brief CAN MCR register initialization data.
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* @note Some bits in this register are enforced by the driver regardless
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* their status in this field.
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*/
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uint32_t mcr;
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/**
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* @brief CAN CTRL register initialization data.
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* @note Some bits in this register are enforced by the driver regardless
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* their status in this field.
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*/
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uint32_t ctrl;
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#if SPC5_CAN_USE_FILTERS
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/**
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* @brief CAN filters structure.
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*/
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CANFilter RxFilter[CAN_RX_MAILBOXES];
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#endif
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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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/**
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* @brief Pointer to the CAN registers.
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*/
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volatile struct spc5_flexcan *flexcan;
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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 SPC5_CAN_USE_FLEXCAN0 && !defined(__DOXYGEN__)
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extern CANDriver CAND1;
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#endif
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#if SPC5_CAN_USE_FLEXCAN1 && !defined(__DOXYGEN__)
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extern CANDriver CAND2;
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#endif
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#if SPC5_CAN_USE_FLEXCAN2 && !defined(__DOXYGEN__)
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extern CANDriver CAND3;
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#endif
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#if SPC5_CAN_USE_FLEXCAN3 && !defined(__DOXYGEN__)
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extern CANDriver CAND4;
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#endif
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#if SPC5_CAN_USE_FLEXCAN4 && !defined(__DOXYGEN__)
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extern CANDriver CAND5;
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#endif
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#if SPC5_CAN_USE_FLEXCAN5 && !defined(__DOXYGEN__)
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extern CANDriver CAND6;
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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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