325 lines
11 KiB
C
325 lines
11 KiB
C
/*
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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 STM32/can_lld.h
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* @brief STM32 CAN subsystem low level driver header
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* @addtogroup STM32_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 CH_HAL_USE_CAN || defined(__DOXYGEN__)
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/*
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* The following macros from the ST header file are replaced with better
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* equivalents.
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*/
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#undef CAN_BTR_BRP
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#undef CAN_BTR_TS1
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#undef CAN_BTR_TS2
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#undef CAN_BTR_SJW
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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 Manimum number of CAN filters.
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*/
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#if defined(STM32F10X_CL) || defined(__DOXYGEN__)
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#define CAN_MAX_FILTERS 28
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#else
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#define CAN_MAX_FILTERS 14
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#endif
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#define CAN_BTR_BRP(n) (n) /**< @brief BRP field macro.*/
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#define CAN_BTR_TS1(n) ((n) << 16) /**< @brief TS1 field macro.*/
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#define CAN_BTR_TS2(n) ((n) << 20) /**< @brief TS2 field macro.*/
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#define CAN_BTR_SJW(n) ((n) << 24) /**< @brief SJW field macro.*/
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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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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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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 ADC1 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(USE_STM32_CAN1) || defined(__DOXYGEN__)
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#define USE_STM32_CAN1 TRUE
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#endif
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/**
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* @brief CAN1 interrupt priority level setting.
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* @note @p BASEPRI_KERNEL >= @p STM32_SPI1_IRQ_PRIORITY > @p PRIORITY_PENDSV.
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*/
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#if !defined(STM32_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_CAN1_IRQ_PRIORITY 0xB0
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#endif
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/**
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* @brief Sleep mode related APIs inclusion switch.
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* @note This switch is enforced to @p FALSE if the driver implementation
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* does not support the sleep mode.
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*/
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#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__)
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#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
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#define CAN_USE_SLEEP_MODE TRUE
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#endif
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#else /* !CAN_SUPPORTS_SLEEP */
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#define CAN_USE_SLEEP_MODE FALSE
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#endif /* !CAN_SUPPORTS_SLEEP */
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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 CAN status flags.
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*/
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typedef uint32_t canstatus_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 cf_DLC:4; /**< @brief Data length. */
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uint8_t cf_RTR:1; /**< @brief Frame type. */
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uint8_t cf_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 cf_SID:11; /**< @brief Standard identifier.*/
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};
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struct {
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uint32_t cf_EID:29; /**< @brief Extended identifier.*/
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};
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};
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union {
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uint8_t cf_data8[8]; /**< @brief Frame data. */
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uint16_t cf_data16[4]; /**< @brief Frame data. */
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uint32_t cf_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 cf_FMI; /**< @brief Filter id. */
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uint16_t cf_TIME; /**< @brief Time stamp. */
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};
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struct {
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uint8_t cf_DLC:4; /**< @brief Data length. */
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uint8_t cf_RTR:1; /**< @brief Frame type. */
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uint8_t cf_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 cf_SID:11; /**< @brief Standard identifier.*/
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};
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struct {
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uint32_t cf_EID:29; /**< @brief Extended identifier.*/
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};
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};
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union {
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uint8_t cf_data8[8]; /**< @brief Frame data. */
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uint16_t cf_data16[4]; /**< @brief Frame data. */
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uint32_t cf_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 STM32 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 mode.
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* @note This bit represent the CAN_FM1R register bit associated to this
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* filter (0=mask mode, 1=list mode).
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*/
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uint32_t cf_mode:1;
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/**
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* @brief Filter sclae.
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* @note This bit represent the CAN_FS1R register bit associated to this
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* filter (0=16 bits mode, 1=32 bits mode).
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*/
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uint32_t cf_scale:1;
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/**
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* @brief Filter mode.
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* @note This bit represent the CAN_FFA1R register bit associated to this
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* filter, must be set to zero in this version of the driver.
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*/
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uint32_t cf_assignment:1;
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/**
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* @brief Filter register 1 (identifier).
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*/
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uint32_t cf_register1;
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/**
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* @brief Filter register 2 (mask/identifier depending on cf_mode=0/1).
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*/
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uint32_t cf_register2;
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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 cc_mcr;
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/**
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* @brief CAN BTR 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 cc_btr;
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/**
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* @brief Number of elements into the filters array.
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* @note By setting this field to zero a default filter is enabled that
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* allows all frames, this should be adequate for simple applications.
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*/
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uint32_t cc_num;
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/**
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* @brief Pointer to an array of @p CANFilter structures.
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* @note This field can be set to @p NULL if the field @p cc_num is set to
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* zero.
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*/
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const CANFilter *cc_filters;
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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 cd_state;
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/**
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* @brief Current configuration data.
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*/
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const CANConfig *cd_config;
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/**
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* @brief Transmission queue semaphore.
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*/
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Semaphore cd_txsem;
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/**
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* @brief Receive queue semaphore.
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*/
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Semaphore cd_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 repeatedly
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* invoking @p chReceive() when listening to this event. This behavior
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* minimizes the interrupt served by the system because CAN traffic.
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*/
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EventSource cd_rxfull_event;
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/**
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* @brief One or more transmission slots become available.
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*/
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EventSource cd_txempty_event;
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/**
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* @brief A CAN bus error happened.
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*/
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EventSource cd_error_event;
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/**
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* @brief Error flags set when an error event is broadcasted.
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*/
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canstatus_t cd_status;
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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 cd_sleep_event;
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/**
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* @brief Exiting sleep state event.
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*/
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EventSource cd_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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CAN_TypeDef *cd_can;
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} CANDriver;
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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/** @cond never*/
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#if USE_STM32_CAN1
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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_can_transmit(CANDriver *canp);
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void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);
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bool_t can_lld_can_receive(CANDriver *canp);
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void can_lld_receive(CANDriver *canp, 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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/** @endcond*/
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#endif /* CH_HAL_USE_CAN */
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#endif /* _CAN_LLD_H_ */
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/** @} */
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