157 lines
4.9 KiB
C
157 lines
4.9 KiB
C
/*
|
|
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
*/
|
|
|
|
/**
|
|
* @file can.h
|
|
* @brief CAN Driver macros and structures.
|
|
*
|
|
* @addtogroup CAN
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _CAN_H_
|
|
#define _CAN_H_
|
|
|
|
#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
|
|
|
|
/*===========================================================================*/
|
|
/* Driver constants. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @name CAN status flags
|
|
* @{
|
|
*/
|
|
/**
|
|
* @brief Errors rate warning.
|
|
*/
|
|
#define CAN_LIMIT_WARNING 1U
|
|
/**
|
|
* @brief Errors rate error.
|
|
*/
|
|
#define CAN_LIMIT_ERROR 2U
|
|
/**
|
|
* @brief Bus off condition reached.
|
|
*/
|
|
#define CAN_BUS_OFF_ERROR 4U
|
|
/**
|
|
* @brief Framing error of some kind on the CAN bus.
|
|
*/
|
|
#define CAN_FRAMING_ERROR 8U
|
|
/**
|
|
* @brief Overflow in receive queue.
|
|
*/
|
|
#define CAN_OVERFLOW_ERROR 16U
|
|
/** @} */
|
|
|
|
/**
|
|
* @brief Special mailbox identifier.
|
|
*/
|
|
#define CAN_ANY_MAILBOX 0
|
|
|
|
/*===========================================================================*/
|
|
/* Driver pre-compile time settings. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @name CAN configuration options
|
|
* @{
|
|
*/
|
|
/**
|
|
* @brief Sleep mode related APIs inclusion switch.
|
|
* @details This option can only be enabled if the CAN implementation supports
|
|
* the sleep mode, see the macro @p CAN_SUPPORTS_SLEEP exported by
|
|
* the underlying implementation.
|
|
*/
|
|
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
|
|
#define CAN_USE_SLEEP_MODE TRUE
|
|
#endif
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/* Derived constants and error checks. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Driver data structures and types. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Driver state machine possible states.
|
|
*/
|
|
typedef enum {
|
|
CAN_UNINIT = 0, /**< Not initialized. */
|
|
CAN_STOP = 1, /**< Stopped. */
|
|
CAN_STARTING = 2, /**< Starting. */
|
|
CAN_READY = 3, /**< Ready. */
|
|
CAN_SLEEP = 4 /**< Sleep state. */
|
|
} canstate_t;
|
|
|
|
#include "can_lld.h"
|
|
|
|
/*===========================================================================*/
|
|
/* Driver macros. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @name Macro Functions
|
|
* @{
|
|
*/
|
|
/**
|
|
* @brief Converts a mailbox index to a bit mask.
|
|
*/
|
|
#define CAN_MAILBOX_TO_MASK(mbx) (1U << ((mbx) - 1U))
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/* External declarations. */
|
|
/*===========================================================================*/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void canInit(void);
|
|
void canObjectInit(CANDriver *canp);
|
|
void canStart(CANDriver *canp, const CANConfig *config);
|
|
void canStop(CANDriver *canp);
|
|
bool canTryTransmitI(CANDriver *canp,
|
|
canmbx_t mailbox,
|
|
const CANTxFrame *ctfp);
|
|
bool canTryReceiveI(CANDriver *canp,
|
|
canmbx_t mailbox,
|
|
CANRxFrame *crfp);
|
|
msg_t canTransmit(CANDriver *canp,
|
|
canmbx_t mailbox,
|
|
const CANTxFrame *ctfp,
|
|
systime_t timeout);
|
|
msg_t canReceive(CANDriver *canp,
|
|
canmbx_t mailbox,
|
|
CANRxFrame *crfp,
|
|
systime_t timeout);
|
|
#if CAN_USE_SLEEP_MODE
|
|
void canSleep(CANDriver *canp);
|
|
void canWakeup(CANDriver *canp);
|
|
#endif
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* HAL_USE_CAN == TRUE */
|
|
|
|
#endif /* _CAN_H_ */
|
|
|
|
/** @} */
|