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88 lines
3.5 KiB
Plaintext
88 lines
3.5 KiB
Plaintext
4 years ago
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/*
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ChibiOS - Copyright (C) 2006..2018 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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* @defgroup CAN CAN Driver
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* @brief Generic CAN Driver.
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* @details This module implements a generic CAN (Controller Area Network)
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* driver allowing the exchange of information at frame level.
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* @pre In order to use the CAN driver the @p HAL_USE_CAN option
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* must be enabled in @p halconf.h.
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*
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* @section can_1 Driver State Machine
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* The driver implements a state machine internally, not all the driver
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* functionalities can be used in any moment, any transition not explicitly
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* shown in the following diagram has to be considered an error and shall
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* be captured by an assertion (if enabled).
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* @if LATEX_PDF
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* @dot
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digraph example {
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Helvetica, fontsize=8];
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stop [label="CAN_STOP\nLow Power"];
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uninit [label="CAN_UNINIT", style="bold"];
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starting [label="CAN_STARTING\nInitializing"];
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ready [label="CAN_READY\nClock Enabled"];
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sleep [label="CAN_SLEEP\nLow Power"];
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uninit -> stop [label=" canInit()", constraint=false];
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stop -> stop [label="\ncanStop()"];
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stop -> ready [label="\ncanStart()\n(fast implementation)"];
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stop -> starting [label="\ncanStart()\n(slow implementation)"];
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starting -> ready [label="\ninitialization complete\n(all threads)"];
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ready -> stop [label="\ncanStop()"];
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ready -> ready [label="\ncanReceive()\ncanTransmit()"];
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ready -> sleep [label="\ncanSleep()"];
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sleep -> sleep [label="\ncanSleep()"];
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sleep -> ready [label="\ncanWakeup()"];
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sleep -> ready [label="\nhardware\nwakeup event"];
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}
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* @enddot
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* @else
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Helvetica, fontsize=8];
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stop [label="CAN_STOP\nLow Power"];
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uninit [label="CAN_UNINIT", style="bold"];
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starting [label="CAN_STARTING\nInitializing"];
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ready [label="CAN_READY\nClock Enabled"];
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sleep [label="CAN_SLEEP\nLow Power"];
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uninit -> stop [label=" canInit()", constraint=false];
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stop -> stop [label="\ncanStop()"];
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stop -> ready [label="\ncanStart()\n(fast implementation)"];
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stop -> starting [label="\ncanStart()\n(slow implementation)"];
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starting -> starting [label="\ncanStart()\n(other thread)"];
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starting -> ready [label="\ninitialization complete\n(all threads)"];
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ready -> stop [label="\ncanStop()"];
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ready -> ready [label="\ncanStart()\ncanReceive()\ncanTransmit()"];
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ready -> sleep [label="\ncanSleep()"];
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sleep -> sleep [label="\ncanSleep()"];
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sleep -> ready [label="\ncanWakeup()"];
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sleep -> ready [label="\nhardware\nwakeup event"];
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}
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* @enddot
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* @endif
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*
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* @ingroup HAL_NORMAL_DRIVERS
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*/
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