You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
258 lines
9.3 KiB
C
258 lines
9.3 KiB
C
4 years ago
|
/*
|
||
|
|
ChibiOS - Copyright (C) 2006..2018 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 hal_can.h
|
||
|
|
* @brief CAN Driver macros and structures.
|
||
|
|
*
|
||
|
|
* @addtogroup CAN
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef HAL_CAN_H
|
||
|
|
#define HAL_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 0U
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* 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
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enforces the driver to use direct callbacks rather than OSAL events.
|
||
|
|
*/
|
||
|
|
#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
|
||
|
|
#define CAN_ENFORCE_USE_CALLBACKS FALSE
|
||
|
|
#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_STOPPING = 3, /**< Stopping. */
|
||
|
|
CAN_READY = 4, /**< Ready. */
|
||
|
|
CAN_SLEEP = 5 /**< Sleep state. */
|
||
|
|
} canstate_t;
|
||
|
|
|
||
|
|
#include "hal_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))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Legacy name for @p canTransmitTimeout().
|
||
|
|
*
|
||
|
|
* @deprecated
|
||
|
|
*/
|
||
|
|
#define canTransmit(canp, mailbox, ctfp, timeout) \
|
||
|
|
canTransmitTimeout(canp, mailbox, ctfp, timeout)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Legacy name for @p canReceiveTimeout().
|
||
|
|
*
|
||
|
|
* @deprecated
|
||
|
|
*/
|
||
|
|
#define canReceive(canp, mailbox, crfp, timeout) \
|
||
|
|
canReceiveTimeout(canp, mailbox, crfp, timeout)
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Low level driver helper macros
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief TX mailbox empty event.
|
||
|
|
*/
|
||
|
|
#define _can_tx_empty_isr(canp, flags) { \
|
||
|
|
osalSysLockFromISR(); \
|
||
|
|
osalThreadDequeueAllI(&(canp)->txqueue, MSG_OK); \
|
||
|
|
osalEventBroadcastFlagsI(&(canp)->txempty_event, flags); \
|
||
|
|
osalSysUnlockFromISR(); \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief RX mailbox empty full event.
|
||
|
|
*/
|
||
|
|
#define _can_rx_full_isr(canp, flags) { \
|
||
|
|
osalSysLockFromISR(); \
|
||
|
|
osalThreadDequeueAllI(&(canp)->rxqueue, MSG_OK); \
|
||
|
|
osalEventBroadcastFlagsI(&(canp)->rxfull_event, flags); \
|
||
|
|
osalSysUnlockFromISR(); \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wakeup event.
|
||
|
|
*/
|
||
|
|
#define _can_wakeup_isr(canp) { \
|
||
|
|
osalSysLockFromISR(); \
|
||
|
|
osalEventBroadcastFlagsI(&(canp)->wakeup_event, 0U); \
|
||
|
|
osalSysUnlockFromISR(); \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Error event.
|
||
|
|
*/
|
||
|
|
#define _can_error_isr(canp, flags) { \
|
||
|
|
osalSysLockFromISR(); \
|
||
|
|
osalEventBroadcastFlagsI(&(canp)->error_event, flags); \
|
||
|
|
osalSysUnlockFromISR(); \
|
||
|
|
}
|
||
|
|
#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
|
||
|
|
#define _can_tx_empty_isr(canp, flags) { \
|
||
|
|
if ((canp)->txempty_cb != NULL) { \
|
||
|
|
(canp)->txempty_cb(canp, flags); \
|
||
|
|
} \
|
||
|
|
osalSysLockFromISR(); \
|
||
|
|
osalThreadDequeueAllI(&(canp)->txqueue, MSG_OK); \
|
||
|
|
osalSysUnlockFromISR(); \
|
||
|
|
}
|
||
|
|
|
||
|
|
#define _can_rx_full_isr(canp, flags) { \
|
||
|
|
if ((canp)->rxfull_cb != NULL) { \
|
||
|
|
(canp)->rxfull_cb(canp, flags); \
|
||
|
|
} \
|
||
|
|
osalSysLockFromISR(); \
|
||
|
|
osalThreadDequeueAllI(&(canp)->rxqueue, MSG_OK); \
|
||
|
|
osalSysUnlockFromISR(); \
|
||
|
|
}
|
||
|
|
|
||
|
|
#define _can_wakeup_isr(canp) { \
|
||
|
|
if ((canp)->wakeup_cb != NULL) { \
|
||
|
|
(canp)->wakeup_cb(canp, 0U); \
|
||
|
|
} \
|
||
|
|
}
|
||
|
|
|
||
|
|
#define _can_error_isr(canp, flags) { \
|
||
|
|
if ((canp)->error_cb != NULL) { \
|
||
|
|
(canp)->error_cb(canp, flags); \
|
||
|
|
} \
|
||
|
|
}
|
||
|
|
#endif /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* 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);
|
||
|
|
void canTryAbortX(CANDriver *canp,
|
||
|
|
canmbx_t mailbox);
|
||
|
|
msg_t canTransmitTimeout(CANDriver *canp,
|
||
|
|
canmbx_t mailbox,
|
||
|
|
const CANTxFrame *ctfp,
|
||
|
|
sysinterval_t timeout);
|
||
|
|
msg_t canReceiveTimeout(CANDriver *canp,
|
||
|
|
canmbx_t mailbox,
|
||
|
|
CANRxFrame *crfp,
|
||
|
|
sysinterval_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 /* HAL_CAN_H */
|
||
|
|
|
||
|
|
/** @} */
|