diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/hal/include/hal_can.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/hal/include/hal_can.h | 257 |
1 files changed, 257 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/hal/include/hal_can.h b/ChibiOS_20.3.2/os/hal/include/hal_can.h new file mode 100644 index 0000000..baf5b56 --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/include/hal_can.h @@ -0,0 +1,257 @@ +/*
+ 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 */
+
+/** @} */
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