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276 lines
9.7 KiB
C
276 lines
9.7 KiB
C
/*
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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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* @file hal_can_lld.h
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* @brief PLATFORM CAN subsystem low level driver header.
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*
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* @addtogroup CAN
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* @{
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*/
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#ifndef HAL_CAN_LLD_H
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#define HAL_CAN_LLD_H
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#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief Number of transmit mailboxes.
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*/
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#define CAN_TX_MAILBOXES 1
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/**
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* @brief Number of receive mailboxes.
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*/
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#define CAN_RX_MAILBOXES 1
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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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* @name PLATFORM configuration options
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* @{
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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 CAN1 is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)
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#define PLATFORM_CAN_USE_CAN1 FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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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 Type of a structure representing an CAN driver.
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*/
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typedef struct CANDriver CANDriver;
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/**
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* @brief Type of a transmission mailbox index.
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*/
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typedef uint32_t canmbx_t;
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#if defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
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/**
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* @brief Type of a CAN notification callback.
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*
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* @param[in] canp pointer to the @p CANDriver object triggering the
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* callback
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* @param[in] flags flags associated to the mailbox callback
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*/
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typedef void (*can_callback_t)(CANDriver *canp, uint32_t flags);
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#endif
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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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/*lint -save -e46 [6.1] Standard types are fine too.*/
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uint8_t DLC:4; /**< @brief Data length. */
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uint8_t RTR:1; /**< @brief Frame type. */
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uint8_t IDE:1; /**< @brief Identifier type. */
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union {
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uint32_t SID:11; /**< @brief Standard identifier.*/
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uint32_t EID:29; /**< @brief Extended identifier.*/
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uint32_t _align1;
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};
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/*lint -restore*/
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union {
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uint8_t data8[8]; /**< @brief Frame data. */
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uint16_t data16[4]; /**< @brief Frame data. */
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uint32_t 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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/*lint -save -e46 [6.1] Standard types are fine too.*/
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uint8_t FMI; /**< @brief Filter id. */
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uint16_t TIME; /**< @brief Time stamp. */
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uint8_t DLC:4; /**< @brief Data length. */
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uint8_t RTR:1; /**< @brief Frame type. */
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uint8_t IDE:1; /**< @brief Identifier type. */
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union {
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uint32_t SID:11; /**< @brief Standard identifier.*/
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uint32_t EID:29; /**< @brief Extended identifier.*/
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uint32_t _align1;
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};
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/*lint -restore*/
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union {
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uint8_t data8[8]; /**< @brief Frame data. */
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uint16_t data16[4]; /**< @brief Frame data. */
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uint32_t data32[2]; /**< @brief Frame data. */
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};
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} CANRxFrame;
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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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/* End of the mandatory fields.*/
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uint32_t dummy;
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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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struct CANDriver {
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/**
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* @brief Driver state.
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*/
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canstate_t state;
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/**
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* @brief Current configuration data.
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*/
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const CANConfig *config;
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/**
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* @brief Transmission threads queue.
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*/
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threads_queue_t txqueue;
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/**
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* @brief Receive threads queue.
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*/
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threads_queue_t rxqueue;
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#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined (__DOXYGEN__)
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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
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* repeatedly invoking @p chReceive() when listening to this event.
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* This behavior minimizes the interrupt served by the system
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* because CAN traffic.
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* @note The flags associated to the listeners will indicate which
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* receive mailboxes become non-empty.
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*/
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event_source_t rxfull_event;
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/**
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* @brief One or more transmission mailbox become available.
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* @note The flags associated to the listeners will indicate which
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* transmit mailboxes become empty.
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*/
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event_source_t txempty_event;
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/**
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* @brief A CAN bus error happened.
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* @note The flags associated to the listeners will indicate the
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* error(s) that have occurred.
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*/
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event_source_t error_event;
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#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
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/**
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* @brief Entering sleep state event.
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*/
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event_source_t sleep_event;
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/**
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* @brief Exiting sleep state event.
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*/
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event_source_t wakeup_event;
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#endif
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#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
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/**
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* @brief One or more frames become available.
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* @note After calling this function it will not be called again
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* until the received frames queue has been completely emptied. It
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* is <b>not</b> called for each received frame. It is
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* responsibility of the application to empty the queue by
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* repeatedly invoking @p chTryReceiveI().
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* This behavior minimizes the interrupt served by the system
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* because CAN traffic.
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*/
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can_callback_t rxfull_cb;
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/**
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* @brief One or more transmission mailbox become available.
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* @note The flags associated to the callback will indicate which
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* transmit mailboxes become empty.
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*/
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can_callback_t txempty_cb;
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/**
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* @brief A CAN bus error happened.
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*/
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can_callback_t error_cb;
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#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
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/**
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* @brief Exiting sleep state.
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*/
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can_callback_t wakeup_cb;
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#endif
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#endif
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/* End of the mandatory fields.*/
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};
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if (PLATFORM_CAN_USE_CAN1 == TRUE) && !defined(__DOXYGEN__)
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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 can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
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void can_lld_transmit(CANDriver *canp,
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canmbx_t mailbox,
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const CANTxFrame *ctfp);
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bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
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void can_lld_receive(CANDriver *canp,
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canmbx_t mailbox,
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CANRxFrame *crfp);
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void can_lld_abort(CANDriver *canp,
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canmbx_t mailbox);
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#if CAN_USE_SLEEP_MODE == TRUE
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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
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_CAN == TRUE */
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#endif /* HAL_CAN_LLD_H */
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/** @} */
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