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+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012,2013 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+

+                                      ---

+

+    A special exception to the GPL can be applied should you wish to distribute

+    a combined work that includes ChibiOS/RT, without being obliged to provide

+    the source code for any proprietary components. See the file exception.txt

+    for full details of how and when the exception can be applied.

+*/

+

+/**

+ * @defgroup CAN CAN Driver

+ * @brief Generic CAN Driver.

+ * @details This module implements a generic CAN (Controller Area Network)

+ *          driver allowing the exchange of information at frame level.

+ * @pre     In order to use the CAN driver the @p HAL_USE_CAN option

+ *          must be enabled in @p halconf.h.

+ *

+ * @section can_1 Driver State Machine

+ * The driver implements a state machine internally, not all the driver

+ * functionalities can be used in any moment, any transition not explicitly

+ * shown in the following diagram has to be considered an error and shall

+ * be captured by an assertion (if enabled).

+ * @if LATEX_PDF

+ * @dot

+  digraph example {

+    size="5, 7";

+    rankdir="LR";

+    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

+    edge [fontname=Helvetica, fontsize=8];

+

+    stop  [label="CAN_STOP\nLow Power"];

+    uninit [label="CAN_UNINIT", style="bold"];

+    starting [label="CAN_STARTING\nInitializing"];

+    ready [label="CAN_READY\nClock Enabled"];

+    sleep [label="CAN_SLEEP\nLow Power"];

+

+    uninit -> stop [label=" canInit()", constraint=false];

+    stop -> stop [label="\ncanStop()"];

+    stop -> ready [label="\ncanStart()\n(fast implementation)"];

+    stop -> starting [label="\ncanStart()\n(slow implementation)"];

+    starting -> starting [label="\ncanStart()\n(other thread)"];

+    starting -> ready [label="\ninitialization complete\n(all threads)"];

+    ready -> stop [label="\ncanStop()"];

+    ready -> ready [label="\ncanStart()\ncanReceive()\ncanTransmit()"];

+    ready -> sleep [label="\ncanSleep()"];

+    sleep -> sleep [label="\ncanSleep()"];

+    sleep -> ready [label="\ncanWakeup()"];

+    sleep -> ready [label="\nhardware\nwakeup event"];

+  }

+ * @enddot

+ * @else

+ * @dot

+  digraph example {

+    rankdir="LR";

+    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

+    edge [fontname=Helvetica, fontsize=8];

+

+    stop  [label="CAN_STOP\nLow Power"];

+    uninit [label="CAN_UNINIT", style="bold"];

+    starting [label="CAN_STARTING\nInitializing"];

+    ready [label="CAN_READY\nClock Enabled"];

+    sleep [label="CAN_SLEEP\nLow Power"];

+

+    uninit -> stop [label=" canInit()", constraint=false];

+    stop -> stop [label="\ncanStop()"];

+    stop -> ready [label="\ncanStart()\n(fast implementation)"];

+    stop -> starting [label="\ncanStart()\n(slow implementation)"];

+    starting -> starting [label="\ncanStart()\n(other thread)"];

+    starting -> ready [label="\ninitialization complete\n(all threads)"];

+    ready -> stop [label="\ncanStop()"];

+    ready -> ready [label="\ncanStart()\ncanReceive()\ncanTransmit()"];

+    ready -> sleep [label="\ncanSleep()"];

+    sleep -> sleep [label="\ncanSleep()"];

+    sleep -> ready [label="\ncanWakeup()"];

+    sleep -> ready [label="\nhardware\nwakeup event"];

+  }

+ * @enddot

+ * @endif

+ *

+ * @ingroup IO

+ */