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| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-08-04 13:38:53 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-08-04 13:38:53 +0000 |
| commit | e619097f77edeceb5e8c38dc7e614c7fccd36cbf (patch) | |
| tree | d168bb87afd7245e4af1a4420ffc1cbf44600c38 /os/halnew/include/can.h | |
| parent | 7ece1d7e496df82ee78f94b455c02942258d173a (diff) | |
| download | ChibiOS-e619097f77edeceb5e8c38dc7e614c7fccd36cbf.tar.gz ChibiOS-e619097f77edeceb5e8c38dc7e614c7fccd36cbf.tar.bz2 ChibiOS-e619097f77edeceb5e8c38dc7e614c7fccd36cbf.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6073 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/halnew/include/can.h')
| -rw-r--r-- | os/halnew/include/can.h | 154 |
1 files changed, 154 insertions, 0 deletions
diff --git a/os/halnew/include/can.h b/os/halnew/include/can.h new file mode 100644 index 000000000..534f6f622 --- /dev/null +++ b/os/halnew/include/can.h @@ -0,0 +1,154 @@ +/*
+ 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/>.
+*/
+
+/**
+ * @file can.h
+ * @brief CAN Driver macros and structures.
+ *
+ * @addtogroup CAN
+ * @{
+ */
+
+#ifndef _CAN_H_
+#define _CAN_H_
+
+#if HAL_USE_CAN || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name CAN status flags
+ * @{
+ */
+/**
+ * @brief Errors rate warning.
+ */
+#define CAN_LIMIT_WARNING 1
+/**
+ * @brief Errors rate error.
+ */
+#define CAN_LIMIT_ERROR 2
+/**
+ * @brief Bus off condition reached.
+ */
+#define CAN_BUS_OFF_ERROR 4
+/**
+ * @brief Framing error of some kind on the CAN bus.
+ */
+#define CAN_FRAMING_ERROR 8
+/**
+ * @brief Overflow in receive queue.
+ */
+#define CAN_OVERFLOW_ERROR 16
+/** @} */
+
+/**
+ * @brief Special mailbox identifier.
+ */
+#define CAN_ANY_MAILBOX 0
+
+/*===========================================================================*/
+/* 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
+/** @} */
+
+/*===========================================================================*/
+/* 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_READY = 3, /**< Ready. */
+ CAN_SLEEP = 4 /**< Sleep state. */
+} canstate_t;
+
+#include "can_lld.h"
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions
+ * @{
+ */
+/**
+ * @brief Converts a mailbox index to a bit mask.
+ */
+#define CAN_MAILBOX_TO_MASK(mbx) (1 << ((mbx) - 1))
+/** @} */
+
+/*===========================================================================*/
+/* 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);
+ msg_t canTransmit(CANDriver *canp,
+ canmbx_t mailbox,
+ const CANTxFrame *ctfp,
+ systime_t timeout);
+ msg_t canReceive(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *crfp,
+ systime_t timeout);
+#if CAN_USE_SLEEP_MODE
+ void canSleep(CANDriver *canp);
+ void canWakeup(CANDriver *canp);
+#endif /* CAN_USE_SLEEP_MODE */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_CAN */
+
+#endif /* _CAN_H_ */
+
+/** @} */
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