diff options
Diffstat (limited to 'os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.h')
| -rw-r--r-- | os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.h | 520 |
1 files changed, 520 insertions, 0 deletions
diff --git a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.h b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.h new file mode 100644 index 000000000..ad67c97da --- /dev/null +++ b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.h @@ -0,0 +1,520 @@ +/*
+ SPC5 HAL - Copyright (C) 2013 STMicroelectronics
+
+ 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 FlexCAN_v1/can_lld.h
+ * @brief SPC5xx CAN subsystem low level driver header.
+ *
+ * @addtogroup CAN
+ * @{
+ */
+
+#ifndef _CAN_LLD_H_
+#define _CAN_LLD_H_
+
+#if HAL_USE_CAN || defined(__DOXYGEN__)
+
+#include "spc5_flexcan.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief This switch defines whether the driver implementation supports
+ * a low power switch mode with an automatic wakeup feature.
+ */
+#define CAN_SUPPORTS_SLEEP FALSE
+
+/**
+ * @brief This implementation supports 24 transmit mailboxes.
+ */
+#define CAN_TX_MAILBOXES 24
+
+/**
+ * @brief This implementation supports one FIFO receive mailbox.
+ */
+#define CAN_RX_MAILBOXES 8
+
+/**
+ * @brief This implementation supports eight FIFO receive filters.
+ */
+#define SPC5_CAN_MAX_FILTERS 8
+
+/**
+ * @brief Enable filters.
+ */
+#define SPC5_CAN_FILTER_ON 1
+
+/**
+ * @brief Disable filters.
+ */
+#define SPC5_CAN_FILTER_OFF 0
+/**
+ * @name CAN registers helper macros
+ * @{
+ */
+#define CAN_MCR_MAXMB(n) (n)
+#define CAN_MCR_AEN (1 << 12)
+#define CAN_MCR_LPRIO_EN (1 << 13)
+#define CAN_MCR_BCC (1 << 16)
+#define CAN_MCR_SRX_DIS (1 << 17)
+#define CAN_MCR_LPM_ACK (1 << 20)
+#define CAN_MCR_WRN_EN (1 << 21)
+#define CAN_MCR_SUPV (1 << 23)
+#define CAN_MCR_FRZ_ACK (1 << 24)
+#define CAN_MCR_WAK_MSK (1 << 26)
+#define CAN_MCR_NOT_RDY (1 << 27)
+#define CAN_MCR_HALT (1 << 28)
+#define CAN_MCR_FEN (1 << 29)
+#define CAN_MCR_FRZ (1 << 30)
+#define CAN_MCR_MDIS (1 << 31)
+
+#define CAN_CTRL_PROPSEG(n) (n)
+#define CAN_CTRL_LOM (1 << 3)
+#define CAN_CTRL_TSYN (1 << 5)
+#define CAN_CTRL_BOFF_REC (1 << 6)
+#define CAN_CTRL_SMP (1 << 7)
+#define CAN_CTRL_RWRN_MSK (1 << 10)
+#define CAN_CTRL_TWRN_MSK (1 << 11)
+#define CAN_CTRL_LPB (1 << 12)
+#define CAN_CTRL_CLK_SRC (1 << 13)
+#define CAN_CTRL_ERR_MSK (1 << 14)
+#define CAN_CTRL_BOFF_MSK (1 << 15)
+#define CAN_CTRL_PSEG2(n) ((n) << 16)
+#define CAN_CTRL_PSEG1(n) ((n) << 19)
+#define CAN_CTRL_RJW(n) ((n) << 22)
+#define CAN_CTRL_PRESDIV(n) ((n) << 24)
+
+#define CAN_IDE_STD 0 /**< @brief Standard id. */
+#define CAN_IDE_EXT 1 /**< @brief Extended id. */
+
+#define CAN_RTR_DATA 0 /**< @brief Data frame. */
+#define CAN_RTR_REMOTE 1 /**< @brief Remote frame. */
+
+#define CAN_ESR_ERR_INT (1 << 1)
+#define CAN_ESR_BOFF_INT (1 << 2)
+#define CAN_ESR_TWRN_INT (1 << 14)
+#define CAN_ESR_RWRN_INT (1 << 15)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief CAN1 driver enable switch.
+ * @details If set to @p TRUE the support for CAN1 is included.
+ */
+#if !defined(SPC5_CAN_USE_FLEXCAN0) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FLEXCAN0 FALSE
+#endif
+
+/**
+ * @brief CAN2 driver enable switch.
+ * @details If set to @p TRUE the support for CAN2 is included.
+ */
+#if !defined(SPC5_CAN_USE_FLEXCAN1) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FLEXCAN1 FALSE
+#endif
+
+/**
+ * @brief CAN3 driver enable switch.
+ * @details If set to @p TRUE the support for CAN3 is included.
+ */
+#if !defined(SPC5_CAN_USE_FLEXCAN2) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FLEXCAN2 FALSE
+#endif
+
+/**
+ * @brief CAN4 driver enable switch.
+ * @details If set to @p TRUE the support for CAN4 is included.
+ */
+#if !defined(SPC5_CAN_USE_FLEXCAN3) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FLEXCAN3 FALSE
+#endif
+
+/**
+ * @brief CAN5 driver enable switch.
+ * @details If set to @p TRUE the support for CAN5 is included.
+ */
+#if !defined(SPC5_CAN_USE_FLEXCAN4) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FLEXCAN4 FALSE
+#endif
+
+/**
+ * @brief CAN6 driver enable switch.
+ * @details If set to @p TRUE the support for CAN6 is included.
+ */
+#if !defined(SPC5_CAN_USE_FLEXCAN5) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FLEXCAN5 FALSE
+#endif
+
+/**
+ * @brief CAN1 interrupt priority level setting.
+ */
+#if !defined(SPC5_CAN_FLEXCAN0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SPC5_CAN_FLEXCAN0_IRQ_PRIORITY 11
+#endif
+/** @} */
+
+/**
+ * @brief CAN2 interrupt priority level setting.
+ */
+#if !defined(SPC5_CAN_FLEXCAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SPC5_CAN_FLEXCAN1_IRQ_PRIORITY 11
+#endif
+/** @} */
+
+/**
+ * @brief CAN3 interrupt priority level setting.
+ */
+#if !defined(SPC5_CAN_FLEXCAN2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SPC5_CAN_FLEXCAN2_IRQ_PRIORITY 11
+#endif
+/** @} */
+
+/**
+ * @brief CAN4 interrupt priority level setting.
+ */
+#if !defined(SPC5_CAN_FLEXCAN3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SPC5_CAN_FLEXCAN3_IRQ_PRIORITY 11
+#endif
+/** @} */
+
+/**
+ * @brief CAN5 interrupt priority level setting.
+ */
+#if !defined(SPC5_CAN_FLEXCAN4_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SPC5_CAN_FLEXCAN4_IRQ_PRIORITY 11
+#endif
+/** @} */
+
+/**
+ * @brief CAN6 interrupt priority level setting.
+ */
+#if !defined(SPC5_CAN_FLEXCAN5_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SPC5_CAN_FLEXCAN5_IRQ_PRIORITY 11
+#endif
+/** @} */
+
+/**
+ * @brief CAN filters enable setting.
+ */
+#if !defined(SPC5_CAN_USE_FILTERS) || defined(__DOXYGEN__)
+#define SPC5_CAN_USE_FILTERS FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if SPC5_CAN_USE_FLEXCAN0 && !SPC5_HAS_FLEXCAN0
+#error "CAN1 not present in the selected device"
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN1 && !SPC5_HAS_FLEXCAN1
+#error "CAN2 not present in the selected device"
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN2 && !SPC5_HAS_FLEXCAN2
+#error "CAN3 not present in the selected device"
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN3 && !SPC5_HAS_FLEXCAN3
+#error "CAN4 not present in the selected device"
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN4 && !SPC5_HAS_FLEXCAN4
+#error "CAN5 not present in the selected device"
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN5 && !SPC5_HAS_FLEXCAN5
+#error "CAN6 not present in the selected device"
+#endif
+
+#if !SPC5_CAN_USE_FLEXCAN0 && !SPC5_CAN_USE_FLEXCAN1 \
+ && !SPC5_CAN_USE_FLEXCAN2 && !SPC5_CAN_USE_FLEXCAN3 \
+ && !SPC5_CAN_USE_FLEXCAN4 && !SPC5_CAN_USE_FLEXCAN5
+#error "CAN driver activated but no CAN peripheral assigned"
+#endif
+
+#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP
+#error "CAN sleep mode not supported in this architecture"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a transmission mailbox index.
+ */
+typedef uint32_t canmbx_t;
+
+/**
+ * @brief CAN TX MB structure.
+ */
+typedef struct {
+ union {
+ vuint32_t R;
+ struct {
+ vuint8_t:4;
+ vuint8_t CODE:4;
+ vuint8_t:1;
+ vuint8_t SRR:1;
+ vuint8_t IDE:1;
+ vuint8_t RTR:1;
+ vuint8_t LENGTH:4;
+ vuint16_t TIMESTAMP:16;
+ } B;
+ } CS;
+
+ union {
+ vuint32_t R;
+ struct {
+ vuint8_t PRIO:3;
+ vuint32_t ID:29;
+ } B;
+ } ID;
+ vuint32_t DATA[2]; /* Data buffer in words (32 bits) */
+} CAN_TxMailBox_TypeDef;
+
+/**
+ * @brief CAN transmission frame.
+ * @note Accessing the frame data as word16 or word32 is not portable because
+ * machine data endianness, it can be still useful for a quick filling.
+ */
+typedef struct {
+ struct {
+ uint8_t LENGTH:4; /**< @brief Data length. */
+ uint8_t RTR:1; /**< @brief Frame type. */
+ uint8_t IDE:1; /**< @brief Identifier type. */
+ };
+ union {
+ struct {
+ uint32_t SID:11; /**< @brief Standard identifier.*/
+ };
+ struct {
+ uint32_t EID:29; /**< @brief Extended identifier.*/
+ };
+ };
+ union {
+ uint8_t data8[8]; /**< @brief Frame data. */
+ uint16_t data16[4]; /**< @brief Frame data. */
+ uint32_t data32[2]; /**< @brief Frame data. */
+ };
+} CANTxFrame;
+
+/**
+ * @brief CAN received frame.
+ * @note Accessing the frame data as word16 or word32 is not portable because
+ * machine data endianness, it can be still useful for a quick filling.
+ */
+typedef struct {
+ struct {
+ uint16_t TIME; /**< @brief Time stamp. */
+ };
+ struct {
+ uint8_t LENGTH:4; /**< @brief Data length. */
+ uint8_t RTR:1; /**< @brief Frame type. */
+ uint8_t IDE:1; /**< @brief Identifier type. */
+ };
+ union {
+ struct {
+ uint32_t SID:11; /**< @brief Standard identifier.*/
+ };
+ struct {
+ uint32_t EID:29; /**< @brief Extended identifier.*/
+ };
+ };
+ union {
+ uint8_t data8[8]; /**< @brief Frame data. */
+ uint16_t data16[4]; /**< @brief Frame data. */
+ uint32_t data32[2]; /**< @brief Frame data. */
+ };
+} CANRxFrame;
+
+/**
+ * @brief CAN filter.
+ * @note Refer to the SPC5 reference manual for info about filters.
+ */
+typedef struct {
+ /**
+ * @brief Filter scale.
+ * @note This bit represents the EXT bit associated to this
+ * filter (0=standard ID mode, 1=extended ID mode).
+ */
+ uint32_t scale:1;
+ /**
+ * @brief Filter register (identifier).
+ */
+ uint32_t register1;
+} CANFilter;
+
+/**
+ * @brief Driver configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief CAN MCR register initialization data.
+ * @note Some bits in this register are enforced by the driver regardless
+ * their status in this field.
+ */
+ uint32_t mcr;
+ /**
+ * @brief CAN CTRL register initialization data.
+ * @note Some bits in this register are enforced by the driver regardless
+ * their status in this field.
+ */
+ uint32_t ctrl;
+#if SPC5_CAN_USE_FILTERS
+ /**
+ * @brief CAN filters structure.
+ */
+ CANFilter RxFilter[CAN_RX_MAILBOXES];
+#endif
+} CANConfig;
+
+/**
+ * @brief Structure representing an CAN driver.
+ */
+typedef struct {
+ /**
+ * @brief Driver state.
+ */
+ canstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const CANConfig *config;
+ /**
+ * @brief Transmission queue semaphore.
+ */
+ Semaphore txsem;
+ /**
+ * @brief Receive queue semaphore.
+ */
+ Semaphore rxsem;
+ /**
+ * @brief One or more frames become available.
+ * @note After broadcasting this event it will not be broadcasted again
+ * until the received frames queue has been completely emptied. It
+ * is <b>not</b> broadcasted for each received frame. It is
+ * responsibility of the application to empty the queue by
+ * repeatedly invoking @p chReceive() when listening to this event.
+ * This behavior minimizes the interrupt served by the system
+ * because CAN traffic.
+ * @note The flags associated to the listeners will indicate which
+ * receive mailboxes become non-empty.
+ */
+ EventSource rxfull_event;
+ /**
+ * @brief One or more transmission mailbox become available.
+ * @note The flags associated to the listeners will indicate which
+ * transmit mailboxes become empty.
+ *
+ */
+ EventSource txempty_event;
+ /**
+ * @brief A CAN bus error happened.
+ * @note The flags associated to the listeners will indicate the
+ * error(s) that have occurred.
+ */
+ EventSource error_event;
+#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
+ /**
+ * @brief Entering sleep state event.
+ */
+ EventSource sleep_event;
+ /**
+ * @brief Exiting sleep state event.
+ */
+ EventSource wakeup_event;
+#endif /* CAN_USE_SLEEP_MODE */
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Pointer to the CAN registers.
+ */
+ volatile struct spc5_flexcan *flexcan;
+} CANDriver;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if SPC5_CAN_USE_FLEXCAN0 && !defined(__DOXYGEN__)
+extern CANDriver CAND1;
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN1 && !defined(__DOXYGEN__)
+extern CANDriver CAND2;
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN2 && !defined(__DOXYGEN__)
+extern CANDriver CAND3;
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN3 && !defined(__DOXYGEN__)
+extern CANDriver CAND4;
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN4 && !defined(__DOXYGEN__)
+extern CANDriver CAND5;
+#endif
+
+#if SPC5_CAN_USE_FLEXCAN5 && !defined(__DOXYGEN__)
+extern CANDriver CAND6;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void can_lld_init(void);
+ void can_lld_start(CANDriver *canp);
+ void can_lld_stop(CANDriver *canp);
+ bool_t can_lld_is_tx_empty(CANDriver *canp,
+ canmbx_t mailbox);
+ void can_lld_transmit(CANDriver *canp,
+ canmbx_t mailbox,
+ const CANTxFrame *crfp);
+ bool_t can_lld_is_rx_nonempty(CANDriver *canp,
+ canmbx_t mailbox);
+ void can_lld_receive(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *ctfp);
+#if CAN_USE_SLEEP_MODE
+ void can_lld_sleep(CANDriver *canp);
+ void can_lld_wakeup(CANDriver *canp);
+#endif /* CAN_USE_SLEEP_MODE */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_CAN */
+
+#endif /* _CAN_LLD_H_ */
+
+/** @} */
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