diff options
Diffstat (limited to 'os/hal/src/can.c')
| -rw-r--r-- | os/hal/src/can.c | 285 |
1 files changed, 0 insertions, 285 deletions
diff --git a/os/hal/src/can.c b/os/hal/src/can.c deleted file mode 100644 index a57f12356..000000000 --- a/os/hal/src/can.c +++ /dev/null @@ -1,285 +0,0 @@ -/*
- 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.c
- * @brief CAN Driver code.
- *
- * @addtogroup CAN
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#if HAL_USE_CAN || defined(__DOXYGEN__)
-
-/*===========================================================================*/
-/* Driver local definitions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief CAN Driver initialization.
- * @note This function is implicitly invoked by @p halInit(), there is
- * no need to explicitly initialize the driver.
- *
- * @init
- */
-void canInit(void) {
-
- can_lld_init();
-}
-
-/**
- * @brief Initializes the standard part of a @p CANDriver structure.
- *
- * @param[out] canp pointer to the @p CANDriver object
- *
- * @init
- */
-void canObjectInit(CANDriver *canp) {
-
- canp->state = CAN_STOP;
- canp->config = NULL;
- chSemInit(&canp->txsem, 0);
- chSemInit(&canp->rxsem, 0);
- chEvtInit(&canp->rxfull_event);
- chEvtInit(&canp->txempty_event);
- chEvtInit(&canp->error_event);
-#if CAN_USE_SLEEP_MODE
- chEvtInit(&canp->sleep_event);
- chEvtInit(&canp->wakeup_event);
-#endif /* CAN_USE_SLEEP_MODE */
-}
-
-/**
- * @brief Configures and activates the CAN peripheral.
- * @note Activating the CAN bus can be a slow operation this this function
- * is not atomic, it waits internally for the initialization to
- * complete.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] config pointer to the @p CANConfig object. Depending on
- * the implementation the value can be @p NULL.
- *
- * @api
- */
-void canStart(CANDriver *canp, const CANConfig *config) {
-
- chDbgCheck(canp != NULL, "canStart");
-
- chSysLock();
- chDbgAssert((canp->state == CAN_STOP) ||
- (canp->state == CAN_STARTING) ||
- (canp->state == CAN_READY),
- "canStart(), #1", "invalid state");
- while (canp->state == CAN_STARTING)
- chThdSleepS(1);
- if (canp->state == CAN_STOP) {
- canp->config = config;
- can_lld_start(canp);
- canp->state = CAN_READY;
- }
- chSysUnlock();
-}
-
-/**
- * @brief Deactivates the CAN peripheral.
- *
- * @param[in] canp pointer to the @p CANDriver object
- *
- * @api
- */
-void canStop(CANDriver *canp) {
-
- chDbgCheck(canp != NULL, "canStop");
-
- chSysLock();
- chDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY),
- "canStop(), #1", "invalid state");
- can_lld_stop(canp);
- chSemResetI(&canp->rxsem, 0);
- chSemResetI(&canp->txsem, 0);
- chSchRescheduleS();
- canp->state = CAN_STOP;
- chSysUnlock();
-}
-
-/**
- * @brief Can frame transmission.
- * @details The specified frame is queued for transmission, if the hardware
- * queue is full then the invoking thread is queued.
- * @note Trying to transmit while in sleep mode simply enqueues the thread.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
- * @param[in] ctfp pointer to the CAN frame to be transmitted
- * @param[in] timeout the number of ticks before the operation timeouts,
- * the following special values are allowed:
- * - @a TIME_IMMEDIATE immediate timeout.
- * - @a TIME_INFINITE no timeout.
- * .
- * @return The operation result.
- * @retval RDY_OK the frame has been queued for transmission.
- * @retval RDY_TIMEOUT The operation has timed out.
- * @retval RDY_RESET The driver has been stopped while waiting.
- *
- * @api
- */
-msg_t canTransmit(CANDriver *canp,
- canmbx_t mailbox,
- const CANTxFrame *ctfp,
- systime_t timeout) {
-
- chDbgCheck((canp != NULL) && (ctfp != NULL) && (mailbox <= CAN_TX_MAILBOXES),
- "canTransmit");
-
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canTransmit(), #1", "invalid state");
- while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
- msg_t msg = chSemWaitTimeoutS(&canp->txsem, timeout);
- if (msg != RDY_OK) {
- chSysUnlock();
- return msg;
- }
- }
- can_lld_transmit(canp, mailbox, ctfp);
- chSysUnlock();
- return RDY_OK;
-}
-
-/**
- * @brief Can frame receive.
- * @details The function waits until a frame is received.
- * @note Trying to receive while in sleep mode simply enqueues the thread.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
- * @param[out] crfp pointer to the buffer where the CAN frame is copied
- * @param[in] timeout the number of ticks before the operation timeouts,
- * the following special values are allowed:
- * - @a TIME_IMMEDIATE immediate timeout (useful in an
- * event driven scenario where a thread never blocks
- * for I/O).
- * - @a TIME_INFINITE no timeout.
- * .
- * @return The operation result.
- * @retval RDY_OK a frame has been received and placed in the buffer.
- * @retval RDY_TIMEOUT The operation has timed out.
- * @retval RDY_RESET The driver has been stopped while waiting.
- *
- * @api
- */
-msg_t canReceive(CANDriver *canp,
- canmbx_t mailbox,
- CANRxFrame *crfp,
- systime_t timeout) {
-
- chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox < CAN_RX_MAILBOXES),
- "canReceive");
-
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canReceive(), #1", "invalid state");
- while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) {
- msg_t msg = chSemWaitTimeoutS(&canp->rxsem, timeout);
- if (msg != RDY_OK) {
- chSysUnlock();
- return msg;
- }
- }
- can_lld_receive(canp, mailbox, crfp);
- chSysUnlock();
- return RDY_OK;
-}
-
-#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
-/**
- * @brief Enters the sleep mode.
- * @details This function puts the CAN driver in sleep mode and broadcasts
- * the @p sleep_event event source.
- * @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must
- * be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported
- * by the low level driver.
- *
- * @param[in] canp pointer to the @p CANDriver object
- *
- * @api
- */
-void canSleep(CANDriver *canp) {
-
- chDbgCheck(canp != NULL, "canSleep");
-
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canSleep(), #1", "invalid state");
- if (canp->state == CAN_READY) {
- can_lld_sleep(canp);
- canp->state = CAN_SLEEP;
- chEvtBroadcastI(&canp->sleep_event);
- chSchRescheduleS();
- }
- chSysUnlock();
-}
-
-/**
- * @brief Enforces leaving the sleep mode.
- * @note The sleep mode is supposed to be usually exited automatically by
- * an hardware event.
- *
- * @param[in] canp pointer to the @p CANDriver object
- */
-void canWakeup(CANDriver *canp) {
-
- chDbgCheck(canp != NULL, "canWakeup");
-
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canWakeup(), #1", "invalid state");
- if (canp->state == CAN_SLEEP) {
- can_lld_wakeup(canp);
- canp->state = CAN_READY;
- chEvtBroadcastI(&canp->wakeup_event);
- chSchRescheduleS();
- }
- chSysUnlock();
-}
-#endif /* CAN_USE_SLEEP_MODE */
-
-#endif /* HAL_USE_CAN */
-
-/** @} */
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