From 41e76064d6b940f5adb5be8a73a450f450c3e9fd Mon Sep 17 00:00:00 2001 From: florian-s Date: Tue, 3 Dec 2013 17:01:00 +0000 Subject: Added CAN driver for AT91SAM7. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6536 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/platforms/AT91SAM7/can_lld.h | 407 ++++++++++++++++++++++++++++++++++++ 1 file changed, 407 insertions(+) create mode 100644 os/hal/platforms/AT91SAM7/can_lld.h (limited to 'os/hal/platforms/AT91SAM7/can_lld.h') diff --git a/os/hal/platforms/AT91SAM7/can_lld.h b/os/hal/platforms/AT91SAM7/can_lld.h new file mode 100644 index 000000000..f9ea7f6c2 --- /dev/null +++ b/os/hal/platforms/AT91SAM7/can_lld.h @@ -0,0 +1,407 @@ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,2011 Giovanni Di Sirio. + 2012,2013 Martin Schüßler and Florian Sehl, Embedded Software Laboratory, + RWTH Aachen University + + 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 . + + --- + + 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. + */ + +/** + * @file AT91SAM7/can_lld.h + * @brief AT91SAM7 CAN Driver subsystem low level driver header. + * + * @pre - Make sure that the Mailbox you are receiving from is holding your + * data. + * - If you have more than one use the rxfull_event provided by the + * Driver. + * - In order to use the Events APIs the CH_USE_EVENTS option must + * be enabled in chconf.h. + * - In order to use the CAN driver the HAL_USE_CAN option must be + * enabled in halconf.h. + * - Mailbox0 is used as a Transmitmailbox. + * - Mailboxes 1-7 are used as receive Mailboxes. + * + * @addtogroup CAN + * @{ + */ + +#ifndef _CAN_LLD_H_ +#define _CAN_LLD_H_ + +#if HAL_USE_CAN || defined(__DOXYGEN__) + + + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief This switch defines whether the driver implementation supports + * a low power switch mode with automatic an wakeup feature. + */ +#define CAN_SUPPORTS_SLEEP TRUE + +/** + * @brief This implementation supports one transmit mailboxes. + */ +#define CAN_TX_MAILBOXES 1 + +/** + * @brief This implementation supports two receive mailboxes. + */ +#define CAN_RX_MAILBOXES 7 + +/** + * @brief CAN mailboxes (Mailbox0 should always enabled to transmit) + */ +#ifndef CAN_USE_MB0 +#define CAN_USE_MB0 TRUE +#endif +#ifndef CAN_USE_MB1 +#define CAN_USE_MB1 TRUE +#endif +#ifndef CAN_USE_MB2 +#define CAN_USE_MB2 TRUE +#endif +#ifndef CAN_USE_MB3 +#define CAN_USE_MB3 TRUE +#endif +#ifndef CAN_USE_MB4 +#define CAN_USE_MB4 FALSE +#endif +#ifndef CAN_USE_MB5 +#define CAN_USE_MB5 FALSE +#endif +#ifndef CAN_USE_MB6 +#define CAN_USE_MB6 FALSE +#endif +#ifndef CAN_USE_MB7 +#define CAN_USE_MB7 FALSE +#endif + + +#define CAN_IDE_STD FALSE /**< @brief Standard id. */ +#define CAN_IDE_EXT TRUE /**< @brief Extended id. */ + +#define CAN_RTR_DATA FALSE /**< @brief Data frame. */ +#define CAN_RTR_REMOTE TRUE /**< @brief Remote frame. */ + +/** + * @brief timeout until can_lld_start stops waiting + * on CAN and ends up in error state + */ +#define AT91C_CAN_TIMEOUT 100 + + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief CAN driver enable switch. + * @details If set to @p TRUE the support for CAN0 is included. + * @note The default is @p TRUE. + */ +#if !defined(AT91SAM7_CAN_USE_CAN) || defined(__DOXYGEN__) +#define AT91SAM7_CAN_USE_CAN TRUE +#endif + +/** + * @brief CAN interrupt priority level setting. + */ +#if !defined(AT91SAM7_CAN_CAN_IRQ_PRIORITY) || defined(__DOXYGEN__) +#define AT91SAM7_CAN_CAN_IRQ_PRIORITY 11 +#endif + +/** + * @brief Sleep mode related APIs inclusion switch. + * @note This switch is enforced to @p FALSE if the driver implementation + * does not support the sleep mode. + */ +#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__) +#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__) +#define CAN_USE_SLEEP_MODE TRUE +#endif +#else /* !CAN_SUPPORTS_SLEEP */ +#define CAN_USE_SLEEP_MODE FALSE +#endif /* !CAN_SUPPORTS_SLEEP */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#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; + +/** + * wakeup status possible states + */ +typedef enum { + AT91C_TEST_NOK = 0, /**< waiting for wakeup event */ + AT91C_TEST_OK = 1 /**< wakeup event occured */ +} canteststate_t; + +/** + * @brief possible receive mailboxes. + * These Mailboxes get an offset to ensure that the Mailbox are not uninitialized. + * + */ +typedef enum { + CAN_TxMB0 = 1, /**< Transmit Mailbox. */ + CAN_RxMB1 = 2, /**< Receive Mailbox 1. */ + CAN_RxMB2 = 3, /**< Receive Mailbox 2. */ + CAN_RxMB3 = 4, /**< Receive Mailbox 3. */ + CAN_RxMB4 = 5, /**< Receive Mailbox 4. */ + CAN_RxMB5 = 6, /**< Receive Mailbox 5. */ + CAN_RxMB6 = 7, /**< Receive Mailbox 6. */ + CAN_RxMB7 = 8 /**< Receive Mailbox 7. */ +} canmailbox_t; + +/** + * @brief CAN status flags. + */ +typedef uint32_t canstatus_t; + +/** + * @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 DLC: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 { + uint8_t DLC: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. */ + }; + canmailbox_t mbid; /**< @brief mailbox to read from */ +}CANRxFrame; + +/** + * @brief CAN filter. + * @note NOT used on this platform + */ +typedef struct { +}CANFilter; + +/** + * @brief Driver configuration structure. + */ +typedef struct { + +#if CAN_USE_MB1 + uint32_t mb1_can_id; /**< @brief mailbox 1 can id */ + uint32_t mb1_acceptance_mask; /**< @brief mailbox 1 acceptance mask */ +#endif +#if CAN_USE_MB2 + uint32_t mb2_can_id; /**< @brief mailbox 2 can id */ + uint32_t mb2_acceptance_mask; /**< @brief mailbox 2 acceptance mask */ +#endif +#if CAN_USE_MB3 + uint32_t mb3_can_id; /**< @brief mailbox 3 can id */ + uint32_t mb3_acceptance_mask; /**< @brief mailbox 3 acceptance mask */ +#endif +#if CAN_USE_MB4 + uint32_t mb4_can_id; /**< @brief mailbox 4 can id */ + uint32_t mb4_acceptance_mask; /**< @brief mailbox 4 acceptance mask */ +#endif +#if CAN_USE_MB5 + uint32_t mb5_can_id; /**< @brief mailbox 5 can id */ + uint32_t mb5_acceptance_mask; /**< @brief mailbox 5 acceptance mask */ +#endif +#if CAN_USE_MB6 + uint32_t mb6_can_id; /**< @brief mailbox 6 can id */ + uint32_t mb6_acceptance_mask; /**< @brief mailbox 6 acceptance mask */ +#endif +#if CAN_USE_MB7 + uint32_t mb7_can_id; /**< @brief mailbox 7 can id */ + uint32_t mb7_acceptance_mask; /**< @brief mailbox 7 acceptance mask */ +#endif + /** + * @brief value of the BR register + * @note use 0x00050301 for 1MBit/s! + * + */ + uint32_t br; + +}CANConfig; + + +/** + * @brief Structure representing an CAN driver. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +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 frame for one specified mailbox become available. + * @note The number of the mailbox will be broadcasted to all listening threads. + * It is responsibility of the application(thread) to empty the specified mailbox + * by invoking @p chReceive() when listening to this event. + */ + EventSource rxfull_event; + /** + * @brief transmission slot become available. + */ + EventSource txempty_event; + /** + * @brief A CAN bus error happened. + */ + 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 Driver test OK (wakeup event occurred). + */ + volatile canteststate_t testok; + /** + * @brief Pointer to the Mailboxes registers block. + */ + AT91PS_CAN_MB mb[8]; + /** + * @brief Pointer to the CAN registers. + */ + AT91PS_CAN base; +}CANDriver; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + /** + * @brief create event mask using enum of the corresponding mailbox. + */ +#define CAN_EVENT_MASK(mailbox) EVENT_MASK(mailbox-1) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AT91SAM7_CAN_USE_CAN && !defined(__DOXYGEN__) +extern CANDriver CAND; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void can_lld_init(void); + void can_lld_serve_interrupt(CANDriver *canp); + 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_ */ + +/** @} */ -- cgit v1.2.3