From 156a9e9fa71badb88476ac2bbc1219587ea8e7bb Mon Sep 17 00:00:00 2001 From: gdisirio Date: Fri, 24 Jan 2014 14:25:46 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6643 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/ports/STM32/LLD/can_lld.h | 364 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 364 insertions(+) create mode 100644 os/hal/ports/STM32/LLD/can_lld.h (limited to 'os/hal/ports/STM32/LLD/can_lld.h') diff --git a/os/hal/ports/STM32/LLD/can_lld.h b/os/hal/ports/STM32/LLD/can_lld.h new file mode 100644 index 000000000..27da0b3b6 --- /dev/null +++ b/os/hal/ports/STM32/LLD/can_lld.h @@ -0,0 +1,364 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio + + 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 STM32/can_lld.h + * @brief STM32 CAN subsystem low level driver header. + * + * @addtogroup CAN + * @{ + */ + +#ifndef _CAN_LLD_H_ +#define _CAN_LLD_H_ + +#if HAL_USE_CAN || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/* + * The following macros from the ST header file are replaced with better + * equivalents. + */ +#undef CAN_BTR_BRP +#undef CAN_BTR_TS1 +#undef CAN_BTR_TS2 +#undef CAN_BTR_SJW + +/** + * @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 three transmit mailboxes. + */ +#define CAN_TX_MAILBOXES 3 + +/** + * @brief This implementation supports two receive mailboxes. + */ +#define CAN_RX_MAILBOXES 2 + +/** + * @name CAN registers helper macros + * @{ + */ +#define CAN_BTR_BRP(n) (n) /**< @brief BRP field macro.*/ +#define CAN_BTR_TS1(n) ((n) << 16) /**< @brief TS1 field macro.*/ +#define CAN_BTR_TS2(n) ((n) << 20) /**< @brief TS2 field macro.*/ +#define CAN_BTR_SJW(n) ((n) << 24) /**< @brief SJW field macro.*/ + +#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. */ +/** @} */ + +/*===========================================================================*/ +/* 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(STM32_CAN_USE_CAN1) || defined(__DOXYGEN__) +#define STM32_CAN_USE_CAN1 FALSE +#endif + +/** + * @brief CAN2 driver enable switch. + * @details If set to @p TRUE the support for CAN2 is included. + */ +#if !defined(STM32_CAN_USE_CAN2) || defined(__DOXYGEN__) +#define STM32_CAN_USE_CAN2 FALSE +#endif + +/** + * @brief CAN1 interrupt priority level setting. + */ +#if !defined(STM32_CAN_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__) +#define STM32_CAN_CAN1_IRQ_PRIORITY 11 +#endif +/** @} */ + +/** + * @brief CAN2 interrupt priority level setting. + */ +#if !defined(STM32_CAN_CAN2_IRQ_PRIORITY) || defined(__DOXYGEN__) +#define STM32_CAN_CAN2_IRQ_PRIORITY 11 +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if STM32_CAN_USE_CAN1 && !STM32_HAS_CAN1 +#error "CAN1 not present in the selected device" +#endif + +#if STM32_CAN_USE_CAN2 && !STM32_HAS_CAN2 +#error "CAN2 not present in the selected device" +#endif + +#if !STM32_CAN_USE_CAN1 && !STM32_CAN_USE_CAN2 +#error "CAN driver activated but no CAN peripheral assigned" +#endif + +#if !STM32_CAN_USE_CAN1 && STM32_CAN_USE_CAN2 +#error "CAN2 requires CAN1, it cannot operate independently" +#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 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 FMI; /**< @brief Filter id. */ + uint16_t TIME; /**< @brief Time stamp. */ + }; + 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. */ + }; +} CANRxFrame; + +/** + * @brief CAN filter. + * @note Refer to the STM32 reference manual for info about filters. + */ +typedef struct { + /** + * @brief Number of the filter to be programmed. + */ + uint32_t filter; + /** + * @brief Filter mode. + * @note This bit represent the CAN_FM1R register bit associated to this + * filter (0=mask mode, 1=list mode). + */ + uint32_t mode:1; + /** + * @brief Filter scale. + * @note This bit represent the CAN_FS1R register bit associated to this + * filter (0=16 bits mode, 1=32 bits mode). + */ + uint32_t scale:1; + /** + * @brief Filter mode. + * @note This bit represent the CAN_FFA1R register bit associated to this + * filter, must be set to zero in this version of the driver. + */ + uint32_t assignment:1; + /** + * @brief Filter register 1 (identifier). + */ + uint32_t register1; + /** + * @brief Filter register 2 (mask/identifier depending on mode=0/1). + */ + uint32_t register2; +} 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 BTR register initialization data. + * @note Some bits in this register are enforced by the driver regardless + * their status in this field. + */ + uint32_t btr; +} CANConfig; + +/** + * @brief Structure representing an CAN driver. + */ +typedef struct { + /** + * @brief Driver state. + */ + canstate_t state; + /** + * @brief Current configuration data. + */ + const CANConfig *config; + /** + * @brief Transmission threads queue. + */ + threads_queue_t txqueue; + /** + * @brief Receive threads queue. + */ + threads_queue_t rxqueue; + /** + * @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 not 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. + */ + event_source_t rxfull_event; + /** + * @brief One or more transmission mailbox become available. + * @note The flags associated to the listeners will indicate which + * transmit mailboxes become empty. + * + */ + event_source_t txempty_event; + /** + * @brief A CAN bus error happened. + * @note The flags associated to the listeners will indicate the + * error(s) that have occurred. + */ + event_source_t error_event; +#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__) + /** + * @brief Entering sleep state event. + */ + event_source_t sleep_event; + /** + * @brief Exiting sleep state event. + */ + event_source_t wakeup_event; +#endif /* CAN_USE_SLEEP_MODE */ + /* End of the mandatory fields.*/ + /** + * @brief Pointer to the CAN registers. + */ + CAN_TypeDef *can; +} CANDriver; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if STM32_CAN_USE_CAN1 && !defined(__DOXYGEN__) +extern CANDriver CAND1; +#endif + +#if STM32_CAN_USE_CAN2 && !defined(__DOXYGEN__) +extern CANDriver CAND2; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void can_lld_init(void); + void can_lld_start(CANDriver *canp); + void can_lld_stop(CANDriver *canp); + bool can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox); + void can_lld_transmit(CANDriver *canp, + canmbx_t mailbox, + const CANTxFrame *crfp); + bool 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