From 0e34cd051ed686263001af3a721f6858db94d072 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Fri, 9 Aug 2013 08:25:09 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6109 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/src/can.c | 284 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 284 insertions(+) create mode 100644 os/hal/src/can.c (limited to 'os/hal/src/can.c') diff --git a/os/hal/src/can.c b/os/hal/src/can.c new file mode 100644 index 000000000..9a352ddd1 --- /dev/null +++ b/os/hal/src/can.c @@ -0,0 +1,284 @@ +/* + 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 . +*/ + +/** + * @file can.c + * @brief CAN Driver code. + * + * @addtogroup CAN + * @{ + */ + +#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; + osalQueueObjectInit(&canp->txqueue); + osalQueueObjectInit(&canp->rxqueue); + osalEventObjectInit(&canp->rxfull_event); + osalEventObjectInit(&canp->txempty_event); + osalEventObjectInit(&canp->error_event); +#if CAN_USE_SLEEP_MODE + osalEventObjectInit(&canp->sleep_event); + osalEventObjectInit(&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) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_STOP) || + (canp->state == CAN_STARTING) || + (canp->state == CAN_READY), + "canStart(), #1", "invalid state"); + while (canp->state == CAN_STARTING) + osalThreadSleepS(1); + if (canp->state == CAN_STOP) { + canp->config = config; + can_lld_start(canp); + canp->state = CAN_READY; + } + osalSysUnlock(); +} + +/** + * @brief Deactivates the CAN peripheral. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @api + */ +void canStop(CANDriver *canp) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY), + "canStop(), #1", "invalid state"); + can_lld_stop(canp); + canp->state = CAN_STOP; + osalQueueWakeupAllI(&canp->rxqueue, MSG_RESET); + osalQueueWakeupAllI(&canp->txqueue, MSG_RESET); + osalOsRescheduleS(); + osalSysUnlock(); +} + +/** + * @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 MSG_OK the frame has been queued for transmission. + * @retval MSG_TIMEOUT The operation has timed out. + * @retval MSG_RESET The driver has been stopped while waiting. + * + * @api + */ +msg_t canTransmit(CANDriver *canp, + canmbx_t mailbox, + const CANTxFrame *ctfp, + systime_t timeout) { + + osalDbgCheck((canp != NULL) && (ctfp != NULL) && + (mailbox <= CAN_TX_MAILBOXES)); + + osalSysLock(); + osalDbgAssert((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 = osalQueueGoSleepTimeoutS(&canp->txqueue, timeout); + if (msg != MSG_OK) { + osalSysUnlock(); + return msg; + } + } + can_lld_transmit(canp, mailbox, ctfp); + osalSysUnlock(); + return MSG_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 MSG_OK a frame has been received and placed in the buffer. + * @retval MSG_TIMEOUT The operation has timed out. + * @retval MSG_RESET The driver has been stopped while waiting. + * + * @api + */ +msg_t canReceive(CANDriver *canp, + canmbx_t mailbox, + CANRxFrame *crfp, + systime_t timeout) { + + osalDbgCheck((canp != NULL) && (crfp != NULL) && + (mailbox < CAN_RX_MAILBOXES)); + + osalSysLock(); + osalDbgAssert((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 = osalQueueGoSleepTimeoutS(&canp->rxqueue, timeout); + if (msg != MSG_OK) { + osalSysUnlock(); + return msg; + } + } + can_lld_receive(canp, mailbox, crfp); + osalSysUnlock(); + return MSG_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) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((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; + osalEventBroadcastFlagsI(&canp->sleep_event, 0); + osalOsRescheduleS(); + } + osalSysUnlock(); +} + +/** + * @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) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((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; + osalEventBroadcastFlagsI(&canp->wakeup_event, 0); + osalOsRescheduleS(); + } + osalSysUnlock(); +} +#endif /* CAN_USE_SLEEP_MODE */ + +#endif /* HAL_USE_CAN */ + +/** @} */ -- cgit v1.2.3