/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011 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 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 Minimum number of CAN filters. */ #if defined(STM32F10X_CL) || defined(__DOXYGEN__) #define CAN_MAX_FILTERS 28 #else #define CAN_MAX_FILTERS 14 #endif #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 ADC1 is included. * @note The default is @p TRUE. */ #if !defined(STM32_CAN_USE_CAN1) || defined(__DOXYGEN__) #define STM32_CAN_USE_CAN1 TRUE #endif /** * @brief CAN1 interrupt priority level setting. */ #if !defined(STM32_CAN_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__) #define STM32_CAN_CAN1_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_CAN1 #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 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 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 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 sclae. * @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; /** * @brief Number of elements into the filters array. * @note By setting this field to zero a default filter is enabled that * allows all frames, this should be adequate for simple applications. */ uint32_t num; /** * @brief Pointer to an array of @p CANFilter structures. * @note This field can be set to @p NULL if the field @p num is set to * zero. */ const CANFilter *filters; } 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 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. */ EventSource rxfull_event; /** * @brief One or more transmission slots become available. */ EventSource txempty_event; /** * @brief A CAN bus error happened. */ EventSource error_event; /** * @brief Error flags set when an error event is broadcasted. */ canstatus_t status; #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. */ CAN_TypeDef *can; } CANDriver; /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #if STM32_CAN_USE_CAN1 && !defined(__DOXYGEN__) extern CANDriver CAND1; #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_can_transmit(CANDriver *canp); void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp); bool_t can_lld_can_receive(CANDriver *canp); void can_lld_receive(CANDriver *canp, 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_ */ /** @} */