1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
|
/*
ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/HAL
ChibiOS/HAL 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.h
* @brief CAN Driver macros and structures.
*
* @addtogroup CAN
* @{
*/
#ifndef _CAN_H_
#define _CAN_H_
#if HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name CAN status flags
* @{
*/
/**
* @brief Errors rate warning.
*/
#define CAN_LIMIT_WARNING 1
/**
* @brief Errors rate error.
*/
#define CAN_LIMIT_ERROR 2
/**
* @brief Bus off condition reached.
*/
#define CAN_BUS_OFF_ERROR 4
/**
* @brief Framing error of some kind on the CAN bus.
*/
#define CAN_FRAMING_ERROR 8
/**
* @brief Overflow in receive queue.
*/
#define CAN_OVERFLOW_ERROR 16
/** @} */
/**
* @brief Special mailbox identifier.
*/
#define CAN_ANY_MAILBOX 0
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name CAN configuration options
* @{
*/
/**
* @brief Sleep mode related APIs inclusion switch.
* @details This option can only be enabled if the CAN implementation supports
* the sleep mode, see the macro @p CAN_SUPPORTS_SLEEP exported by
* the underlying implementation.
*/
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE TRUE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Driver state machine possible states.
*/
typedef enum {
CAN_UNINIT = 0, /**< Not initialized. */
CAN_STOP = 1, /**< Stopped. */
CAN_STARTING = 2, /**< Starting. */
CAN_READY = 3, /**< Ready. */
CAN_SLEEP = 4 /**< Sleep state. */
} canstate_t;
#include "can_lld.h"
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @name Macro Functions
* @{
*/
/**
* @brief Converts a mailbox index to a bit mask.
*/
#define CAN_MAILBOX_TO_MASK(mbx) (1 << ((mbx) - 1))
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void canInit(void);
void canObjectInit(CANDriver *canp);
void canStart(CANDriver *canp, const CANConfig *config);
void canStop(CANDriver *canp);
msg_t canTransmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
systime_t timeout);
msg_t canReceive(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp,
systime_t timeout);
#if CAN_USE_SLEEP_MODE
void canSleep(CANDriver *canp);
void canWakeup(CANDriver *canp);
#endif /* CAN_USE_SLEEP_MODE */
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_CAN */
#endif /* _CAN_H_ */
/** @} */
|
