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/*
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 <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. */
/*===========================================================================*/
#if !CH_USE_SEMAPHORES || !CH_USE_EVENTS
#error "CAN driver requires CH_USE_SEMAPHORES and CH_USE_EVENTS"
#endif
/*===========================================================================*/
/* 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))
/**
* @brief Adds some flags to the CAN status mask.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mask flags to be added to the status mask
*
* @iclass
*/
#define canAddFlagsI(canp, mask) ((canp)->status |= (mask))
/** @} */
/*===========================================================================*/
/* 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_ */
/** @} */
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