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/*
ChibiOS - Copyright (C) 2006..2018 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 hal_can.h
* @brief CAN Driver macros and structures.
*
* @addtogroup CAN
* @{
*/
#ifndef HAL_CAN_H
#define HAL_CAN_H
#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name CAN status flags
* @{
*/
/**
* @brief Errors rate warning.
*/
#define CAN_LIMIT_WARNING 1U
/**
* @brief Errors rate error.
*/
#define CAN_LIMIT_ERROR 2U
/**
* @brief Bus off condition reached.
*/
#define CAN_BUS_OFF_ERROR 4U
/**
* @brief Framing error of some kind on the CAN bus.
*/
#define CAN_FRAMING_ERROR 8U
/**
* @brief Overflow in receive queue.
*/
#define CAN_OVERFLOW_ERROR 16U
/** @} */
/**
* @brief Special mailbox identifier.
*/
#define CAN_ANY_MAILBOX 0U
/*===========================================================================*/
/* 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
/**
* @brief Enforces the driver to use direct callbacks rather than OSAL events.
*/
#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
#define CAN_ENFORCE_USE_CALLBACKS FALSE
#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 "hal_can_lld.h"
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @name Macro Functions
* @{
*/
/**
* @brief Converts a mailbox index to a bit mask.
*/
#define CAN_MAILBOX_TO_MASK(mbx) (1U << ((mbx) - 1U))
/**
* @brief Legacy name for @p canTransmitTimeout().
*
* @deprecated
*/
#define canTransmit(canp, mailbox, ctfp, timeout) \
canTransmitTimeout(canp, mailbox, ctfp, timeout)
/**
* @brief Legacy name for @p canReceiveTimeout().
*
* @deprecated
*/
#define canReceive(canp, mailbox, crfp, timeout) \
canReceiveTimeout(canp, mailbox, crfp, timeout)
/** @} */
/**
* @name Low level driver helper macros
* @{
*/
#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined(__DOXYGEN__)
/**
* @brief TX mailbox empty event.
*/
#define _can_tx_empty_isr(canp, flags) { \
osalSysLockFromISR(); \
osalThreadDequeueAllI(&(canp)->txqueue, MSG_OK); \
osalEventBroadcastFlagsI(&(canp)->txempty_event, flags); \
osalSysUnlockFromISR(); \
}
/**
* @brief RX mailbox empty full event.
*/
#define _can_rx_full_isr(canp, flags) { \
osalSysLockFromISR(); \
osalThreadDequeueAllI(&(canp)->rxqueue, MSG_OK); \
osalEventBroadcastFlagsI(&(canp)->rxfull_event, flags); \
osalSysUnlockFromISR(); \
}
/**
* @brief Error event.
*/
#define _can_wakeup_isr(canp) { \
osalSysLockFromISR(); \
osalEventBroadcastFlagsI(&(canp)->wakeup_event, 0U); \
osalSysUnlockFromISR(); \
}
/**
* @brief Error event.
*/
#define _can_error_isr(canp, flags) { \
osalSysLockFromISR(); \
osalEventBroadcastFlagsI(&(canp)->error_event, flags); \
osalSysUnlockFromISR(); \
}
#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
#define _can_tx_empty_isr(canp, flags) { \
if ((canp)->txempty_cb != NULL) { \
(canp)->txempty_cb(canp, flags); \
} \
osalSysLockFromISR(); \
osalThreadDequeueAllI(&(canp)->txqueue, MSG_OK); \
osalSysUnlockFromISR(); \
}
#define _can_rx_full_isr(canp, flags) { \
if ((canp)->rxfull_cb != NULL) { \
(canp)->rxfull_cb(canp, flags); \
} \
osalSysLockFromISR(); \
osalThreadDequeueAllI(&(canp)->rxqueue, MSG_OK); \
osalSysUnlockFromISR(); \
}
#define _can_wakeup_isr(canp) { \
if ((canp)->wakeup_cb != NULL) { \
(canp)->wakeup_cb(canp, 0U); \
} \
}
#define _can_error_isr(canp, flags) { \
if ((canp)->error_cb != NULL) { \
(canp)->error_cb(canp, flags); \
} \
}
#endif /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
/** @} */
/*===========================================================================*/
/* 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);
bool canTryTransmitI(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp);
bool canTryReceiveI(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp);
msg_t canTransmitTimeout(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
sysinterval_t timeout);
msg_t canReceiveTimeout(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp,
sysinterval_t timeout);
#if CAN_USE_SLEEP_MODE
void canSleep(CANDriver *canp);
void canWakeup(CANDriver *canp);
#endif
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_CAN == TRUE */
#endif /* HAL_CAN_H */
/** @} */
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