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/*
SPC5 HAL - Copyright (C) 2013 STMicroelectronics
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 FlexCAN_v1/can_lld.h
* @brief SPC5xx CAN subsystem low level driver header.
*
* @addtogroup CAN
* @{
*/
#ifndef _CAN_LLD_H_
#define _CAN_LLD_H_
#if HAL_USE_CAN || defined(__DOXYGEN__)
#include "spc5_flexcan.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief This switch defines whether the driver implementation supports
* a low power switch mode with an automatic wakeup feature.
*/
#define CAN_SUPPORTS_SLEEP FALSE
/**
* @brief This implementation supports 24 transmit mailboxes.
*/
#define CAN_TX_MAILBOXES 24
/**
* @brief This implementation supports one FIFO receive mailbox.
*/
#define CAN_RX_MAILBOXES 8
/**
* @brief This implementation supports eight FIFO receive filters.
*/
#define SPC5_CAN_MAX_FILTERS 8
/**
* @brief Enable filters.
*/
#define SPC5_CAN_FILTER_ON 1
/**
* @brief Disable filters.
*/
#define SPC5_CAN_FILTER_OFF 0
/**
* @name CAN registers helper macros
* @{
*/
#define CAN_MCR_MAXMB(n) (n)
#define CAN_MCR_AEN (1 << 12)
#define CAN_MCR_LPRIO_EN (1 << 13)
#define CAN_MCR_BCC (1 << 16)
#define CAN_MCR_SRX_DIS (1 << 17)
#define CAN_MCR_LPM_ACK (1 << 20)
#define CAN_MCR_WRN_EN (1 << 21)
#define CAN_MCR_SUPV (1 << 23)
#define CAN_MCR_FRZ_ACK (1 << 24)
#define CAN_MCR_WAK_MSK (1 << 26)
#define CAN_MCR_NOT_RDY (1 << 27)
#define CAN_MCR_HALT (1 << 28)
#define CAN_MCR_FEN (1 << 29)
#define CAN_MCR_FRZ (1 << 30)
#define CAN_MCR_MDIS (1 << 31)
#define CAN_CTRL_PROPSEG(n) (n)
#define CAN_CTRL_LOM (1 << 3)
#define CAN_CTRL_TSYN (1 << 5)
#define CAN_CTRL_BOFF_REC (1 << 6)
#define CAN_CTRL_SMP (1 << 7)
#define CAN_CTRL_RWRN_MSK (1 << 10)
#define CAN_CTRL_TWRN_MSK (1 << 11)
#define CAN_CTRL_LPB (1 << 12)
#define CAN_CTRL_CLK_SRC (1 << 13)
#define CAN_CTRL_ERR_MSK (1 << 14)
#define CAN_CTRL_BOFF_MSK (1 << 15)
#define CAN_CTRL_PSEG2(n) ((n) << 16)
#define CAN_CTRL_PSEG1(n) ((n) << 19)
#define CAN_CTRL_RJW(n) ((n) << 22)
#define CAN_CTRL_PRESDIV(n) ((n) << 24)
#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. */
#define CAN_ESR_ERR_INT (1 << 1)
#define CAN_ESR_BOFF_INT (1 << 2)
#define CAN_ESR_TWRN_INT (1 << 14)
#define CAN_ESR_RWRN_INT (1 << 15)
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief CAN1 driver enable switch.
* @details If set to @p TRUE the support for CAN1 is included.
*/
#if !defined(SPC5_CAN_USE_FLEXCAN0) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FLEXCAN0 FALSE
#endif
/**
* @brief CAN2 driver enable switch.
* @details If set to @p TRUE the support for CAN2 is included.
*/
#if !defined(SPC5_CAN_USE_FLEXCAN1) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FLEXCAN1 FALSE
#endif
/**
* @brief CAN3 driver enable switch.
* @details If set to @p TRUE the support for CAN3 is included.
*/
#if !defined(SPC5_CAN_USE_FLEXCAN2) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FLEXCAN2 FALSE
#endif
/**
* @brief CAN4 driver enable switch.
* @details If set to @p TRUE the support for CAN4 is included.
*/
#if !defined(SPC5_CAN_USE_FLEXCAN3) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FLEXCAN3 FALSE
#endif
/**
* @brief CAN5 driver enable switch.
* @details If set to @p TRUE the support for CAN5 is included.
*/
#if !defined(SPC5_CAN_USE_FLEXCAN4) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FLEXCAN4 FALSE
#endif
/**
* @brief CAN6 driver enable switch.
* @details If set to @p TRUE the support for CAN6 is included.
*/
#if !defined(SPC5_CAN_USE_FLEXCAN5) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FLEXCAN5 FALSE
#endif
/**
* @brief CAN1 interrupt priority level setting.
*/
#if !defined(SPC5_CAN_FLEXCAN0_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define SPC5_CAN_FLEXCAN0_IRQ_PRIORITY 11
#endif
/** @} */
/**
* @brief CAN2 interrupt priority level setting.
*/
#if !defined(SPC5_CAN_FLEXCAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define SPC5_CAN_FLEXCAN1_IRQ_PRIORITY 11
#endif
/** @} */
/**
* @brief CAN3 interrupt priority level setting.
*/
#if !defined(SPC5_CAN_FLEXCAN2_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define SPC5_CAN_FLEXCAN2_IRQ_PRIORITY 11
#endif
/** @} */
/**
* @brief CAN4 interrupt priority level setting.
*/
#if !defined(SPC5_CAN_FLEXCAN3_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define SPC5_CAN_FLEXCAN3_IRQ_PRIORITY 11
#endif
/** @} */
/**
* @brief CAN5 interrupt priority level setting.
*/
#if !defined(SPC5_CAN_FLEXCAN4_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define SPC5_CAN_FLEXCAN4_IRQ_PRIORITY 11
#endif
/** @} */
/**
* @brief CAN6 interrupt priority level setting.
*/
#if !defined(SPC5_CAN_FLEXCAN5_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define SPC5_CAN_FLEXCAN5_IRQ_PRIORITY 11
#endif
/** @} */
/**
* @brief CAN filters enable setting.
*/
#if !defined(SPC5_CAN_USE_FILTERS) || defined(__DOXYGEN__)
#define SPC5_CAN_USE_FILTERS FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if SPC5_CAN_USE_FLEXCAN0 && !SPC5_HAS_FLEXCAN0
#error "CAN1 not present in the selected device"
#endif
#if SPC5_CAN_USE_FLEXCAN1 && !SPC5_HAS_FLEXCAN1
#error "CAN2 not present in the selected device"
#endif
#if SPC5_CAN_USE_FLEXCAN2 && !SPC5_HAS_FLEXCAN2
#error "CAN3 not present in the selected device"
#endif
#if SPC5_CAN_USE_FLEXCAN3 && !SPC5_HAS_FLEXCAN3
#error "CAN4 not present in the selected device"
#endif
#if SPC5_CAN_USE_FLEXCAN4 && !SPC5_HAS_FLEXCAN4
#error "CAN5 not present in the selected device"
#endif
#if SPC5_CAN_USE_FLEXCAN5 && !SPC5_HAS_FLEXCAN5
#error "CAN6 not present in the selected device"
#endif
#if !SPC5_CAN_USE_FLEXCAN0 && !SPC5_CAN_USE_FLEXCAN1 \
&& !SPC5_CAN_USE_FLEXCAN2 && !SPC5_CAN_USE_FLEXCAN3 \
&& !SPC5_CAN_USE_FLEXCAN4 && !SPC5_CAN_USE_FLEXCAN5
#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 Type of a transmission mailbox index.
*/
typedef uint32_t canmbx_t;
/**
* @brief CAN TX MB structure.
*/
typedef struct {
union {
vuint32_t R;
struct {
vuint8_t:4;
vuint8_t CODE:4;
vuint8_t:1;
vuint8_t SRR:1;
vuint8_t IDE:1;
vuint8_t RTR:1;
vuint8_t LENGTH:4;
vuint16_t TIMESTAMP:16;
} B;
} CS;
union {
vuint32_t R;
struct {
vuint8_t PRIO:3;
vuint32_t ID:29;
} B;
} ID;
vuint32_t DATA[2]; /* Data buffer in words (32 bits) */
} CAN_TxMailBox_TypeDef;
/**
* @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 LENGTH: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 {
uint16_t TIME; /**< @brief Time stamp. */
};
struct {
uint8_t LENGTH: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 SPC5 reference manual for info about filters.
*/
typedef struct {
/**
* @brief Filter scale.
* @note This bit represents the EXT bit associated to this
* filter (0=standard ID mode, 1=extended ID mode).
*/
uint32_t scale:1;
/**
* @brief Filter register (identifier).
*/
uint32_t register1;
} 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 CTRL register initialization data.
* @note Some bits in this register are enforced by the driver regardless
* their status in this field.
*/
uint32_t ctrl;
#if SPC5_CAN_USE_FILTERS
/**
* @brief CAN filters structure.
*/
CANFilter RxFilter[CAN_RX_MAILBOXES];
#endif
} 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 <b>not</b> 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.
* @note The flags associated to the listeners will indicate which
* receive mailboxes become non-empty.
*/
EventSource rxfull_event;
/**
* @brief One or more transmission mailbox become available.
* @note The flags associated to the listeners will indicate which
* transmit mailboxes become empty.
*
*/
EventSource txempty_event;
/**
* @brief A CAN bus error happened.
* @note The flags associated to the listeners will indicate the
* error(s) that have occurred.
*/
EventSource error_event;
#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.
*/
volatile struct spc5_flexcan *flexcan;
} CANDriver;
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if SPC5_CAN_USE_FLEXCAN0 && !defined(__DOXYGEN__)
extern CANDriver CAND1;
#endif
#if SPC5_CAN_USE_FLEXCAN1 && !defined(__DOXYGEN__)
extern CANDriver CAND2;
#endif
#if SPC5_CAN_USE_FLEXCAN2 && !defined(__DOXYGEN__)
extern CANDriver CAND3;
#endif
#if SPC5_CAN_USE_FLEXCAN3 && !defined(__DOXYGEN__)
extern CANDriver CAND4;
#endif
#if SPC5_CAN_USE_FLEXCAN4 && !defined(__DOXYGEN__)
extern CANDriver CAND5;
#endif
#if SPC5_CAN_USE_FLEXCAN5 && !defined(__DOXYGEN__)
extern CANDriver CAND6;
#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_is_tx_empty(CANDriver *canp,
canmbx_t mailbox);
void can_lld_transmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *crfp);
bool_t can_lld_is_rx_nonempty(CANDriver *canp,
canmbx_t mailbox);
void can_lld_receive(CANDriver *canp,
canmbx_t mailbox,
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_ */
/** @} */
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