blob: 9f54e4cc63c4e4820357febc82efa0dbb62b848e (
plain)
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
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
|
/*
ChibiOS/RT - Copyright (C) 2006-2007 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 STM32/can_lld.h
* @brief STM32 CAN subsystem low level driver header
* @addtogroup STM32_CAN
* @{
*/
#ifndef _CAN_LLD_H_
#define _CAN_LLD_H_
#if CH_HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief This switch defines whether the driver implementation supports
* a low power switch mode with automatic an wakeup feature.
*/
#define CAN_SUPPORTS_SLEEP TRUE
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @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(USE_STM32_CAN1) || defined(__DOXYGEN__)
#define USE_STM32_CAN1 TRUE
#endif
/**
* @brief CAN1 interrupt priority level setting.
* @note @p BASEPRI_KERNEL >= @p STM32_SPI1_IRQ_PRIORITY > @p PRIORITY_PENDSV.
*/
#if !defined(STM32_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_CAN1_IRQ_PRIORITY 0xB0
#endif
/**
* @brief Sleep mode related APIs inclusion switch.
* @note This switch is enforced to @p FALSE if the driver implementation
* does not support the sleep mode.
*/
#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__)
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE TRUE
#endif
#else /* !CAN_SUPPORTS_SLEEP */
#define CAN_USE_SLEEP_MODE FALSE
#endif /* !CAN_SUPPORTS_SLEEP */
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief CAN status flags.
*/
typedef uint32_t canstatus_t;
/**
* @brief CAN 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 {
uint8_t cf_DLC:4; /**< @brief Data length. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */
uint8_t cf_RTR:1; /**< @brief Frame type. */
uint32_t cf_id; /**< @brief Frame identifier. */
union {
uint8_t cf_data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */
};
} CANFrame;
/**
* @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 cf_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 cf_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 cf_assignment:1;
/**
* @brief Filter register 1 (identifier).
*/
uint32_t cf_register1;
/**
* @brief Filter register 2 (mask/identifier depending on cf_mode=0/1).
*/
uint32_t cf_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 cc_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 cc_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 cc_num;
/**
* @brief Pointer to an array of @p CANFilter structures.
* @note This field can be set to @p NULL if the field @p cc_num is set to
* zero.
*/
const CANFilter *cc_filters;
} CANConfig;
/**
* @brief Structure representing an CAN driver.
*/
typedef struct {
/**
* @brief Driver state.
*/
canstate_t cd_state;
/**
* @brief Current configuration data.
*/
const CANConfig *cd_config;
/**
* @brief Transmission queue semaphore.
*/
Semaphore cd_txsem;
/**
* @brief Receive queue semaphore.
*/
Semaphore cd_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.
*/
EventSource cd_rxfull_event;
/**
* @brief One or more transmission slots become available.
*/
EventSource cd_txempty_event;
/**
* @brief A CAN bus error happened.
*/
EventSource cd_error_event;
/**
* @brief Error flags set when an error event is broadcasted.
*/
canstatus_t cd_status;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/**
* @brief Entering sleep state event.
*/
EventSource cd_sleep_event;
/**
* @brief Exiting sleep state event.
*/
EventSource cd_wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */
/* End of the mandatory fields.*/
/**
* @brief Pointer to the CAN registers.
*/
CAN_TypeDef *cd_can;
} CANDriver;
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
/** @cond never*/
#if USE_STM32_CAN1
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);
msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp);
bool_t can_lld_can_receive(CANDriver *canp);
msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp);
#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
/** @endcond*/
#endif /* CH_HAL_USE_CAN */
#endif /* _CAN_LLD_H_ */
/** @} */
|