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
|
/*
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 CAN.c
* @brief CAN Driver code.
* @addtogroup CAN
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_CAN
/**
* @brief CAN Driver initialization.
*/
void canInit(void) {
can_lld_init();
}
/**
* @brief Initializes the standard part of a @p CANDriver structure.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canObjectInit(CANDriver *canp) {
canp->can_state = CAN_STOP;
canp->can_config = NULL;
chSemInit(&canp->can_txsem, 0);
chSemInit(&canp->can_rxsem, 0);
chEvtInit(&canp->can_rxfull_event);
chEvtInit(&canp->can_txempty_event);
#if CAN_USE_SLEEP_MODE
chEvtInit(&canp->can_sleep_event);
chEvtInit(&canp->can_wakeup_event);
#endif /* CAN_USE_SLEEP_MODE */
}
/**
* @brief Configures and activates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] config pointer to the @p CANConfig object
*/
void canStart(CANDriver *canp, const CANConfig *config) {
chDbgCheck((canp != NULL) && (config != NULL), "canStart");
chSysLock();
chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),
"canStart(), #1",
"invalid state");
canp->can_config = config;
can_lld_start(canp);
canp->can_state = CAN_READY;
chSysUnlock();
}
/**
* @brief Deactivates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canStop(CANDriver *canp) {
chDbgCheck(canp != NULL, "canStop");
chSysLock();
chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),
"canStop(), #1",
"invalid state");
can_lld_stop(canp);
canp->can_state = CAN_STOP;
chSysUnlock();
}
/**
* @brief Can frame transmission.
* @details The specified frame is queued for transmission, if the hardware
* queue is full then the invoking thread is queued.
* @note Trying to transmit while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] cfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval RDY_OK the frame has been queued for transmission.
* @retval RDY_TIMEOUT operation not finished within the specified time.
* @retval RDY_RESET driver stopped while waiting.
*/
msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
msg_t msg;
chDbgCheck((canp != NULL) && (cfp != NULL), "canTransmit");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
"canTransmit(), #1",
"invalid state");
if ((canp->can_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
msg = chSemWaitTimeoutS(&canp->can_txsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
}
}
msg = can_lld_transmit(canp, cfp);
chSysUnlock();
return msg;
}
/**
* @brief Can frame receive.
* @details The function waits until a frame is received.
* @note Trying to receive while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[out] cfp pointer to the buffer where the CAN frame is copied
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval RDY_OK a frame has been received and placed in the buffer.
* @retval RDY_TIMEOUT operation not finished within the specified time.
* @retval RDY_RESET driver stopped while waiting.
*/
msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {
msg_t msg;
chDbgCheck((canp != NULL) && (cfp != NULL), "canReceive");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
"canReceive(), #1",
"invalid state");
if ((canp->can_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
msg = chSemWaitTimeoutS(&canp->can_rxsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
}
}
msg = can_lld_receive(canp, cfp);
chSysUnlock();
return msg;
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
/**
* @brief Enters the sleep mode.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canSleep(CANDriver *canp) {
chDbgCheck(canp != NULL, "canSleep");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
"canSleep(), #1",
"invalid state");
if (canp->can_state == CAN_READY) {
can_lld_sleep(canp);
canp->can_state = CAN_SLEEP;
chEvtBroadcastI(&canp->can_sleep_event);
chSchRescheduleS();
}
chSysUnlock();
}
/**
* @brief Enforces leaving the sleep mode.
* @note The sleep mode is supposed to be usually exited automatically by an
* hardware event.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canWakeup(CANDriver *canp) {
chDbgCheck(canp != NULL, "canWakeup");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
"canWakeup(), #1",
"invalid state");
if (canp->can_state == CAN_SLEEP) {
can_lld_wakeup(canp);
canp->can_state = CAN_READY;
chEvtBroadcastI(&canp->can_wakeup_event);
chSchRescheduleS();
}
chSysUnlock();
}
#endif /* CAN_USE_SLEEP_MODE */
#endif /* CH_HAL_USE_CAN */
/** @} */
|
