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
|
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 templates/can_lld.h
* @brief CAN Driver subsystem low level driver header template.
*
* @addtogroup CAN
* @{
*/
#ifndef _CAN_LLD_H_
#define _CAN_LLD_H_
#if 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 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 */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP
#error "CAN sleep mode not supported in this architecture"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief CAN status flags.
*/
typedef uint32_t canstatus_t;
/**
* @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 cf_DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */
};
union {
struct {
uint32_t cf_SID:11; /**< @brief Standard identifier.*/
};
struct {
uint32_t cf_EID:29; /**< @brief Extended 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. */
};
} 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 {
uint8_t cf_DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */
};
union {
struct {
uint32_t cf_SID:11; /**< @brief Standard identifier.*/
};
struct {
uint32_t cf_EID:29; /**< @brief Extended 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. */
};
} CANRxFrame;
/**
* @brief CAN filter.
* @note Implementations may extend this structure to contain more,
* architecture dependent, fields.
* @note It could not be present on some architectures.
*/
typedef struct {
} CANFilter;
/**
* @brief Driver configuration structure.
* @note Implementations may extend this structure to contain more,
* architecture dependent, fields.
* @note It could be empty on some architectures.
*/
typedef struct {
} CANConfig;
/**
* @brief Structure representing an CAN driver.
* @note Implementations may extend this structure to contain more,
* architecture dependent, fields.
*/
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. This behavior
* minimizes the interrupt served by the system because CAN traffic.
*/
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.*/
} CANDriver;
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#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);
void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);
bool_t can_lld_can_receive(CANDriver *canp);
void can_lld_receive(CANDriver *canp, 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_ */
/** @} */
|
