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
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
|
/*
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_lld.h
* @brief PLATFORM CAN subsystem low level driver header.
*
* @addtogroup CAN
* @{
*/
#ifndef HAL_CAN_LLD_H
#define HAL_CAN_LLD_H
#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief Number of transmit mailboxes.
*/
#define CAN_TX_MAILBOXES 1
/**
* @brief Number of receive mailboxes.
*/
#define CAN_RX_MAILBOXES 1
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name PLATFORM configuration options
* @{
*/
/**
* @brief CAN1 driver enable switch.
* @details If set to @p TRUE the support for CAN1 is included.
* @note The default is @p FALSE.
*/
#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)
#define PLATFORM_CAN_USE_CAN1 FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a structure representing an CAN driver.
*/
typedef struct CANDriver CANDriver;
/**
* @brief Type of a transmission mailbox index.
*/
typedef uint32_t canmbx_t;
#if defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
/**
* @brief Type of a CAN notification callback.
*
* @param[in] canp pointer to the @p CANDriver object triggering the
* callback
* @param[in] flags flags associated to the mailbox callback
*/
typedef void (*can_callback_t)(CANDriver *canp, uint32_t flags);
#endif
/**
* @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 {
/*lint -save -e46 [6.1] Standard types are fine too.*/
uint8_t DLC:4; /**< @brief Data length. */
uint8_t RTR:1; /**< @brief Frame type. */
uint8_t IDE:1; /**< @brief Identifier type. */
union {
uint32_t SID:11; /**< @brief Standard identifier.*/
uint32_t EID:29; /**< @brief Extended identifier.*/
uint32_t _align1;
};
/*lint -restore*/
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 {
/*lint -save -e46 [6.1] Standard types are fine too.*/
uint8_t FMI; /**< @brief Filter id. */
uint16_t TIME; /**< @brief Time stamp. */
uint8_t DLC:4; /**< @brief Data length. */
uint8_t RTR:1; /**< @brief Frame type. */
uint8_t IDE:1; /**< @brief Identifier type. */
union {
uint32_t SID:11; /**< @brief Standard identifier.*/
uint32_t EID:29; /**< @brief Extended identifier.*/
uint32_t _align1;
};
/*lint -restore*/
union {
uint8_t data8[8]; /**< @brief Frame data. */
uint16_t data16[4]; /**< @brief Frame data. */
uint32_t data32[2]; /**< @brief Frame data. */
};
} CANRxFrame;
/**
* @brief Driver configuration structure.
*/
typedef struct {
/* End of the mandatory fields.*/
uint32_t dummy;
} CANConfig;
/**
* @brief Structure representing an CAN driver.
*/
struct CANDriver {
/**
* @brief Driver state.
*/
canstate_t state;
/**
* @brief Current configuration data.
*/
const CANConfig *config;
/**
* @brief Transmission threads queue.
*/
threads_queue_t txqueue;
/**
* @brief Receive threads queue.
*/
threads_queue_t rxqueue;
#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined (__DOXYGEN__)
/**
* @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.
*/
event_source_t rxfull_event;
/**
* @brief One or more transmission mailbox become available.
* @note The flags associated to the listeners will indicate which
* transmit mailboxes become empty.
*/
event_source_t txempty_event;
/**
* @brief A CAN bus error happened.
* @note The flags associated to the listeners will indicate the
* error(s) that have occurred.
*/
event_source_t error_event;
#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
/**
* @brief Entering sleep state event.
*/
event_source_t sleep_event;
/**
* @brief Exiting sleep state event.
*/
event_source_t wakeup_event;
#endif
#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
/**
* @brief One or more frames become available.
* @note After calling this function it will not be called again
* until the received frames queue has been completely emptied. It
* is <b>not</b> called for each received frame. It is
* responsibility of the application to empty the queue by
* repeatedly invoking @p chTryReceiveI().
* This behavior minimizes the interrupt served by the system
* because CAN traffic.
*/
can_callback_t rxfull_cb;
/**
* @brief One or more transmission mailbox become available.
* @note The flags associated to the callback will indicate which
* transmit mailboxes become empty.
*/
can_callback_t txempty_cb;
/**
* @brief A CAN bus error happened.
*/
can_callback_t error_cb;
#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
/**
* @brief Exiting sleep state.
*/
can_callback_t wakeup_cb;
#endif
#endif
/* End of the mandatory fields.*/
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if (PLATFORM_CAN_USE_CAN1 == TRUE) && !defined(__DOXYGEN__)
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 can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
void can_lld_transmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp);
bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
void can_lld_receive(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp);
#if CAN_USE_SLEEP_MODE == TRUE
void can_lld_sleep(CANDriver *canp);
void can_lld_wakeup(CANDriver *canp);
#endif
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_CAN == TRUE */
#endif /* HAL_CAN_LLD_H */
/** @} */
|
