diff options
Diffstat (limited to 'os/hal/src/hal_can.c')
| -rw-r--r-- | os/hal/src/hal_can.c | 361 |
1 files changed, 361 insertions, 0 deletions
diff --git a/os/hal/src/hal_can.c b/os/hal/src/hal_can.c new file mode 100644 index 000000000..eecfdb7ce --- /dev/null +++ b/os/hal/src/hal_can.c @@ -0,0 +1,361 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 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 can.c
+ * @brief CAN Driver code.
+ *
+ * @addtogroup CAN
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief CAN Driver initialization.
+ * @note This function is implicitly invoked by @p halInit(), there is
+ * no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void canInit(void) {
+
+ can_lld_init();
+}
+
+/**
+ * @brief Initializes the standard part of a @p CANDriver structure.
+ *
+ * @param[out] canp pointer to the @p CANDriver object
+ *
+ * @init
+ */
+void canObjectInit(CANDriver *canp) {
+
+ canp->state = CAN_STOP;
+ canp->config = NULL;
+ osalThreadQueueObjectInit(&canp->txqueue);
+ osalThreadQueueObjectInit(&canp->rxqueue);
+ osalEventObjectInit(&canp->rxfull_event);
+ osalEventObjectInit(&canp->txempty_event);
+ osalEventObjectInit(&canp->error_event);
+#if CAN_USE_SLEEP_MODE == TRUE
+ osalEventObjectInit(&canp->sleep_event);
+ osalEventObjectInit(&canp->wakeup_event);
+#endif
+}
+
+/**
+ * @brief Configures and activates the CAN peripheral.
+ * @note Activating the CAN bus can be a slow operation.
+ * @note Unlike other drivers it is not possible to restart the CAN
+ * driver without first stopping it using canStop().
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ * @param[in] config pointer to the @p CANConfig object. Depending on
+ * the implementation the value can be @p NULL.
+ *
+ * @api
+ */
+void canStart(CANDriver *canp, const CANConfig *config) {
+
+ osalDbgCheck(canp != NULL);
+
+ osalSysLock();
+ osalDbgAssert(canp->state == CAN_STOP, "invalid state");
+
+ /* Entering initialization mode. */
+ canp->state = CAN_STARTING;
+ canp->config = config;
+
+ /* Low level initialization, could be a slow process and sleeps could
+ be performed inside.*/
+ can_lld_start(canp);
+
+ /* The driver finally goes into the ready state.*/
+ canp->state = CAN_READY;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Deactivates the CAN peripheral.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ *
+ * @api
+ */
+void canStop(CANDriver *canp) {
+
+ osalDbgCheck(canp != NULL);
+
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY),
+ "invalid state");
+
+ /* The low level driver is stopped.*/
+ can_lld_stop(canp);
+ canp->state = CAN_STOP;
+
+ /* Threads waiting on CAN APIs are notified that the driver has been
+ stopped in order to not have stuck threads.*/
+ osalThreadDequeueAllI(&canp->rxqueue, MSG_RESET);
+ osalThreadDequeueAllI(&canp->txqueue, MSG_RESET);
+ osalOsRescheduleS();
+ osalSysUnlock();
+}
+
+/**
+ * @brief Can frame transmission attempt.
+ * @details The specified frame is queued for transmission, if the hardware
+ * queue is full then the function fails.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
+ * @param[in] ctfp pointer to the CAN frame to be transmitted
+ * @return The operation result.
+ * @retval false Frame transmitted.
+ * @retval true Mailbox full.
+ *
+ * @iclass
+ */
+bool canTryTransmitI(CANDriver *canp,
+ canmbx_t mailbox,
+ const CANTxFrame *ctfp) {
+
+ osalDbgCheckClassI();
+ osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
+ (mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+
+ /* If the RX mailbox is full then the function fails.*/
+ if (!can_lld_is_tx_empty(canp, mailbox)) {
+ return true;
+ }
+
+ /* Transmitting frame.*/
+ can_lld_transmit(canp, mailbox, ctfp);
+
+ return false;
+}
+
+/**
+ * @brief Can frame receive attempt.
+ * @details The function tries to fetch a frame from a mailbox.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
+ * @param[out] crfp pointer to the buffer where the CAN frame is copied
+ * @return The operation result.
+ * @retval false Frame fetched.
+ * @retval true Mailbox empty.
+ *
+ * @iclass
+ */
+bool canTryReceiveI(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *crfp) {
+
+ osalDbgCheckClassI();
+ osalDbgCheck((canp != NULL) && (crfp != NULL) &&
+ (mailbox <= (canmbx_t)CAN_RX_MAILBOXES));
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+
+ /* If the RX mailbox is empty then the function fails.*/
+ if (!can_lld_is_rx_nonempty(canp, mailbox)) {
+ return true;
+ }
+
+ /* Fetching the frame.*/
+ can_lld_receive(canp, mailbox, crfp);
+
+ return false;
+}
+
+/**
+ * @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] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
+ * @param[in] ctfp 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 MSG_OK the frame has been queued for transmission.
+ * @retval MSG_TIMEOUT The operation has timed out.
+ * @retval MSG_RESET The driver has been stopped while waiting.
+ *
+ * @api
+ */
+msg_t canTransmit(CANDriver *canp,
+ canmbx_t mailbox,
+ const CANTxFrame *ctfp,
+ systime_t timeout) {
+
+ osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
+ (mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
+
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+
+ /*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
+ while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
+ /*lint -restore*/
+ msg_t msg = osalThreadEnqueueTimeoutS(&canp->txqueue, timeout);
+ if (msg != MSG_OK) {
+ osalSysUnlock();
+ return msg;
+ }
+ }
+ can_lld_transmit(canp, mailbox, ctfp);
+ osalSysUnlock();
+ return MSG_OK;
+}
+
+/**
+ * @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[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
+ * @param[out] crfp 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 (useful in an
+ * event driven scenario where a thread never blocks
+ * for I/O).
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The operation result.
+ * @retval MSG_OK a frame has been received and placed in the buffer.
+ * @retval MSG_TIMEOUT The operation has timed out.
+ * @retval MSG_RESET The driver has been stopped while waiting.
+ *
+ * @api
+ */
+msg_t canReceive(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *crfp,
+ systime_t timeout) {
+
+ osalDbgCheck((canp != NULL) && (crfp != NULL) &&
+ (mailbox <= (canmbx_t)CAN_RX_MAILBOXES));
+
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+
+ /*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
+ while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) {
+ /*lint -restore*/
+ msg_t msg = osalThreadEnqueueTimeoutS(&canp->rxqueue, timeout);
+ if (msg != MSG_OK) {
+ osalSysUnlock();
+ return msg;
+ }
+ }
+ can_lld_receive(canp, mailbox, crfp);
+ osalSysUnlock();
+ return MSG_OK;
+}
+
+#if (CAN_USE_SLEEP_MODE == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Enters the sleep mode.
+ * @details This function puts the CAN driver in sleep mode and broadcasts
+ * the @p sleep_event event source.
+ * @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must
+ * be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported
+ * by the low level driver.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ *
+ * @api
+ */
+void canSleep(CANDriver *canp) {
+
+ osalDbgCheck(canp != NULL);
+
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+ if (canp->state == CAN_READY) {
+ can_lld_sleep(canp);
+ canp->state = CAN_SLEEP;
+ osalEventBroadcastFlagsI(&canp->sleep_event, (eventflags_t)0);
+ osalOsRescheduleS();
+ }
+ osalSysUnlock();
+}
+
+/**
+ * @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) {
+
+ osalDbgCheck(canp != NULL);
+
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+ if (canp->state == CAN_SLEEP) {
+ can_lld_wakeup(canp);
+ canp->state = CAN_READY;
+ osalEventBroadcastFlagsI(&canp->wakeup_event, (eventflags_t)0);
+ osalOsRescheduleS();
+ }
+ osalSysUnlock();
+}
+#endif /* CAN_USE_SLEEP_MODE == TRUE */
+
+#endif /* HAL_USE_CAN == TRUE */
+
+/** @} */
|