diff options
Diffstat (limited to 'os')
| -rw-r--r-- | os/hal/platforms/LPC17xx/can_lld.c | 657 | ||||
| -rw-r--r-- | os/hal/platforms/LPC17xx/can_lld.h | 645 | ||||
| -rw-r--r-- | os/hal/platforms/LPC17xx/platform.mk | 3 |
3 files changed, 1304 insertions, 1 deletions
diff --git a/os/hal/platforms/LPC17xx/can_lld.c b/os/hal/platforms/LPC17xx/can_lld.c new file mode 100644 index 000000000..1e789d9b9 --- /dev/null +++ b/os/hal/platforms/LPC17xx/can_lld.c @@ -0,0 +1,657 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 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 LPC17xx/can_lld.c + * @brief LPC17xx CAN subsystem low level driver source. + * + * @addtogroup CAN + * @{ + */ + +/* + This file has been contributed by: + Marcin Jokel. +*/ + +#include "ch.h" +#include "hal.h" + +#if HAL_USE_CAN || defined(__DOXYGEN__) +/* TODO: FullCAN mode. */ +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief CAN1 driver identifier.*/ +#if LPC17xx_CAN_USE_CAN1 || defined(__DOXYGEN__) +CANDriver CAND1; +#endif + +/** @brief CAN2 driver identifier.*/ +#if LPC17xx_CAN_USE_CAN2 || defined(__DOXYGEN__) +CANDriver CAND2; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if LPC17xx_CAN_USE_FILTER +/** + * @brief Copy table to filter ram. + * + * @param[in] reg + * @param[in] ptable + * @param[in] addr_start + * @param[in] addr_end + * + * @notapi + */ + +static void can_lld_copy_table_to_ram(volatile uint32_t * reg, + const uint32_t * ptable, + uint32_t addr_start, + uint32_t addr_end) { + + uint32_t i; + + if (reg != NULL) { + *reg = ((addr_start * 4) << 2); + } + for (i = addr_start; i < addr_end; i++) { + LPC_CANAF_RAM->mask[i] = ptable[i]; + } +} + +/** + * @brief Programs the filters. + * + * @param[in] cfc pointer to the can filter configuration structure + * + * @notapi + */ +static void can_lld_set_filter( const CANFilterConfig *cfc) { + + uint32_t addr_start; + uint32_t addr_end; + + LPC_CANAF->AFMR = AFMR_ACC_OFF; /* Acceptance filter off mode. */ + + addr_start = cfc->fc_id_table_n; + + if (addr_start > 0) { + can_lld_copy_table_to_ram(NULL, cfc->fc_id_table, 0, addr_start); + } + + addr_start = cfc->fc_id_table_n; + addr_end = cfc->std_id_table_n; + + can_lld_copy_table_to_ram(&LPC_CANAF->SFF_sa, cfc->std_id_table, addr_start, addr_end); + + addr_start = addr_end; + addr_end += cfc->std_range_id_table_n; + + can_lld_copy_table_to_ram(&LPC_CANAF->SFF_GRP_sa, cfc->std_range_id_table, addr_start, addr_end); + + addr_start = addr_end; + addr_end += cfc->ext_id_table_n; + + can_lld_copy_table_to_ram(&LPC_CANAF->EFF_sa, cfc->ext_id_table, addr_start, addr_end); + + addr_start = addr_end; + addr_end += cfc->ext_range_id_table_n; + + can_lld_copy_table_to_ram(&LPC_CANAF->EFF_GRP_sa, cfc->ext_range_id_table, addr_start, addr_end); + + LPC_CANAF->ENDofTable = (addr_end * 4) << 2; + + LPC_CANAF->AFMR = cfc->afmr; +} +#endif + +/** + * @brief Common TX ISR handler. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @notapi + */ +static void can_lld_tx_handler(CANDriver *canp) { + + /* All transmit buffers are available.*/ + if (canp->can->GSR & CANGSR_TBS) { + chSysLockFromIsr(); + while (chSemGetCounterI(&canp->txsem) < 0) + chSemSignalI(&canp->txsem); + chEvtBroadcastFlagsI(&canp->txempty_event, CAN_MAILBOX_TO_MASK(1)); + chSysUnlockFromIsr(); + } +} + +/** + * @brief Common RX ISR handler. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] status + * @notapi + */ +static void can_lld_rx_handler(CANDriver *canp, uint32_t status) { + + /* No more receive events until the queue 0 has been emptied.*/ + canp->can->IER &= ~CANIER_RIE; + chSysLockFromIsr(); + while (chSemGetCounterI(&canp->rxsem) < 0) + chSemSignalI(&canp->rxsem); + chEvtBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1)); + chSysUnlockFromIsr(); + + if (( status & CANICR_DOI) > 0) { + /* Overflow events handling.*/ + canp->can->CMR = CANCMR_CDO; + chSysLockFromIsr(); + chEvtBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR); + chSysUnlockFromIsr(); + } +} + +/** + * @brief Error ISR handler. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] flags + * + * @notapi + */ +static void can_lld_error_handler(CANDriver *canp, uint32_t status) { + + uint32_t flags; + + /* Error event.*/ + /* The high 16-bits of the ICR register (error codes for bus error) + is copied unchanged in the upper half word of the listener flags mask.*/ + flags = status & 0xFFFF0000; + if (status & CANICR_EI) + flags |= CAN_WARNING_ERROR; + if (status & CANICR_EPI) + flags |= CAN_PASSIVE_ERROR; + if (status & CANICR_BEI) + flags |= CAN_BUS_ERROR; + + chSysLockFromIsr(); + chEvtBroadcastFlagsI(&canp->error_event, flags); + chSysUnlockFromIsr(); +} + + +#if CAN_USE_SLEEP_MODE +/** + * @brief Wake up ISR handler. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @notapi + */ +static void can_lld_wakeup_handler(CANDriver *canp) { + + /* Wakeup event.*/ + canp->state = CAN_READY; + can_lld_wakeup(canp); + chSysLockFromIsr(); + chEvtBroadcastI(&canp->wakeup_event); + chSysUnlockFromIsr(); + +} +#endif /* CAN_USE_SLEEP_MODE */ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if LPC17xx_CAN_USE_CAN1 || LPC17xx_CAN_USE_CAN2 ||defined(__DOXYGEN__) +/** + * @brief CAN Common, CAN 1 Tx, CAN 1 Rx, CAN 2 Tx, CAN 2 Rx. + * + * @isr + */ +CH_IRQ_HANDLER(VectorA4) { + +#if LPC17xx_CAN_USE_CAN1 + volatile uint32_t can1_status; +#endif +#if LPC17xx_CAN_USE_CAN2 + volatile uint32_t can2_status; +#endif + + CH_IRQ_PROLOGUE(); + +#if LPC17xx_CAN_USE_CAN1 + can1_status = LPC_CAN1->ICR; +#endif +#if LPC17xx_CAN_USE_CAN2 + can2_status = LPC_CAN2->ICR; +#endif + +#if LPC17xx_CAN_USE_CAN1 + if (can1_status & 0x000007FF) { + + if (can1_status & (CANICR_EI | CANICR_EPI | CANICR_BEI)) { + can_lld_error_handler(&CAND1, can1_status); + } + + if (can1_status & (CANICR_RI | CANICR_DOI)) { + can_lld_rx_handler(&CAND1, can1_status); + } + + if (can1_status & (CANICR_TI1 | CANICR_TI2 | CANICR_TI3)){ + can_lld_tx_handler(&CAND1); + } + } +#endif + +#if LPC17xx_CAN_USE_CAN2 + if (can2_status & 0x000007FF) { + + if (can2_status & CANICR_EI) { + can_lld_error_handler(&CAND2, can2_status); + } + + if (can2_status & (CANICR_RI | CANICR_DOI)) { + can_lld_rx_handler(&CAND2, can2_status); + } + + if (can2_status & (CANICR_TI1 | CANICR_TI2 | CANICR_TI3)){ + can_lld_tx_handler(&CAND2); + } + } +#endif + CH_IRQ_EPILOGUE(); +} + +#if CAN_USE_SLEEP_MODE +/** + * @brief CAN Common, CAN 1 Tx, CAN 1 Rx, CAN 2 Tx, CAN 2 Rx. + * + * @isr + */ +CH_IRQ_HANDLER(VectorC8) { + +#if LPC17xx_CAN_USE_CAN1 + uint32_t can1_status; +#endif +#if LPC17xx_CAN_USE_CAN2 + uint32_t can2_status; +#endif + + CH_IRQ_PROLOGUE(); + +#if LPC17xx_CAN_USE_CAN1 + can1_status = LPC_CAN1->ICR; +#endif +#if LPC17xx_CAN_USE_CAN2 + can2_status = LPC_CAN2->ICR; +#endif + +#if LPC17xx_CAN_USE_CAN1 + if (can1_status & CANICR_WUI) { + can_lld_wakeup_handler(&CAND1); + } +#endif + +#if LPC17xx_CAN_USE_CAN2 + if (can2_status & CANICR_WUI) { + can_lld_wakeup_handler(&CAND2); + } +#endif + + CH_IRQ_EPILOGUE(); +} +#endif /* CAN_USE_SLEEP_MODE */ + +#endif /* LPC17xx_CAN_USE_CAN1 || LPC17xx_CAN_USE_CAN2 */ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level CAN driver initialization. + * + * @notapi + */ +void can_lld_init(void) { + +#if LPC17xx_CAN_USE_CAN1 + /* Driver initialization.*/ + canObjectInit(&CAND1); + CAND1.can = LPC_CAN1; +#endif +#if LPC17xx_CAN_USE_CAN2 + /* Driver initialization.*/ + canObjectInit(&CAND2); + CAND2.can = LPC_CAN2; +#endif + +} + +/** + * @brief Configures and activates the CAN peripheral. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @notapi + */ +void can_lld_start(CANDriver *canp) { + +#if LPC17xx_CAN_USE_CAN1 + if (&CAND1 == canp) { + LPC_SC->PCONP |= (1UL << 13); + } +#endif +#if LPC17xx_CAN_USE_CAN2 + if (&CAND2 == canp) { + LPC_SC->PCONP |= (1UL << 14); + } +#endif + + canp->can->MOD = CANMOD_RM; /* Reset mode. */ + +#if !LPC17xx_CAN_USE_FILTER + LPC_CANAF->AFMR = AFMR_ACC_BP; /* Bypass can filter. */ +#endif + + /* Entering initialization mode. */ + canp->state = CAN_STARTING; + + canp->can->BTR = canp->config->btr; /* BTR initialization.*/ + canp->can->CMR = CANCMR_RRB; + + /* Interrupt sources initialization.*/ + canp->can->IER = CANIER_TIE3 | CANIER_TIE2 | CANIER_BEIE | + CANIER_EPIE | CANIER_DOIE | CANIER_EIE | + CANIER_TIE1 | CANIER_RIE; + +#if CAN_USE_SLEEP_MODE + canp->can->IER |= CANIER_WUIE; + nvicEnableVector(CANActivity_IRQn, + CORTEX_PRIORITY_MASK(LPC17xx_CAN_IRQ_PRIORITY)); +#endif /* CAN_USE_SLEEP_MODE */ + + canp->can->MOD = canp->config->mod; /* Operating mode. */ + + nvicEnableVector(CAN_IRQn, + CORTEX_PRIORITY_MASK(LPC17xx_CAN_IRQ_PRIORITY)); +} + +/** + * @brief Deactivates the CAN peripheral. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @notapi + */ +void can_lld_stop(CANDriver *canp) { + + /* If in ready state then disables the CAN peripheral.*/ + if (canp->state == CAN_READY) { + + canp->can->MOD = CANMOD_RM; /* Reset mode. */ + canp->can->IER = 0; +#if (LPC17xx_CAN_USE_CAN1 && LPC17xx_CAN_USE_CAN2) == 0 + nvicDisableVector(CAN_IRQn); /* Interrupt disabled only if one CAN is in use. */ +#endif + +#if LPC17xx_CAN_USE_CAN1 + if (&CAND1 == canp) { + LPC_SC->PCONP &= ~(1UL << 13); + } +#endif +#if LPC17xx_CAN_USE_CAN2 + if (&CAND2 == canp) { + LPC_SC->PCONP &= ~(1UL << 14); + } +#endif + +#if CAN_USE_SLEEP_MODE + nvicDisableVector(CANActivity_IRQn); +#endif /* CAN_USE_SLEEP_MODE */ + } +} + +/** + * @brief Determines whether a frame can be transmitted. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox + * + * @return The queue space availability. + * @retval FALSE no space in the transmit queue. + * @retval TRUE transmit slot available. + * + * @notapi + */ +bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) { + + switch (mailbox) { + case CAN_ANY_MAILBOX: + return ((canp->can->SR & (CANSR_TBS1 | CANSR_TBS2 | CANSR_TBS3)) != 0); + case 1: + return (canp->can->SR & CANSR_TBS1) != 0; + case 2: + return (canp->can->SR & CANSR_TBS2) != 0; + case 3: + return (canp->can->SR & CANSR_TBS3) != 0; + default: + return FALSE; + } +} + +/** + * @brief Inserts a frame into the transmit queue. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] ctfp pointer to the CAN frame to be transmitted + * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox + * + * @notapi + */ +void can_lld_transmit(CANDriver *canp, + canmbx_t mailbox, + const CANTxFrame *ctfp) { + volatile uint32_t * tfi; + uint32_t tbs_n; + uint32_t sr; + + tbs_n = mailbox; + + if (mailbox == CAN_ANY_MAILBOX) { + sr = canp->can->SR; + if (sr & CANSR_TBS1) { + tbs_n = 1; + } + else if (sr & CANSR_TBS2) { + tbs_n = 2; + } + else if (sr & CANSR_TBS3) { + tbs_n = 3; + } + else { + return; + } + } + + /* Pointer to a free transmission mailbox.*/ + switch (tbs_n) { + case 1: + tfi = &canp->can->TFI1; + break; + case 2: + tfi = &canp->can->TFI2; + break; + case 3: + tfi = &canp->can->TFI3; + break; + default: + return; + } + + /* Preparing the message.*/ + * tfi = ((uint32_t)ctfp->IDE << 31) | ((uint32_t)ctfp->RTR << 30) | + (((uint32_t)ctfp->DLC) << 16); /* CAN Transmit Frame Information Register. */ + if (ctfp->IDE) + *(tfi + 1) = ctfp->EID; /* CAN Transmit Identifier register 29-bit. */ + else + *(tfi + 1) = ctfp->SID; /* CAN Transmit Identifier register 11-bit. */ + + *(tfi + 2) = ctfp->data32[0]; /* CAN Transmit Data Register A. */ + *(tfi + 3) = ctfp->data32[1]; /* CAN Transmit Data Register B. */ + +#if LPC17xx_CAN_USE_LOCAL_SELF_TEST + canp->can->CMR = (1UL << (4 + tbs_n)) | CANCMR_SRR; +#else + canp->can->CMR = (1UL << (4 + tbs_n)) | CANCMR_TR; +#endif +} + +/** + * @brief Determines whether a frame has been received. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox + * + * @return The queue space availability. + * @retval FALSE no space in the transmit queue. + * @retval TRUE transmit slot available. + * + * @notapi + */ +bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) { + + switch (mailbox) { + case CAN_ANY_MAILBOX: + case 1: + return ((canp->can->GSR & CANGSR_RBS) != 0); + default: + return FALSE; + } +} + +/** + * @brief Receives a frame from the input queue. + * + * @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 + * + * @notapi + */ +void can_lld_receive(CANDriver *canp, + canmbx_t mailbox, + CANRxFrame *crfp) { + uint32_t rfs, rid; + + switch (mailbox) { + case CAN_ANY_MAILBOX: + case 1: + /* Fetches the message.*/ + rfs = canp->can->RFS; + rid = canp->can->RID; + crfp->data32[0] = canp->can->RDA; + crfp->data32[1] = canp->can->RDB; + + /* Releases the mailbox.*/ + canp->can->CMR = CANCMR_RRB; + + /* Re-enables the interrupt in order to generate + events again. */ + canp->can->IER |= CANIER_RIE; + break; + default: + /* Should not happen, do nothing.*/ + return; + } + + /* Decodes the various fields in the RX frame.*/ + crfp->RTR = (rfs & CANRFS_RTR) >> 30; + crfp->IDE = (rfs & CANRFS_FF) >> 31; + if (crfp->IDE) { + crfp->EID = rid; + } + else { + crfp->SID = rid; + } + crfp->DLC = (rfs & CANRFS_DLC) >> 16; + crfp->IDF = (uint16_t)(rfs & CANRFS_ID); +} + +#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__) +/** + * @brief Enters the sleep mode. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @notapi + */ +void can_lld_sleep(CANDriver *canp) { + + canp->can->MOD |= CANMOD_SM; +} + +/** + * @brief Enforces leaving the sleep mode. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @notapi + */ +void can_lld_wakeup(CANDriver *canp) { + + uint32_t reg_val; + +#if LPC17xx_CAN_USE_CAN1 + if (&CAND1 == canp) { + reg_val = (1UL << 1); + } +#endif +#if LPC17xx_CAN_USE_CAN2 + if (&CAND2 == canp) { + reg_val = (1UL << 2); + } +#endif + + LPC_SC->CANSLEEPCLR = reg_val; + canp->can->MOD &= ~CANMOD_SM; + LPC_SC->CANWAKEFLAGS = reg_val; +} +#endif /* CAN_USE_SLEEP_MODE */ + +#if LPC17xx_CAN_USE_FILTER +void canSetFilter(const CANFilterConfig *cfc) { + can_lld_set_filter(cfc); +} +#endif + +#endif /* HAL_USE_CAN */ + +/** @} */ diff --git a/os/hal/platforms/LPC17xx/can_lld.h b/os/hal/platforms/LPC17xx/can_lld.h new file mode 100644 index 000000000..2443eba60 --- /dev/null +++ b/os/hal/platforms/LPC17xx/can_lld.h @@ -0,0 +1,645 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 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 LPC17xx/can_lld.h + * @brief LPC17xx CAN subsystem low level driver header. + * + * @addtogroup CAN + * @{ + */ + +/* + This file has been contributed by: + Marcin Jokel. +*/ + +#ifndef _CAN_LLD_H_ +#define _CAN_LLD_H_ + +#if HAL_USE_CAN || defined(__DOXYGEN__) +/* TODO: FullCAN mode. */ +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/* + * CAN Mode register bits. + */ +#define CANMOD_RM (1UL << 0) +#define CANMOD_LOM (1UL << 1) +#define CANMOD_STM (1UL << 2) +#define CANMOD_TPM (1UL << 3) +#define CANMOD_SM (1UL << 4) +#define CANMOD_RPM (1UL << 5) +#define CANMOD_TM (1UL << 7) + +/* + * CAN Command register bits. + */ +#define CANCMR_TR (1UL << 0) +#define CANCMR_AT (1UL << 1) +#define CANCMR_RRB (1UL << 2) +#define CANCMR_CDO (1UL << 3) +#define CANCMR_SRR (1UL << 4) +#define CANCMR_STB1 (1UL << 5) +#define CANCMR_STB2 (1UL << 6) +#define CANCMR_STB3 (1UL << 7) + +/* + * CAN Global Status register bits. + */ +#define CANGSR_RBS (1UL << 0) +#define CANGSR_DOS (1UL << 1) +#define CANGSR_TBS (1UL << 2) +#define CANGSR_TCS (1UL << 3) +#define CANGSR_RS (1UL << 4) +#define CANGSR_TS (1UL << 5) +#define CANGSR_ES (1UL << 6) +#define CANGSR_BS (1UL << 7) +#define CANGSR_RXERR 0x00FF0000 +#define CANGSR_TXERR 0xFF000000 + +/* + * CAN Interrupt and Capture register bits. + */ +#define CANICR_RI (1UL << 0) +#define CANICR_TI1 (1UL << 1) +#define CANICR_EI (1UL << 2) +#define CANICR_DOI (1UL << 3) +#define CANICR_WUI (1UL << 4) +#define CANICR_EPI (1UL << 5) +#define CANICR_ALI (1UL << 6) +#define CANICR_BEI (1UL << 7) +#define CANICR_IDI (1UL << 8) +#define CANICR_TI2 (1UL << 9) +#define CANICR_TI3 (1UL << 10) +#define CANICR_ERRBIT 0x001F0000 +#define CANICR_ERRBIT_SOF 0x00030000 +#define CANICR_ERRBIT_ID28_ID21 0x00020000 +#define CANICR_ERRBIT_ID20_ID18 0x00060000 +#define CANICR_ERRBIT_SRTR 0x00040000 +#define CANICR_ERRBIT_IDE 0x00050000 +#define CANICR_ERRBIT_ID17_ID13 0x00070000 +#define CANICR_ERRBIT_ID12_ID5 0x000F0000 +#define CANICR_ERRBIT_ID4_ID0 0x000E0000 +#define CANICR_ERRBIT_RTR 0x000C0000 +#define CANICR_ERRBIT_RES_BIT1 0x000D0000 +#define CANICR_ERRBIT_RES_BIT0 0x00090000 +#define CANICR_ERRBIT_DATA_LEN_CODE 0x000B0000 +#define CANICR_ERRBIT_DATA_FIELD 0x000A0000 +#define CANICR_ERRBIT_CRC_SEQ 0x00080000 +#define CANICR_ERRBIT_CRC_DEL 0x00180000 +#define CANICR_ERRBIT_ACK_SLOT 0x00190000 +#define CANICR_ERRBIT_ACK_DEL 0x001B0000 +#define CANICR_ERRBIT_EOF 0x001A0000 +#define CANICR_ERRBIT_INTERMISSION 0x00120000 +#define CANICR_ERRBIT_ACTIVE_ERROR 0x00110000 +#define CANICR_ERRBIT_PASSIVE_ERROR 0x00160000 +#define CANICR_ERRBIT_TOL_DOM_BITS 0x00130000 +#define CANICR_ERRBIT_ERROR_DEL 0x00170000 +#define CANICR_ERRBIT_OVERLOAD 0x001C0000 +#define CANICR_ERRDIR (1UL << 21) +#define CANICR_ERRC (3UL << 22) +#define CANICR_ERRC_BIT_ERR (0UL << 22) +#define CANICR_ERRC_FORM_ERR (1UL << 22) +#define CANICR_ERRC_STUFF_ERR (2UL << 22) +#define CANICR_ERRC_OTHER_ERR (3UL << 22) +#define CANICR_ALCBIT 0xFF000000 + +/* + * CAN Interrupt Enable register bits. + */ +#define CANIER_RIE (1UL << 0) +#define CANIER_TIE1 (1UL << 1) +#define CANIER_EIE (1UL << 2) +#define CANIER_DOIE (1UL << 3) +#define CANIER_WUIE (1UL << 4) +#define CANIER_EPIE (1UL << 5) +#define CANIER_ALIE (1UL << 6) +#define CANIER_BEIE (1UL << 7) +#define CANIER_IDIE (1UL << 8) +#define CANIER_TIE2 (1UL << 9) +#define CANIER_TIE3 (1UL << 10) + +/* + * CAN Bus Timing register bits. + */ +#define CANBTR_BRP(t) ((t) << 0) +#define CANBTR_SJW(t) ((t) << 14) +#define CANBTR_TESG1(t) ((t) << 16) +#define CANBTR_TESG2(t) ((t) << 20) +#define CANBTR_SAM (1UL << 23) + +/* + * CAN Status register bits. + */ +#define CANSR_RBS (1UL << 0) +#define CANSR_DOS (1UL << 1) +#define CANSR_TBS1 (1UL << 2) +#define CANSR_TCS1 (1UL << 3) +#define CANSR_RS (1UL << 4) +#define CANSR_TS1 (1UL << 5) +#define CANSR_ES (1UL << 6) +#define CANSR_BS (1UL << 7) +#define CANSR_TBS2 (1UL << 10) +#define CANSR_TCS2 (1UL << 11) +#define CANSR_TS2 (1UL << 13) +#define CANSR_TBS3 (1UL << 18) +#define CANSR_TCS3 (1UL << 19) +#define CANSR_TS3 (1UL << 21) + +/* + * CAN Receive Frame Status register bits. + */ +#define CANRFS_ID 0x000001FF +#define CANRFS_BP (1UL << 10) +#define CANRFS_DLC 0x000F0000 +#define CANRFS_RTR (1UL << 30) +#define CANRFS_FF (1UL << 31) + +/* + * CAN Transmit Frame Information register bits. + */ +#define CANTFI_PRIO(p) ((p) << 0) +#define CANTFI_DLC(l) ((l) << 16) +#define CANTFI_RTR (1UL << 30) +#define CANTFI_FF (1UL << 31) + +/* + * CAN Sleep Clear register bits. + */ +#define CANSLEEPCLR_CAN1SLEEP (1UL << 1) +#define CANSLEEPCLR_CAN2SLEEP (1UL << 2) + +/* + * CAN Wake-up Flags register bits. + */ +#define CANWAKEFLAGS_CAN1WAKE (1UL << 1) +#define CANWAKEFLAGS_CAN2WAKE (1UL << 2) + +/* + * Central Transmit Status register bits. + */ +#define CANTSR_TS1 (1UL << 0) +#define CANTSR_TS2 (1UL << 1) +#define CANTSR_TBS1 (1UL << 8) +#define CANTSR_TBS2 (1UL << 9) +#define CANTSR_TCS1 (1UL << 16) +#define CANTSR_TCS2 (1UL << 17) + +/* + * Central Receive Status register bits. + */ +#define CANRSR_RS1 (1UL << 0) +#define CANRSR_RS2 (1UL << 1) +#define CANRSR_RB1 (1UL << 8) +#define CANRSR_RB2 (1UL << 9) +#define CANRSR_DOS1 (1UL << 16) +#define CANRSR_DOS2 (1UL << 17) + +/* + * Central Miscellaneous Status register bits. + */ +#define CANMSR_E1 (1UL << 0) +#define CANMSR_E2 (1UL << 1) +#define CANMSR_BS1 (1UL << 8) +#define CANMSR_BS2 (1UL << 9) + +/* + * Acceptance Filter Mode register bits. + */ +#define AFMR_ACC_OFF (1UL << 0) +#define AFMR_ACC_BP (1UL << 1) +#define AFMR_E_FCAN (1UL << 2) + +/** + * @brief This switch defines whether the driver implementation supports + * a low power switch mode with automatic an wakeup feature. + */ +#define CAN_SUPPORTS_SLEEP TRUE + +/** + * @brief This implementation supports three transmit mailboxes. + */ +#define CAN_TX_MAILBOXES 3 + +/** + * @brief This implementation supports two receive mailboxes. + */ +#define CAN_RX_MAILBOXES 1 + +/** @} */ + +/** + * @name CAN registers helper macros + * @{ + */ +#define CAN_IDE_STD 0 /**< @brief Standard id. */ +#define CAN_IDE_EXT 1 /**< @brief Extended id. */ + +#define CAN_RTR_DATA 0 /**< @brief Data frame. */ +#define CAN_RTR_REMOTE 1 /**< @brief Remote frame. */ + +#undef CAN_LIMIT_WARNING +#undef CAN_LIMIT_ERROR +#undef CAN_BUS_OFF_ERROR +#undef CAN_FRAMING_ERROR + +#define CAN_WARNING_ERROR 1 +#define CAN_PASSIVE_ERROR 2 +#define CAN_BUS_ERROR 4 + +/** + * @brief CAN filter fullCAN (standard identifier) type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterFCEntry(ctrl_i1, dis_i1, id_i1, ctrl_i2, dis_i2, id_i2) \ + ((((uint32_t)ctrl_i1) << 29) | (((uint32_t)dis_i1) << 28) | (((uint32_t)id_i1) << 16) | \ + (((uint32_t)ctrl_i2) << 13) | (((uint32_t)dis_i2) << 12) | ((uint32_t)(id_i2))) + +/** + * @brief CAN filter standard identifier type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterStdEntry(ctrl_i1, dis_i1, id_i1, ctrl_i2, dis_i2, id_i2) \ + ((((uint32_t)ctrl_i1) << 29) | (((uint32_t)dis_i1) << 28) | (((uint32_t)id_i1) << 16) | \ + (((uint32_t)ctrl_i2) << 13) | (((uint32_t)dis_i2) << 12) | ((uint32_t)(id_i2))) +/** + * @brief CAN filter extended identifier range type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterStdRangeEntry(ctrl_low, dis_low, id_low, ctrl_high, dis_high, id_high) \ + ((((uint32_t)ctrl_low) << 29) | (((uint32_t)dis_low) << 28) | (((uint32_t)id_low) << 16) | \ + (((uint32_t)ctrl_up) << 13) | (((uint32_t)dis_up) << 12) | ((uint32_t)(id_up))) + +/** + * @brief CAN filter extended identifier type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterExtEntry(ctrl, id) \ + ((((uint32_t)ctrl) << 29) | ((uint32_t)(id))) + +/** + * @brief CAN filter extended range identifier type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterExtRangeEntry(ctrl, id) \ + ((((uint32_t)ctrl) << 29) | ((uint32_t)(id))) +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief CAN1 driver enable switch. + * @details If set to @p TRUE the support for CAN1 is included. + */ +#if !defined(LPC17xx_CAN_USE_CAN1) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_CAN1 FALSE +#endif + +/** + * @brief CAN2 driver enable switch. + * @details If set to @p TRUE the support for CAN2 is included. + */ +#if !defined(LPC17xx_CAN_USE_CAN2) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_CAN2 FALSE +#endif + +/** + * @brief CAN1 and CAN2 interrupt priority level setting. + */ +#if !defined(LPC17xx_CAN_IRQ_PRIORITY) || defined(__DOXYGEN__) +#define LPC17xx_CAN_IRQ_PRIORITY 11 +#endif +/** @} */ + +/** + * @brief CAN1 and CAN2 local self test enable. + */ +#if !defined(LPC17xx_CAN_USE_LOCAL_SELF_TEST) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_LOCAL_SELF_TEST FALSE +#endif +/** @} */ + +/** + * @brief CAN1 and CAN2 acceptance filter enable. + */ +#if !defined(LPC17xx_CAN_USE_FILTER) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_FILTER FALSE +#endif +/** @} */ + +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if LPC17xx_CAN_USE_CAN1 && !LPC17xx_HAS_CAN1 +#error "CAN1 not present in the selected device" +#endif + +#if LPC17xx_CAN_USE_CAN2 && !LPC17xx_HAS_CAN2 +#error "CAN2 not present in the selected device" +#endif + +#if !LPC17xx_CAN_USE_CAN1 && !LPC17xx_CAN_USE_CAN2 +#error "CAN driver activated but no CAN peripheral assigned" +#endif + +#if !LPC17xx_CAN_USE_CAN1 && LPC17xx_CAN_USE_CAN2 +#error "CAN2 requires CAN1, it cannot operate independently" +#endif + +#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP +#error "CAN sleep mode not supported in this architecture" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a transmission mailbox index. + */ +typedef uint32_t canmbx_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 DLC:4; /**< @brief Data length. */ + uint8_t RTR:1; /**< @brief Frame type. */ + uint8_t IDE:1; /**< @brief Identifier type. */ + }; + union { + struct { + uint32_t SID:11; /**< @brief Standard identifier.*/ + }; + struct { + uint32_t EID:29; /**< @brief Extended identifier.*/ + }; + }; + 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 { + struct { + uint16_t IDF:10; /**< @brief Filter id. */ + }; + struct { + uint8_t DLC:4; /**< @brief Data length. */ + uint8_t RTR:1; /**< @brief Frame type. */ + uint8_t IDE:1; /**< @brief Identifier type. */ + }; + union { + struct { + uint32_t SID:11; /**< @brief Standard identifier.*/ + }; + struct { + uint32_t EID:29; /**< @brief Extended identifier.*/ + }; + }; + union { + uint8_t data8[8]; /**< @brief Frame data. */ + uint16_t data16[4]; /**< @brief Frame data. */ + uint32_t data32[2]; /**< @brief Frame data. */ + }; +} CANRxFrame; + +/** + * @brief CAN filter standard identifier type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterStd; + +/** + * @brief CAN filter standard identifier range type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterStdRange; + +/** + * @brief CAN filter extended identifier range type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterExt; + +/** + * @brief CAN filter extended range identifier type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterExtRange; + +/** + * @brief CAN filter configuration structure. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef struct { + /** + * @brief Acceptance filter mode register. + */ + uint32_t afmr; + /** + * @brief FullCAN (standard identifier) table. + */ + CANFilterStd *fc_id_table; + /** + * @brief Number of positions in fullCAN (standard identifier) table. + */ + uint32_t fc_id_table_n; + /** + * @brief Standard identifier table. + */ + CANFilterStd *std_id_table; + /** + * @brief Number of positions in standard identifier table. + */ + uint32_t std_id_table_n; + /** + * @brief Standard range identifier table. + */ + CANFilterStdRange *std_range_id_table; + /** + * @brief Number of positions in standard range identifier table. + */ + uint32_t std_range_id_table_n; + /** + * @brief Extended identifier table. + */ + CANFilterExt *ext_id_table; + /** + * @brief Number of positions in extended identifier table. + */ + uint32_t ext_id_table_n; + /** + * @brief Extended range identifier table. + */ + CANFilterExtRange *ext_range_id_table; + /** + * @brief Number of positions in extended range identifier table. + */ + uint32_t ext_range_id_table_n; +} CANFilterConfig; + +/** + * @brief Driver configuration structure. + */ +typedef struct { + /** + * @brief CAN MOD register initialization data. + * @note Some bits in this register are enforced by the driver regardless + * their status in this field. + */ + uint32_t mod; + /** + * @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 btr; +} CANConfig; + +/** + * @brief Structure representing an CAN driver. + */ +typedef struct { + /** + * @brief Driver state. + */ + canstate_t state; + /** + * @brief Current configuration data. + */ + const CANConfig *config; + /** + * @brief Transmission queue semaphore. + */ + Semaphore txsem; + /** + * @brief Receive queue semaphore. + */ + Semaphore 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. + * @note The flags associated to the listeners will indicate which + * receive mailboxes become non-empty. + */ + EventSource rxfull_event; + /** + * @brief One or more transmission mailbox become available. + * @note The flags associated to the listeners will indicate which + * transmit mailboxes become empty. + * + */ + EventSource txempty_event; + /** + * @brief A CAN bus error happened. + * @note The flags associated to the listeners will indicate the + * error(s) that have occurred. + */ + EventSource error_event; +#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__) + /** + * @brief Entering sleep state event. + */ + EventSource sleep_event; + /** + * @brief Exiting sleep state event. + */ + EventSource wakeup_event; +#endif /* CAN_USE_SLEEP_MODE */ + /* End of the mandatory fields.*/ + /** + * @brief Pointer to the CAN registers. + */ + LPC_CAN_TypeDef *can; +} CANDriver; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if LPC17xx_CAN_USE_CAN1 && !defined(__DOXYGEN__) +extern CANDriver CAND1; +#endif + +#if LPC17xx_CAN_USE_CAN2 && !defined(__DOXYGEN__) +extern CANDriver CAND2; +#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_is_tx_empty(CANDriver *canp, + canmbx_t mailbox); + void can_lld_transmit(CANDriver *canp, + canmbx_t mailbox, + const CANTxFrame *crfp); + bool_t can_lld_is_rx_nonempty(CANDriver *canp, + canmbx_t mailbox); + void can_lld_receive(CANDriver *canp, + canmbx_t mailbox, + CANRxFrame *ctfp); +#if CAN_USE_SLEEP_MODE + void can_lld_sleep(CANDriver *canp); + void can_lld_wakeup(CANDriver *canp); +#endif /* CAN_USE_SLEEP_MODE */ +#if LPC17xx_CAN_USE_FILTER + void canSetFilter(const CANFilterConfig *cfc); +#endif /* LPC17xx_CAN_USE_FILTER */ +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_CAN */ + +#endif /* _CAN_LLD_H_ */ + +/** @} */ diff --git a/os/hal/platforms/LPC17xx/platform.mk b/os/hal/platforms/LPC17xx/platform.mk index 9e5f855de..71a87ac76 100644 --- a/os/hal/platforms/LPC17xx/platform.mk +++ b/os/hal/platforms/LPC17xx/platform.mk @@ -9,7 +9,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/LPC17xx/hal_lld.c \ ${CHIBIOS}/os/hal/platforms/LPC17xx/i2c_lld.c \ ${CHIBIOS}/os/hal/platforms/LPC17xx/spi_lld.c \ ${CHIBIOS}/os/hal/platforms/LPC17xx/dac_lld.c \ - ${CHIBIOS}/os/hal/platforms/LPC17xx/mac_lld.c + ${CHIBIOS}/os/hal/platforms/LPC17xx/mac_lld.c \ + ${CHIBIOS}/os/hal/platforms/LPC17xx/can_lld.c # Required include directories |