/*
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.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);
#if !defined(CAN_ENFORCE_USE_CALLBACKS)
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
#else /* defined(CAN_ENFORCE_USE_CALLBACKS) */
canp->rxfull_cb = NULL;
canp->txempty_cb = NULL;
canp->error_cb = NULL;
#if CAN_USE_SLEEP_MODE == TRUE
canp->wakeup_cb = NULL;
#endif
#endif /* defined(CAN_ENFORCE_USE_CALLBACKS) */
}
/**
* @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->config = NULL;
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 canTransmitTimeout(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
sysinterval_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 canReceiveTimeout(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp,
sysinterval_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;
#if !defined(CAN_ENFORCE_USE_CALLBACKS)
osalEventBroadcastFlagsI(&canp->sleep_event, (eventflags_t)0);
osalOsRescheduleS();
#endif
}
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;
#if !defined(CAN_ENFORCE_USE_CALLBACKS)
osalEventBroadcastFlagsI(&canp->wakeup_event, (eventflags_t)0);
osalOsRescheduleS();
#endif
}
osalSysUnlock();
}
#endif /* CAN_USE_SLEEP_MODE == TRUE */
#endif /* HAL_USE_CAN == TRUE */
/** @} */