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/*
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 STM32/can_lld.h
* @brief STM32 CAN subsystem low level driver header.
* @addtogroup STM32_CAN
* @{
*/
#ifndef _CAN_LLD_H_
#define _CAN_LLD_H_
#if CH_HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*
* The following macros from the ST header file are replaced with better
* equivalents.
*/
#undef CAN_BTR_BRP
#undef CAN_BTR_TS1
#undef CAN_BTR_TS2
#undef CAN_BTR_SJW
/**
* @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 Minimum number of CAN filters.
*/
#if defined(STM32F10X_CL) || defined(__DOXYGEN__)
#define CAN_MAX_FILTERS 28
#else
#define CAN_MAX_FILTERS 14
#endif
#define CAN_BTR_BRP(n) (n) /**< @brief BRP field macro.*/
#define CAN_BTR_TS1(n) ((n) << 16) /**< @brief TS1 field macro.*/
#define CAN_BTR_TS2(n) ((n) << 20) /**< @brief TS2 field macro.*/
#define CAN_BTR_SJW(n) ((n) << 24) /**< @brief SJW field macro.*/
#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. */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @brief CAN1 driver enable switch.
* @details If set to @p TRUE the support for ADC1 is included.
* @note The default is @p TRUE.
*/
#if !defined(USE_STM32_CAN1) || defined(__DOXYGEN__)
#define USE_STM32_CAN1 TRUE
#endif
/**
* @brief CAN1 interrupt priority level setting.
*/
#if !defined(STM32_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_CAN1_IRQ_PRIORITY 11
#endif
/*===========================================================================*/
/* 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_FMI; /**< @brief Filter id. */
uint16_t cf_TIME; /**< @brief Time stamp. */
};
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 Refer to the STM32 reference manual for info about filters.
*/
typedef struct {
/**
* @brief Filter mode.
* @note This bit represent the CAN_FM1R register bit associated to this
* filter (0=mask mode, 1=list mode).
*/
uint32_t cf_mode:1;
/**
* @brief Filter sclae.
* @note This bit represent the CAN_FS1R register bit associated to this
* filter (0=16 bits mode, 1=32 bits mode).
*/
uint32_t cf_scale:1;
/**
* @brief Filter mode.
* @note This bit represent the CAN_FFA1R register bit associated to this
* filter, must be set to zero in this version of the driver.
*/
uint32_t cf_assignment:1;
/**
* @brief Filter register 1 (identifier).
*/
uint32_t cf_register1;
/**
* @brief Filter register 2 (mask/identifier depending on cf_mode=0/1).
*/
uint32_t cf_register2;
} CANFilter;
/**
* @brief Driver configuration structure.
*/
typedef struct {
/**
* @brief CAN MCR register initialization data.
* @note Some bits in this register are enforced by the driver regardless
* their status in this field.
*/
uint32_t cc_mcr;
/**
* @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 cc_btr;
/**
* @brief Number of elements into the filters array.
* @note By setting this field to zero a default filter is enabled that
* allows all frames, this should be adequate for simple applications.
*/
uint32_t cc_num;
/**
* @brief Pointer to an array of @p CANFilter structures.
* @note This field can be set to @p NULL if the field @p cc_num is set to
* zero.
*/
const CANFilter *cc_filters;
} CANConfig;
/**
* @brief Structure representing an CAN driver.
*/
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.*/
/**
* @brief Pointer to the CAN registers.
*/
CAN_TypeDef *cd_can;
} CANDriver;
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if USE_STM32_CAN1 && !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_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 /* CH_HAL_USE_CAN */
#endif /* _CAN_LLD_H_ */
/** @} */
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