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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13385 27425a3e-05d8-49a3-a47f-9c15f0e5edd8

This commit is contained in:
Giovanni Di Sirio 2020-03-02 05:20:18 +00:00
parent 4f13762570
commit 80959d544f
3 changed files with 1441 additions and 0 deletions
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9
os/hal/ports/STM32/LLD/FDCANv1/driver.mk Normal file
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ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_CAN TRUE,$(HALCONF)),)
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
endif
else
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
endif
PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/CANv1

1019
os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c Normal file
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os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h Normal file
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/*
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 FDCANv1/hal_can_lld.h
* @brief STM32 CAN subsystem low level driver header.
*
* @addtogroup CAN
* @{
*/
#ifndef HAL_CAN_LLD_H
#define HAL_CAN_LLD_H
#if HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief Maximum number of bytes in data of CAN packets.
*/
#define CAN_MAX_DLC_BYTES 64
/**
* @brief Number of transmit mailboxes.
*/
#define CAN_TX_MAILBOXES 1
/**
* @brief Number of receive mailboxes.
*/
#define CAN_RX_MAILBOXES 2
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief CAN1 driver enable switch.
* @details If set to @p TRUE the support for FDCAN1 is included.
*/
#if !defined(STM32_CAN_USE_FDCAN1) || defined(__DOXYGEN__)
#define STM32_CAN_USE_FDCAN1 FALSE
#endif
/**
* @brief CAN2 driver enable switch.
* @details If set to @p TRUE the support for FDCAN2 is included.
*/
#if !defined(STM32_CAN_USE_FDCAN2) || defined(__DOXYGEN__)
#define STM32_CAN_USE_FDCAN2 FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !defined(STM32_HAS_FDCAN1)
#error "STM32_HAS_FDCAN1 not defined in registry"
#endif
#if !defined(STM32_HAS_FDCAN2)
#error "STM32_HAS_FDCAN2 not defined in registry"
#endif
#if STM32_CAN_USE_FDCAN1 && !STM32_HAS_FDCAN1
#error "FDCAN1 not present in the selected device"
#endif
#if STM32_CAN_USE_FDCAN2 && !STM32_HAS_FDCAN2
#error "FDCAN2 not present in the selected device"
#endif
#if !STM32_CAN_USE_FDCAN1 && !STM32_CAN_USE_FDCAN2
#error "CAN driver activated but no FDCAN peripheral assigned"
#endif
/*===========================================================================*/
/* 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 (CAN_ENFORCE_USE_CALLBACKS == TRUE) || 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 {
/**
* @brief Frame header.
*/
union {
struct {
union {
uint32_t EID:29; /**< @brief Extended identifier. */
struct {
uint32_t _R1:18; /**< @brief Reserved for offset. */
uint32_t SID:11; /**< @brief Standard identifier. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
};
};
uint32_t _R2:16;
uint32_t DLC:4; /**< @brief Data length code. */
uint32_t BPS:1; /**< @brief Accepted non-matching
frame. */
uint32_t FDF:1; /**< @brief FDCAN frame format. */
uint32_t _R3:1;
uint32_t EFC:1; /**< @brief Event FIFO control. */
uint32_t MM:8; /**< @brief Message event marker. */
};
uint32_t header32[2];
};
/**
* @brief Frame data.
*/
union {
uint8_t data8[CAN_MAX_DLC_BYTES];
uint16_t data16[CAN_MAX_DLC_BYTES / 2];
uint32_t data32[CAN_MAX_DLC_BYTES / 4];
};
} 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 {
/**
* @brief Frame header.
*/
struct {
union {
uint32_t EID:29; /**< @brief Extended Identifier. */
struct {
uint32_t _R1:18;
uint32_t SID:11; /**< @brief Standard identifier. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
};
};
uint16_t RXTS:16; /**< @brief TX time stamp. */
uint8_t DLC:4; /**< @brief Data length code. */
uint8_t BRS:1; /**< @brief Bit rate switch. */
uint8_t FDF:1; /**< @brief FDCAN frame format. */
uint8_t _R2:2;
uint8_t FIDX:7; /**< @brief Filter index. */
uint8_t ANMF:1; /**< @brief Accepted non-matching
frame. */
};
uint32_t header32[2];
/**
* @brief Frame data.
*/
union {
uint8_t data8[CAN_MAX_DLC_BYTES];
uint16_t data16[CAN_MAX_DLC_BYTES / 2];
uint32_t data32[CAN_MAX_DLC_BYTES / 4];
};
} CANRxFrame;
/**
* @brief CAN standard filter.
* @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 {
union {
struct {
uint16_t SFID2:11;
uint8_t _R1:5;
uint16_t SFID1:11;
uint8_t SFEC:3;
uint8_t SFT:2;
};
union {
uint32_t data32;
uint16_t data16[2];
uint8_t data8[4];
};
};
} CANRxStandardFilter;
/**
* @brief CAN extended filter.
* @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 {
union {
struct {
uint32_t EFID1:29;
uint8_t EFEC:3;
uint32_t EFID2:29;
uint8_t _R1:1;
uint8_t EFT:2;
};
union {
uint32_t data32[2];
uint16_t data16[4];
uint8_t data8[8];
};
};
} CANRxExtendedFilter;
/**
* @brief Driver configuration structure.
*/
typedef struct {
/**
* @brief Global filter configuration register.
*/
uint32_t RXGFC;
/**
* @brief Test configuration register.
*/
uint32_t TEST;
} 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 canReceive() 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.
* @note The upper 16 bits are transmission error flags associated
* to the transmit mailboxes.
*/
event_source_t txempty_event;
/**
* @brief A CAN bus error happened.
* @note The flags associated to the listeners will indicate that
* receive error(s) have occurred.
* @note In this implementation the upper 16 bits are filled with the
* unprocessed content of the ESR register.
*/
event_source_t error_event;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/**
* @brief Entering sleep state event.
*/
event_source_t sleep_event;
/**
* @brief Exiting sleep state event.
*/
event_source_t wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */
#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.*/
/**
* @brief Pointer to the CAN registers.
*/
FDCAN_GlobalTypeDef *fdcan;
/**
* @brief Pointer to FDCAN RAM base.
*/
uint32_t *ram_base;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if STM32_CAN_USE_FDCAN1 && !defined(__DOXYGEN__)
extern CANDriver CAND1;
#endif
#if STM32_CAN_USE_FDCAN2 && !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 can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
void can_lld_transmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *crfp);
bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
void can_lld_receive(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *ctfp);
void can_lld_abort(CANDriver *canp,
canmbx_t mailbox);
#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 /* HAL_USE_CAN */
#endif /* HAL_CAN_LLD_H */
/** @} */