646 lines
22 KiB
C
646 lines
22 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file LPC17xx/can_lld.h
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* @brief LPC17xx CAN subsystem low level driver header.
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*
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* @addtogroup CAN
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* @{
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*/
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/*
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This file has been contributed by:
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Marcin Jokel.
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*/
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#ifndef _CAN_LLD_H_
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#define _CAN_LLD_H_
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#if HAL_USE_CAN || defined(__DOXYGEN__)
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/* TODO: FullCAN mode. */
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*
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* CAN Mode register bits.
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*/
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#define CANMOD_RM (1UL << 0)
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#define CANMOD_LOM (1UL << 1)
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#define CANMOD_STM (1UL << 2)
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#define CANMOD_TPM (1UL << 3)
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#define CANMOD_SM (1UL << 4)
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#define CANMOD_RPM (1UL << 5)
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#define CANMOD_TM (1UL << 7)
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/*
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* CAN Command register bits.
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*/
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#define CANCMR_TR (1UL << 0)
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#define CANCMR_AT (1UL << 1)
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#define CANCMR_RRB (1UL << 2)
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#define CANCMR_CDO (1UL << 3)
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#define CANCMR_SRR (1UL << 4)
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#define CANCMR_STB1 (1UL << 5)
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#define CANCMR_STB2 (1UL << 6)
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#define CANCMR_STB3 (1UL << 7)
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/*
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* CAN Global Status register bits.
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*/
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#define CANGSR_RBS (1UL << 0)
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#define CANGSR_DOS (1UL << 1)
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#define CANGSR_TBS (1UL << 2)
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#define CANGSR_TCS (1UL << 3)
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#define CANGSR_RS (1UL << 4)
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#define CANGSR_TS (1UL << 5)
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#define CANGSR_ES (1UL << 6)
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#define CANGSR_BS (1UL << 7)
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#define CANGSR_RXERR 0x00FF0000
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#define CANGSR_TXERR 0xFF000000
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/*
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* CAN Interrupt and Capture register bits.
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*/
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#define CANICR_RI (1UL << 0)
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#define CANICR_TI1 (1UL << 1)
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#define CANICR_EI (1UL << 2)
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#define CANICR_DOI (1UL << 3)
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#define CANICR_WUI (1UL << 4)
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#define CANICR_EPI (1UL << 5)
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#define CANICR_ALI (1UL << 6)
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#define CANICR_BEI (1UL << 7)
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#define CANICR_IDI (1UL << 8)
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#define CANICR_TI2 (1UL << 9)
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#define CANICR_TI3 (1UL << 10)
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#define CANICR_ERRBIT 0x001F0000
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#define CANICR_ERRBIT_SOF 0x00030000
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#define CANICR_ERRBIT_ID28_ID21 0x00020000
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#define CANICR_ERRBIT_ID20_ID18 0x00060000
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#define CANICR_ERRBIT_SRTR 0x00040000
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#define CANICR_ERRBIT_IDE 0x00050000
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#define CANICR_ERRBIT_ID17_ID13 0x00070000
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#define CANICR_ERRBIT_ID12_ID5 0x000F0000
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#define CANICR_ERRBIT_ID4_ID0 0x000E0000
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#define CANICR_ERRBIT_RTR 0x000C0000
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#define CANICR_ERRBIT_RES_BIT1 0x000D0000
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#define CANICR_ERRBIT_RES_BIT0 0x00090000
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#define CANICR_ERRBIT_DATA_LEN_CODE 0x000B0000
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#define CANICR_ERRBIT_DATA_FIELD 0x000A0000
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#define CANICR_ERRBIT_CRC_SEQ 0x00080000
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#define CANICR_ERRBIT_CRC_DEL 0x00180000
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#define CANICR_ERRBIT_ACK_SLOT 0x00190000
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#define CANICR_ERRBIT_ACK_DEL 0x001B0000
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#define CANICR_ERRBIT_EOF 0x001A0000
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#define CANICR_ERRBIT_INTERMISSION 0x00120000
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#define CANICR_ERRBIT_ACTIVE_ERROR 0x00110000
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#define CANICR_ERRBIT_PASSIVE_ERROR 0x00160000
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#define CANICR_ERRBIT_TOL_DOM_BITS 0x00130000
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#define CANICR_ERRBIT_ERROR_DEL 0x00170000
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#define CANICR_ERRBIT_OVERLOAD 0x001C0000
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#define CANICR_ERRDIR (1UL << 21)
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#define CANICR_ERRC (3UL << 22)
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#define CANICR_ERRC_BIT_ERR (0UL << 22)
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#define CANICR_ERRC_FORM_ERR (1UL << 22)
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#define CANICR_ERRC_STUFF_ERR (2UL << 22)
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#define CANICR_ERRC_OTHER_ERR (3UL << 22)
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#define CANICR_ALCBIT 0xFF000000
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/*
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* CAN Interrupt Enable register bits.
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*/
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#define CANIER_RIE (1UL << 0)
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#define CANIER_TIE1 (1UL << 1)
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#define CANIER_EIE (1UL << 2)
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#define CANIER_DOIE (1UL << 3)
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#define CANIER_WUIE (1UL << 4)
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#define CANIER_EPIE (1UL << 5)
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#define CANIER_ALIE (1UL << 6)
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#define CANIER_BEIE (1UL << 7)
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#define CANIER_IDIE (1UL << 8)
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#define CANIER_TIE2 (1UL << 9)
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#define CANIER_TIE3 (1UL << 10)
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/*
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* CAN Bus Timing register bits.
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*/
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#define CANBTR_BRP(t) ((t) << 0)
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#define CANBTR_SJW(t) ((t) << 14)
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#define CANBTR_TESG1(t) ((t) << 16)
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#define CANBTR_TESG2(t) ((t) << 20)
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#define CANBTR_SAM (1UL << 23)
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/*
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* CAN Status register bits.
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*/
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#define CANSR_RBS (1UL << 0)
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#define CANSR_DOS (1UL << 1)
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#define CANSR_TBS1 (1UL << 2)
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#define CANSR_TCS1 (1UL << 3)
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#define CANSR_RS (1UL << 4)
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#define CANSR_TS1 (1UL << 5)
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#define CANSR_ES (1UL << 6)
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#define CANSR_BS (1UL << 7)
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#define CANSR_TBS2 (1UL << 10)
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#define CANSR_TCS2 (1UL << 11)
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#define CANSR_TS2 (1UL << 13)
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#define CANSR_TBS3 (1UL << 18)
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#define CANSR_TCS3 (1UL << 19)
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#define CANSR_TS3 (1UL << 21)
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/*
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* CAN Receive Frame Status register bits.
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*/
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#define CANRFS_ID 0x000001FF
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#define CANRFS_BP (1UL << 10)
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#define CANRFS_DLC 0x000F0000
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#define CANRFS_RTR (1UL << 30)
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#define CANRFS_FF (1UL << 31)
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/*
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* CAN Transmit Frame Information register bits.
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*/
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#define CANTFI_PRIO(p) ((p) << 0)
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#define CANTFI_DLC(l) ((l) << 16)
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#define CANTFI_RTR (1UL << 30)
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#define CANTFI_FF (1UL << 31)
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/*
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* CAN Sleep Clear register bits.
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*/
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#define CANSLEEPCLR_CAN1SLEEP (1UL << 1)
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#define CANSLEEPCLR_CAN2SLEEP (1UL << 2)
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/*
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* CAN Wake-up Flags register bits.
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*/
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#define CANWAKEFLAGS_CAN1WAKE (1UL << 1)
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#define CANWAKEFLAGS_CAN2WAKE (1UL << 2)
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/*
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* Central Transmit Status register bits.
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*/
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#define CANTSR_TS1 (1UL << 0)
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#define CANTSR_TS2 (1UL << 1)
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#define CANTSR_TBS1 (1UL << 8)
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#define CANTSR_TBS2 (1UL << 9)
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#define CANTSR_TCS1 (1UL << 16)
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#define CANTSR_TCS2 (1UL << 17)
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/*
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* Central Receive Status register bits.
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*/
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#define CANRSR_RS1 (1UL << 0)
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#define CANRSR_RS2 (1UL << 1)
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#define CANRSR_RB1 (1UL << 8)
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#define CANRSR_RB2 (1UL << 9)
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#define CANRSR_DOS1 (1UL << 16)
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#define CANRSR_DOS2 (1UL << 17)
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/*
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* Central Miscellaneous Status register bits.
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*/
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#define CANMSR_E1 (1UL << 0)
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#define CANMSR_E2 (1UL << 1)
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#define CANMSR_BS1 (1UL << 8)
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#define CANMSR_BS2 (1UL << 9)
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/*
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* Acceptance Filter Mode register bits.
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*/
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#define AFMR_ACC_OFF (1UL << 0)
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#define AFMR_ACC_BP (1UL << 1)
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#define AFMR_E_FCAN (1UL << 2)
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/**
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* @brief This switch defines whether the driver implementation supports
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* a low power switch mode with automatic an wakeup feature.
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*/
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#define CAN_SUPPORTS_SLEEP TRUE
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/**
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* @brief This implementation supports three transmit mailboxes.
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*/
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#define CAN_TX_MAILBOXES 3
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/**
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* @brief This implementation supports two receive mailboxes.
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*/
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#define CAN_RX_MAILBOXES 1
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/** @} */
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/**
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* @name CAN registers helper macros
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* @{
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*/
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#define CAN_IDE_STD 0 /**< @brief Standard id. */
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#define CAN_IDE_EXT 1 /**< @brief Extended id. */
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#define CAN_RTR_DATA 0 /**< @brief Data frame. */
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#define CAN_RTR_REMOTE 1 /**< @brief Remote frame. */
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#undef CAN_LIMIT_WARNING
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#undef CAN_LIMIT_ERROR
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#undef CAN_BUS_OFF_ERROR
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#undef CAN_FRAMING_ERROR
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#define CAN_WARNING_ERROR 1
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#define CAN_PASSIVE_ERROR 2
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#define CAN_BUS_ERROR 4
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/**
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* @brief CAN filter fullCAN (standard identifier) type entry.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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#define CANFilterFCEntry(ctrl_i1, dis_i1, id_i1, ctrl_i2, dis_i2, id_i2) \
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((((uint32_t)ctrl_i1) << 29) | (((uint32_t)dis_i1) << 28) | (((uint32_t)id_i1) << 16) | \
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(((uint32_t)ctrl_i2) << 13) | (((uint32_t)dis_i2) << 12) | ((uint32_t)(id_i2)))
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/**
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* @brief CAN filter standard identifier type entry.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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#define CANFilterStdEntry(ctrl_i1, dis_i1, id_i1, ctrl_i2, dis_i2, id_i2) \
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((((uint32_t)ctrl_i1) << 29) | (((uint32_t)dis_i1) << 28) | (((uint32_t)id_i1) << 16) | \
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(((uint32_t)ctrl_i2) << 13) | (((uint32_t)dis_i2) << 12) | ((uint32_t)(id_i2)))
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/**
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* @brief CAN filter extended identifier range type entry.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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#define CANFilterStdRangeEntry(ctrl_low, dis_low, id_low, ctrl_high, dis_high, id_high) \
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((((uint32_t)ctrl_low) << 29) | (((uint32_t)dis_low) << 28) | (((uint32_t)id_low) << 16) | \
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(((uint32_t)ctrl_up) << 13) | (((uint32_t)dis_up) << 12) | ((uint32_t)(id_up)))
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/**
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* @brief CAN filter extended identifier type entry.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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#define CANFilterExtEntry(ctrl, id) \
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((((uint32_t)ctrl) << 29) | ((uint32_t)(id)))
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/**
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* @brief CAN filter extended range identifier type entry.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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#define CANFilterExtRangeEntry(ctrl, id) \
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((((uint32_t)ctrl) << 29) | ((uint32_t)(id)))
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief CAN1 driver enable switch.
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* @details If set to @p TRUE the support for CAN1 is included.
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*/
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#if !defined(LPC17xx_CAN_USE_CAN1) || defined(__DOXYGEN__)
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#define LPC17xx_CAN_USE_CAN1 FALSE
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#endif
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/**
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* @brief CAN2 driver enable switch.
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* @details If set to @p TRUE the support for CAN2 is included.
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*/
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#if !defined(LPC17xx_CAN_USE_CAN2) || defined(__DOXYGEN__)
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#define LPC17xx_CAN_USE_CAN2 FALSE
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#endif
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/**
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* @brief CAN1 and CAN2 interrupt priority level setting.
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*/
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#if !defined(LPC17xx_CAN_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define LPC17xx_CAN_IRQ_PRIORITY 11
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#endif
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/** @} */
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/**
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* @brief CAN1 and CAN2 local self test enable.
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*/
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#if !defined(LPC17xx_CAN_USE_LOCAL_SELF_TEST) || defined(__DOXYGEN__)
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#define LPC17xx_CAN_USE_LOCAL_SELF_TEST FALSE
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#endif
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/** @} */
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/**
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* @brief CAN1 and CAN2 acceptance filter enable.
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*/
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#if !defined(LPC17xx_CAN_USE_FILTER) || defined(__DOXYGEN__)
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#define LPC17xx_CAN_USE_FILTER FALSE
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#endif
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/** @} */
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if LPC17xx_CAN_USE_CAN1 && !LPC17xx_HAS_CAN1
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#error "CAN1 not present in the selected device"
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#endif
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#if LPC17xx_CAN_USE_CAN2 && !LPC17xx_HAS_CAN2
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#error "CAN2 not present in the selected device"
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#endif
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#if !LPC17xx_CAN_USE_CAN1 && !LPC17xx_CAN_USE_CAN2
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#error "CAN driver activated but no CAN peripheral assigned"
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#endif
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#if !LPC17xx_CAN_USE_CAN1 && LPC17xx_CAN_USE_CAN2
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#error "CAN2 requires CAN1, it cannot operate independently"
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#endif
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#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP
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#error "CAN sleep mode not supported in this architecture"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Type of a transmission mailbox index.
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*/
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typedef uint32_t canmbx_t;
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/**
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* @brief CAN transmission frame.
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* @note Accessing the frame data as word16 or word32 is not portable because
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* machine data endianness, it can be still useful for a quick filling.
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*/
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typedef struct {
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struct {
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uint8_t DLC:4; /**< @brief Data length. */
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uint8_t RTR:1; /**< @brief Frame type. */
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uint8_t IDE:1; /**< @brief Identifier type. */
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};
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union {
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struct {
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uint32_t SID:11; /**< @brief Standard identifier.*/
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};
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struct {
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uint32_t EID:29; /**< @brief Extended identifier.*/
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};
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};
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union {
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uint8_t data8[8]; /**< @brief Frame data. */
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uint16_t data16[4]; /**< @brief Frame data. */
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uint32_t data32[2]; /**< @brief Frame data. */
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};
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} CANTxFrame;
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/**
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* @brief CAN received frame.
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* @note Accessing the frame data as word16 or word32 is not portable because
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* machine data endianness, it can be still useful for a quick filling.
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*/
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typedef struct {
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struct {
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uint16_t IDF:10; /**< @brief Filter id. */
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};
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struct {
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uint8_t DLC:4; /**< @brief Data length. */
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uint8_t RTR:1; /**< @brief Frame type. */
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uint8_t IDE:1; /**< @brief Identifier type. */
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};
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union {
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struct {
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uint32_t SID:11; /**< @brief Standard identifier.*/
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};
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struct {
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uint32_t EID:29; /**< @brief Extended identifier.*/
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};
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};
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union {
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uint8_t data8[8]; /**< @brief Frame data. */
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uint16_t data16[4]; /**< @brief Frame data. */
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uint32_t data32[2]; /**< @brief Frame data. */
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};
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} CANRxFrame;
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/**
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* @brief CAN filter standard identifier type.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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typedef const uint32_t CANFilterStd;
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/**
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* @brief CAN filter standard identifier range type.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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typedef const uint32_t CANFilterStdRange;
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/**
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* @brief CAN filter extended identifier range type.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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typedef const uint32_t CANFilterExt;
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/**
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* @brief CAN filter extended range identifier type.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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typedef const uint32_t CANFilterExtRange;
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/**
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* @brief CAN filter configuration structure.
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* @note Refer to the LPC17xx reference manual for info about filters.
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*/
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typedef struct {
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/**
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* @brief Acceptance filter mode register.
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*/
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uint32_t afmr;
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/**
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* @brief FullCAN (standard identifier) table.
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*/
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CANFilterStd *fc_id_table;
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/**
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* @brief Number of positions in fullCAN (standard identifier) table.
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*/
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uint32_t fc_id_table_n;
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/**
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* @brief Standard identifier table.
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*/
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|
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_ */
|
|
|
|
/** @} */
|