225 lines
7.6 KiB
C
225 lines
7.6 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file templates/can_lld.h
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* @brief CAN Driver subsystem low level driver header template.
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*
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* @addtogroup CAN
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* @{
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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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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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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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/* Driver pre-compile time settings. */
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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 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 CAN status flags.
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*/
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typedef uint32_t canstatus_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
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* because machine data endianness, it can be still useful for a
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* 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
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* because machine data endianness, it can be still useful for a
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* 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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} CANRxFrame;
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/**
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* @brief CAN filter.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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* @note It could not be present on some architectures.
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*/
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typedef struct {
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} CANFilter;
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/**
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* @brief Driver configuration structure.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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* @note It could be empty on some architectures.
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*/
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typedef struct {
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} CANConfig;
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/**
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* @brief Structure representing an CAN driver.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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*/
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typedef struct {
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/**
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* @brief Driver state.
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*/
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canstate_t state;
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/**
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* @brief Current configuration data.
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*/
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const CANConfig *config;
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/**
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* @brief Transmission queue semaphore.
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*/
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Semaphore txsem;
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/**
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* @brief Receive queue semaphore.
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*/
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Semaphore rxsem;
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/**
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* @brief One or more frames become available.
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* @note After broadcasting this event it will not be broadcasted again
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* until the received frames queue has been completely emptied. It
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* is <b>not</b> broadcasted for each received frame. It is
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* responsibility of the application to empty the queue by repeatedly
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* invoking @p chReceive() when listening to this event. This behavior
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* minimizes the interrupt served by the system because CAN traffic.
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*/
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EventSource rxfull_event;
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/**
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* @brief One or more transmission slots become available.
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*/
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EventSource txempty_event;
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/**
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* @brief A CAN bus error happened.
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*/
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EventSource error_event;
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/**
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* @brief Error flags set when an error event is broadcasted.
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*/
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canstatus_t status;
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#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
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/**
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* @brief Entering sleep state event.
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*/
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EventSource sleep_event;
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/**
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* @brief Exiting sleep state event.
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*/
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EventSource wakeup_event;
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#endif /* CAN_USE_SLEEP_MODE */
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/* End of the mandatory fields.*/
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} CANDriver;
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void can_lld_init(void);
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void can_lld_start(CANDriver *canp);
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void can_lld_stop(CANDriver *canp);
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bool_t can_lld_can_transmit(CANDriver *canp);
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void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);
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bool_t can_lld_can_receive(CANDriver *canp);
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void can_lld_receive(CANDriver *canp, CANRxFrame *ctfp);
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#if CAN_USE_SLEEP_MODE
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void can_lld_sleep(CANDriver *canp);
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void can_lld_wakeup(CANDriver *canp);
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#endif /* CAN_USE_SLEEP_MODE */
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_CAN */
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#endif /* _CAN_LLD_H_ */
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/** @} */
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