408 lines
12 KiB
C
408 lines
12 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,2011 Giovanni Di Sirio.
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2012,2013 Martin Schüßler and Florian Sehl, Embedded Software Laboratory,
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RWTH Aachen University
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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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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes ChibiOS/RT, without being obliged to provide
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the source code for any proprietary components. See the file exception.txt
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for full details of how and when the exception can be applied.
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*/
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/**
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* @file AT91SAM7/can_lld.h
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* @brief AT91SAM7 CAN Driver subsystem low level driver header.
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*
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* @pre - Make sure that the Mailbox you are receiving from is holding your
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* data.
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* - If you have more than one use the rxfull_event provided by the
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* Driver.
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* - In order to use the Events APIs the CH_USE_EVENTS option must
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* be enabled in chconf.h.
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* - In order to use the CAN driver the HAL_USE_CAN option must be
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* enabled in halconf.h.
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* - Mailbox0 is used as a Transmitmailbox.
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* - Mailboxes 1-7 are used as receive Mailboxes.
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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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* @brief This implementation supports one transmit mailboxes.
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*/
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#define CAN_TX_MAILBOXES 1
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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 7
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/**
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* @brief CAN mailboxes (Mailbox0 should always enabled to transmit)
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*/
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#ifndef CAN_USE_MB0
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#define CAN_USE_MB0 TRUE
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#endif
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#ifndef CAN_USE_MB1
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#define CAN_USE_MB1 TRUE
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#endif
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#ifndef CAN_USE_MB2
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#define CAN_USE_MB2 TRUE
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#endif
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#ifndef CAN_USE_MB3
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#define CAN_USE_MB3 TRUE
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#endif
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#ifndef CAN_USE_MB4
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#define CAN_USE_MB4 FALSE
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#endif
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#ifndef CAN_USE_MB5
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#define CAN_USE_MB5 FALSE
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#endif
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#ifndef CAN_USE_MB6
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#define CAN_USE_MB6 FALSE
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#endif
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#ifndef CAN_USE_MB7
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#define CAN_USE_MB7 FALSE
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#endif
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#define CAN_IDE_STD FALSE /**< @brief Standard id. */
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#define CAN_IDE_EXT TRUE /**< @brief Extended id. */
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#define CAN_RTR_DATA FALSE /**< @brief Data frame. */
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#define CAN_RTR_REMOTE TRUE /**< @brief Remote frame. */
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/**
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* @brief timeout until can_lld_start stops waiting
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* on CAN and ends up in error state
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*/
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#define AT91C_CAN_TIMEOUT 100
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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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* @brief CAN driver enable switch.
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* @details If set to @p TRUE the support for CAN0 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(AT91SAM7_CAN_USE_CAN) || defined(__DOXYGEN__)
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#define AT91SAM7_CAN_USE_CAN TRUE
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#endif
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/**
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* @brief CAN interrupt priority level setting.
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*/
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#if !defined(AT91SAM7_CAN_CAN_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define AT91SAM7_CAN_CAN_IRQ_PRIORITY 11
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#endif
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/**
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* @brief Sleep mode related APIs inclusion switch.
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* @note This switch is enforced to @p FALSE if the driver implementation
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* does not support the sleep mode.
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*/
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#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__)
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#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
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#define CAN_USE_SLEEP_MODE TRUE
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#endif
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#else /* !CAN_SUPPORTS_SLEEP */
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#define CAN_USE_SLEEP_MODE FALSE
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#endif /* !CAN_SUPPORTS_SLEEP */
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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 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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* wakeup status possible states
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*/
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typedef enum {
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AT91C_TEST_NOK = 0, /**< waiting for wakeup event */
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AT91C_TEST_OK = 1 /**< wakeup event occured */
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} canteststate_t;
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/**
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* @brief possible receive mailboxes.
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* These Mailboxes get an offset to ensure that the Mailbox are not uninitialized.
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*
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*/
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typedef enum {
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CAN_TxMB0 = 1, /**< Transmit Mailbox. */
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CAN_RxMB1 = 2, /**< Receive Mailbox 1. */
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CAN_RxMB2 = 3, /**< Receive Mailbox 2. */
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CAN_RxMB3 = 4, /**< Receive Mailbox 3. */
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CAN_RxMB4 = 5, /**< Receive Mailbox 4. */
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CAN_RxMB5 = 6, /**< Receive Mailbox 5. */
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CAN_RxMB6 = 7, /**< Receive Mailbox 6. */
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CAN_RxMB7 = 8 /**< Receive Mailbox 7. */
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} canmailbox_t;
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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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canmailbox_t mbid; /**< @brief mailbox to read from */
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}CANRxFrame;
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/**
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* @brief CAN filter.
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* @note NOT used on this platform
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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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*/
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typedef struct {
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#if CAN_USE_MB1
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uint32_t mb1_can_id; /**< @brief mailbox 1 can id */
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uint32_t mb1_acceptance_mask; /**< @brief mailbox 1 acceptance mask */
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#endif
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#if CAN_USE_MB2
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uint32_t mb2_can_id; /**< @brief mailbox 2 can id */
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uint32_t mb2_acceptance_mask; /**< @brief mailbox 2 acceptance mask */
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#endif
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#if CAN_USE_MB3
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uint32_t mb3_can_id; /**< @brief mailbox 3 can id */
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uint32_t mb3_acceptance_mask; /**< @brief mailbox 3 acceptance mask */
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#endif
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#if CAN_USE_MB4
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uint32_t mb4_can_id; /**< @brief mailbox 4 can id */
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uint32_t mb4_acceptance_mask; /**< @brief mailbox 4 acceptance mask */
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#endif
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#if CAN_USE_MB5
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uint32_t mb5_can_id; /**< @brief mailbox 5 can id */
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uint32_t mb5_acceptance_mask; /**< @brief mailbox 5 acceptance mask */
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#endif
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#if CAN_USE_MB6
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uint32_t mb6_can_id; /**< @brief mailbox 6 can id */
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uint32_t mb6_acceptance_mask; /**< @brief mailbox 6 acceptance mask */
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#endif
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#if CAN_USE_MB7
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uint32_t mb7_can_id; /**< @brief mailbox 7 can id */
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uint32_t mb7_acceptance_mask; /**< @brief mailbox 7 acceptance mask */
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#endif
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/**
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* @brief value of the BR register
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* @note use 0x00050301 for 1MBit/s!
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*
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*/
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uint32_t br;
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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 frame for one specified mailbox become available.
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* @note The number of the mailbox will be broadcasted to all listening threads.
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* It is responsibility of the application(thread) to empty the specified mailbox
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* by invoking @p chReceive() when listening to this event.
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*/
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EventSource rxfull_event;
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/**
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* @brief transmission slot 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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#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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/**
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* @brief Driver test OK (wakeup event occurred).
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*/
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volatile canteststate_t testok;
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/**
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* @brief Pointer to the Mailboxes registers block.
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*/
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AT91PS_CAN_MB mb[8];
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/**
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* @brief Pointer to the CAN registers.
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*/
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AT91PS_CAN base;
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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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* @brief create event mask using enum of the corresponding mailbox.
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*/
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#define CAN_EVENT_MASK(mailbox) EVENT_MASK(mailbox-1)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if AT91SAM7_CAN_USE_CAN && !defined(__DOXYGEN__)
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extern CANDriver CAND;
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#endif
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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_serve_interrupt(CANDriver *canp);
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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_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
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void can_lld_transmit(CANDriver *canp,
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canmbx_t mailbox,
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const CANTxFrame *crfp);
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bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
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void can_lld_receive(CANDriver *canp,
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canmbx_t mailbox,
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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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