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1/*
2 ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
3
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15*/
16
17/**
18 * @file hal_can_lld.h
19 * @brief PLATFORM CAN subsystem low level driver header.
20 *
21 * @addtogroup CAN
22 * @{
23 */
24
25#ifndef HAL_CAN_LLD_H
26#define HAL_CAN_LLD_H
27
28#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
29
30/*===========================================================================*/
31/* Driver constants. */
32/*===========================================================================*/
33
34/**
35 * @brief Number of transmit mailboxes.
36 */
37#define CAN_TX_MAILBOXES 1
38
39/**
40 * @brief Number of receive mailboxes.
41 */
42#define CAN_RX_MAILBOXES 1
43
44/*===========================================================================*/
45/* Driver pre-compile time settings. */
46/*===========================================================================*/
47
48/**
49 * @name PLATFORM configuration options
50 * @{
51 */
52/**
53 * @brief CAN1 driver enable switch.
54 * @details If set to @p TRUE the support for CAN1 is included.
55 * @note The default is @p FALSE.
56 */
57#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)
58#define PLATFORM_CAN_USE_CAN1 FALSE
59#endif
60/** @} */
61
62/*===========================================================================*/
63/* Derived constants and error checks. */
64/*===========================================================================*/
65
66/*===========================================================================*/
67/* Driver data structures and types. */
68/*===========================================================================*/
69
70/**
71 * @brief Type of a structure representing an CAN driver.
72 */
73typedef struct CANDriver CANDriver;
74
75/**
76 * @brief Type of a transmission mailbox index.
77 */
78typedef uint32_t canmbx_t;
79
80#if defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
81/**
82 * @brief Type of a CAN notification callback.
83 *
84 * @param[in] canp pointer to the @p CANDriver object triggering the
85 * callback
86 * @param[in] flags flags associated to the mailbox callback
87 */
88typedef void (*can_callback_t)(CANDriver *canp, uint32_t flags);
89#endif
90
91/**
92 * @brief CAN transmission frame.
93 * @note Accessing the frame data as word16 or word32 is not portable because
94 * machine data endianness, it can be still useful for a quick filling.
95 */
96typedef struct {
97 /*lint -save -e46 [6.1] Standard types are fine too.*/
98 uint8_t DLC:4; /**< @brief Data length. */
99 uint8_t RTR:1; /**< @brief Frame type. */
100 uint8_t IDE:1; /**< @brief Identifier type. */
101 union {
102 uint32_t SID:11; /**< @brief Standard identifier.*/
103 uint32_t EID:29; /**< @brief Extended identifier.*/
104 uint32_t _align1;
105 };
106 /*lint -restore*/
107 union {
108 uint8_t data8[8]; /**< @brief Frame data. */
109 uint16_t data16[4]; /**< @brief Frame data. */
110 uint32_t data32[2]; /**< @brief Frame data. */
111 };
112} CANTxFrame;
113
114/**
115 * @brief CAN received frame.
116 * @note Accessing the frame data as word16 or word32 is not portable because
117 * machine data endianness, it can be still useful for a quick filling.
118 */
119typedef struct {
120 /*lint -save -e46 [6.1] Standard types are fine too.*/
121 uint8_t FMI; /**< @brief Filter id. */
122 uint16_t TIME; /**< @brief Time stamp. */
123 uint8_t DLC:4; /**< @brief Data length. */
124 uint8_t RTR:1; /**< @brief Frame type. */
125 uint8_t IDE:1; /**< @brief Identifier type. */
126 union {
127 uint32_t SID:11; /**< @brief Standard identifier.*/
128 uint32_t EID:29; /**< @brief Extended identifier.*/
129 uint32_t _align1;
130 };
131 /*lint -restore*/
132 union {
133 uint8_t data8[8]; /**< @brief Frame data. */
134 uint16_t data16[4]; /**< @brief Frame data. */
135 uint32_t data32[2]; /**< @brief Frame data. */
136 };
137} CANRxFrame;
138
139/**
140 * @brief Driver configuration structure.
141 */
142typedef struct {
143 /* End of the mandatory fields.*/
144 uint32_t dummy;
145} CANConfig;
146
147/**
148 * @brief Structure representing an CAN driver.
149 */
150struct CANDriver {
151 /**
152 * @brief Driver state.
153 */
154 canstate_t state;
155 /**
156 * @brief Current configuration data.
157 */
158 const CANConfig *config;
159 /**
160 * @brief Transmission threads queue.
161 */
162 threads_queue_t txqueue;
163 /**
164 * @brief Receive threads queue.
165 */
166 threads_queue_t rxqueue;
167#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined (__DOXYGEN__)
168 /**
169 * @brief One or more frames become available.
170 * @note After broadcasting this event it will not be broadcasted again
171 * until the received frames queue has been completely emptied. It
172 * is <b>not</b> broadcasted for each received frame. It is
173 * responsibility of the application to empty the queue by
174 * repeatedly invoking @p chReceive() when listening to this event.
175 * This behavior minimizes the interrupt served by the system
176 * because CAN traffic.
177 * @note The flags associated to the listeners will indicate which
178 * receive mailboxes become non-empty.
179 */
180 event_source_t rxfull_event;
181 /**
182 * @brief One or more transmission mailbox become available.
183 * @note The flags associated to the listeners will indicate which
184 * transmit mailboxes become empty.
185 */
186 event_source_t txempty_event;
187 /**
188 * @brief A CAN bus error happened.
189 * @note The flags associated to the listeners will indicate the
190 * error(s) that have occurred.
191 */
192 event_source_t error_event;
193#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
194 /**
195 * @brief Entering sleep state event.
196 */
197 event_source_t sleep_event;
198 /**
199 * @brief Exiting sleep state event.
200 */
201 event_source_t wakeup_event;
202#endif
203#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
204 /**
205 * @brief One or more frames become available.
206 * @note After calling this function it will not be called again
207 * until the received frames queue has been completely emptied. It
208 * is <b>not</b> called for each received frame. It is
209 * responsibility of the application to empty the queue by
210 * repeatedly invoking @p chTryReceiveI().
211 * This behavior minimizes the interrupt served by the system
212 * because CAN traffic.
213 */
214 can_callback_t rxfull_cb;
215 /**
216 * @brief One or more transmission mailbox become available.
217 * @note The flags associated to the callback will indicate which
218 * transmit mailboxes become empty.
219 */
220 can_callback_t txempty_cb;
221 /**
222 * @brief A CAN bus error happened.
223 */
224 can_callback_t error_cb;
225#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
226 /**
227 * @brief Exiting sleep state.
228 */
229 can_callback_t wakeup_cb;
230#endif
231#endif
232 /* End of the mandatory fields.*/
233};
234
235/*===========================================================================*/
236/* Driver macros. */
237/*===========================================================================*/
238
239/*===========================================================================*/
240/* External declarations. */
241/*===========================================================================*/
242
243#if (PLATFORM_CAN_USE_CAN1 == TRUE) && !defined(__DOXYGEN__)
244extern CANDriver CAND1;
245#endif
246
247#ifdef __cplusplus
248extern "C" {
249#endif
250 void can_lld_init(void);
251 void can_lld_start(CANDriver *canp);
252 void can_lld_stop(CANDriver *canp);
253 bool can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
254 void can_lld_transmit(CANDriver *canp,
255 canmbx_t mailbox,
256 const CANTxFrame *ctfp);
257 bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
258 void can_lld_receive(CANDriver *canp,
259 canmbx_t mailbox,
260 CANRxFrame *crfp);
261 void can_lld_abort(CANDriver *canp,
262 canmbx_t mailbox);
263#if CAN_USE_SLEEP_MODE == TRUE
264 void can_lld_sleep(CANDriver *canp);
265 void can_lld_wakeup(CANDriver *canp);
266#endif
267#ifdef __cplusplus
268}
269#endif
270
271#endif /* HAL_USE_CAN == TRUE */
272
273#endif /* HAL_CAN_LLD_H */
274
275/** @} */
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