diff options
Diffstat (limited to 'os/hal/platforms/AT91SAM7/can_lld.h')
| -rw-r--r-- | os/hal/platforms/AT91SAM7/can_lld.h | 407 |
1 files changed, 407 insertions, 0 deletions
diff --git a/os/hal/platforms/AT91SAM7/can_lld.h b/os/hal/platforms/AT91SAM7/can_lld.h new file mode 100644 index 000000000..f9ea7f6c2 --- /dev/null +++ b/os/hal/platforms/AT91SAM7/can_lld.h @@ -0,0 +1,407 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,2011 Giovanni Di Sirio.
+ 2012,2013 Martin Schüßler and Florian Sehl, Embedded Software Laboratory,
+ RWTH Aachen University
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+ ---
+
+ A special exception to the GPL can be applied should you wish to distribute
+ a combined work that includes ChibiOS/RT, without being obliged to provide
+ the source code for any proprietary components. See the file exception.txt
+ for full details of how and when the exception can be applied.
+ */
+
+/**
+ * @file AT91SAM7/can_lld.h
+ * @brief AT91SAM7 CAN Driver subsystem low level driver header.
+ *
+ * @pre - Make sure that the Mailbox you are receiving from is holding your
+ * data.
+ * - If you have more than one use the rxfull_event provided by the
+ * Driver.
+ * - In order to use the Events APIs the CH_USE_EVENTS option must
+ * be enabled in chconf.h.
+ * - In order to use the CAN driver the HAL_USE_CAN option must be
+ * enabled in halconf.h.
+ * - Mailbox0 is used as a Transmitmailbox.
+ * - Mailboxes 1-7 are used as receive Mailboxes.
+ *
+ * @addtogroup CAN
+ * @{
+ */
+
+#ifndef _CAN_LLD_H_
+#define _CAN_LLD_H_
+
+#if HAL_USE_CAN || defined(__DOXYGEN__)
+
+
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief This switch defines whether the driver implementation supports
+ * a low power switch mode with automatic an wakeup feature.
+ */
+#define CAN_SUPPORTS_SLEEP TRUE
+
+/**
+ * @brief This implementation supports one transmit mailboxes.
+ */
+#define CAN_TX_MAILBOXES 1
+
+/**
+ * @brief This implementation supports two receive mailboxes.
+ */
+#define CAN_RX_MAILBOXES 7
+
+/**
+ * @brief CAN mailboxes (Mailbox0 should always enabled to transmit)
+ */
+#ifndef CAN_USE_MB0
+#define CAN_USE_MB0 TRUE
+#endif
+#ifndef CAN_USE_MB1
+#define CAN_USE_MB1 TRUE
+#endif
+#ifndef CAN_USE_MB2
+#define CAN_USE_MB2 TRUE
+#endif
+#ifndef CAN_USE_MB3
+#define CAN_USE_MB3 TRUE
+#endif
+#ifndef CAN_USE_MB4
+#define CAN_USE_MB4 FALSE
+#endif
+#ifndef CAN_USE_MB5
+#define CAN_USE_MB5 FALSE
+#endif
+#ifndef CAN_USE_MB6
+#define CAN_USE_MB6 FALSE
+#endif
+#ifndef CAN_USE_MB7
+#define CAN_USE_MB7 FALSE
+#endif
+
+
+#define CAN_IDE_STD FALSE /**< @brief Standard id. */
+#define CAN_IDE_EXT TRUE /**< @brief Extended id. */
+
+#define CAN_RTR_DATA FALSE /**< @brief Data frame. */
+#define CAN_RTR_REMOTE TRUE /**< @brief Remote frame. */
+
+/**
+ * @brief timeout until can_lld_start stops waiting
+ * on CAN and ends up in error state
+ */
+#define AT91C_CAN_TIMEOUT 100
+
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief CAN driver enable switch.
+ * @details If set to @p TRUE the support for CAN0 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(AT91SAM7_CAN_USE_CAN) || defined(__DOXYGEN__)
+#define AT91SAM7_CAN_USE_CAN TRUE
+#endif
+
+/**
+ * @brief CAN interrupt priority level setting.
+ */
+#if !defined(AT91SAM7_CAN_CAN_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define AT91SAM7_CAN_CAN_IRQ_PRIORITY 11
+#endif
+
+/**
+ * @brief Sleep mode related APIs inclusion switch.
+ * @note This switch is enforced to @p FALSE if the driver implementation
+ * does not support the sleep mode.
+ */
+#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__)
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE TRUE
+#endif
+#else /* !CAN_SUPPORTS_SLEEP */
+#define CAN_USE_SLEEP_MODE FALSE
+#endif /* !CAN_SUPPORTS_SLEEP */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP
+#error "CAN sleep mode not supported in this architecture"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a transmission mailbox index
+ */
+typedef uint32_t canmbx_t;
+
+/**
+ * wakeup status possible states
+ */
+typedef enum {
+ AT91C_TEST_NOK = 0, /**< waiting for wakeup event */
+ AT91C_TEST_OK = 1 /**< wakeup event occured */
+} canteststate_t;
+
+/**
+ * @brief possible receive mailboxes.
+ * These Mailboxes get an offset to ensure that the Mailbox are not uninitialized.
+ *
+ */
+typedef enum {
+ CAN_TxMB0 = 1, /**< Transmit Mailbox. */
+ CAN_RxMB1 = 2, /**< Receive Mailbox 1. */
+ CAN_RxMB2 = 3, /**< Receive Mailbox 2. */
+ CAN_RxMB3 = 4, /**< Receive Mailbox 3. */
+ CAN_RxMB4 = 5, /**< Receive Mailbox 4. */
+ CAN_RxMB5 = 6, /**< Receive Mailbox 5. */
+ CAN_RxMB6 = 7, /**< Receive Mailbox 6. */
+ CAN_RxMB7 = 8 /**< Receive Mailbox 7. */
+} canmailbox_t;
+
+/**
+ * @brief CAN status flags.
+ */
+typedef uint32_t canstatus_t;
+
+/**
+ * @brief CAN transmission frame.
+ * @note Accessing the frame data as word16 or word32 is not portable
+ * because machine data endianness, it can be still useful for a
+ * quick filling.
+ */
+typedef struct {
+ struct {
+ uint8_t DLC:4; /**< @brief Data length. */
+ uint8_t RTR:1; /**< @brief Frame type. */
+ uint8_t IDE:1; /**< @brief Identifier type. */
+ };
+ union {
+ struct {
+ uint32_t SID:11; /**< @brief Standard identifier.*/
+ };
+ struct {
+ uint32_t EID:29; /**< @brief Extended identifier.*/
+ };
+ };
+ union {
+ uint8_t data8[8]; /**< @brief Frame data. */
+ uint16_t data16[4]; /**< @brief Frame data. */
+ uint32_t data32[2]; /**< @brief Frame data. */
+ };
+}CANTxFrame;
+
+/**
+ * @brief CAN received frame.
+ * @note Accessing the frame data as word16 or word32 is not portable
+ * because machine data endianness, it can be still useful for a
+ * quick filling.
+ */
+typedef struct {
+ struct {
+ uint8_t DLC:4; /**< @brief Data length. */
+ uint8_t RTR:1; /**< @brief Frame type. */
+ uint8_t IDE:1; /**< @brief Identifier type. */
+ };
+ union {
+ struct {
+ uint32_t SID:11; /**< @brief Standard identifier.*/
+ };
+ struct {
+ uint32_t EID:29; /**< @brief Extended identifier.*/
+ };
+ };
+ union {
+ uint8_t data8[8]; /**< @brief Frame data. */
+ uint16_t data16[4]; /**< @brief Frame data. */
+ uint32_t data32[2]; /**< @brief Frame data. */
+ };
+ canmailbox_t mbid; /**< @brief mailbox to read from */
+}CANRxFrame;
+
+/**
+ * @brief CAN filter.
+ * @note NOT used on this platform
+ */
+typedef struct {
+}CANFilter;
+
+/**
+ * @brief Driver configuration structure.
+ */
+typedef struct {
+
+#if CAN_USE_MB1
+ uint32_t mb1_can_id; /**< @brief mailbox 1 can id */
+ uint32_t mb1_acceptance_mask; /**< @brief mailbox 1 acceptance mask */
+#endif
+#if CAN_USE_MB2
+ uint32_t mb2_can_id; /**< @brief mailbox 2 can id */
+ uint32_t mb2_acceptance_mask; /**< @brief mailbox 2 acceptance mask */
+#endif
+#if CAN_USE_MB3
+ uint32_t mb3_can_id; /**< @brief mailbox 3 can id */
+ uint32_t mb3_acceptance_mask; /**< @brief mailbox 3 acceptance mask */
+#endif
+#if CAN_USE_MB4
+ uint32_t mb4_can_id; /**< @brief mailbox 4 can id */
+ uint32_t mb4_acceptance_mask; /**< @brief mailbox 4 acceptance mask */
+#endif
+#if CAN_USE_MB5
+ uint32_t mb5_can_id; /**< @brief mailbox 5 can id */
+ uint32_t mb5_acceptance_mask; /**< @brief mailbox 5 acceptance mask */
+#endif
+#if CAN_USE_MB6
+ uint32_t mb6_can_id; /**< @brief mailbox 6 can id */
+ uint32_t mb6_acceptance_mask; /**< @brief mailbox 6 acceptance mask */
+#endif
+#if CAN_USE_MB7
+ uint32_t mb7_can_id; /**< @brief mailbox 7 can id */
+ uint32_t mb7_acceptance_mask; /**< @brief mailbox 7 acceptance mask */
+#endif
+ /**
+ * @brief value of the BR register
+ * @note use 0x00050301 for 1MBit/s!
+ *
+ */
+ uint32_t br;
+
+}CANConfig;
+
+
+/**
+ * @brief Structure representing an CAN driver.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+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 frame for one specified mailbox become available.
+ * @note The number of the mailbox will be broadcasted to all listening threads.
+ * It is responsibility of the application(thread) to empty the specified mailbox
+ * by invoking @p chReceive() when listening to this event.
+ */
+ EventSource rxfull_event;
+ /**
+ * @brief transmission slot become available.
+ */
+ EventSource txempty_event;
+ /**
+ * @brief A CAN bus error happened.
+ */
+ 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 Driver test OK (wakeup event occurred).
+ */
+ volatile canteststate_t testok;
+ /**
+ * @brief Pointer to the Mailboxes registers block.
+ */
+ AT91PS_CAN_MB mb[8];
+ /**
+ * @brief Pointer to the CAN registers.
+ */
+ AT91PS_CAN base;
+}CANDriver;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+ /**
+ * @brief create event mask using enum of the corresponding mailbox.
+ */
+#define CAN_EVENT_MASK(mailbox) EVENT_MASK(mailbox-1)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AT91SAM7_CAN_USE_CAN && !defined(__DOXYGEN__)
+extern CANDriver CAND;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void can_lld_init(void);
+ void can_lld_serve_interrupt(CANDriver *canp);
+ 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 */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_CAN */
+
+#endif /* _CAN_LLD_H_ */
+
+/** @} */
|