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, 0 insertions, 407 deletions
diff --git a/os/hal/platforms/AT91SAM7/can_lld.h b/os/hal/platforms/AT91SAM7/can_lld.h deleted file mode 100644 index f9ea7f6c2..000000000 --- a/os/hal/platforms/AT91SAM7/can_lld.h +++ /dev/null @@ -1,407 +0,0 @@ -/*
- 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_ */
-
-/** @} */
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