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Diffstat (limited to 'os/hal/platforms/LPC17xx/can_lld.h')
| -rw-r--r-- | os/hal/platforms/LPC17xx/can_lld.h | 645 |
1 files changed, 645 insertions, 0 deletions
diff --git a/os/hal/platforms/LPC17xx/can_lld.h b/os/hal/platforms/LPC17xx/can_lld.h new file mode 100644 index 000000000..2443eba60 --- /dev/null +++ b/os/hal/platforms/LPC17xx/can_lld.h @@ -0,0 +1,645 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file LPC17xx/can_lld.h + * @brief LPC17xx CAN subsystem low level driver header. + * + * @addtogroup CAN + * @{ + */ + +/* + This file has been contributed by: + Marcin Jokel. +*/ + +#ifndef _CAN_LLD_H_ +#define _CAN_LLD_H_ + +#if HAL_USE_CAN || defined(__DOXYGEN__) +/* TODO: FullCAN mode. */ +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/* + * CAN Mode register bits. + */ +#define CANMOD_RM (1UL << 0) +#define CANMOD_LOM (1UL << 1) +#define CANMOD_STM (1UL << 2) +#define CANMOD_TPM (1UL << 3) +#define CANMOD_SM (1UL << 4) +#define CANMOD_RPM (1UL << 5) +#define CANMOD_TM (1UL << 7) + +/* + * CAN Command register bits. + */ +#define CANCMR_TR (1UL << 0) +#define CANCMR_AT (1UL << 1) +#define CANCMR_RRB (1UL << 2) +#define CANCMR_CDO (1UL << 3) +#define CANCMR_SRR (1UL << 4) +#define CANCMR_STB1 (1UL << 5) +#define CANCMR_STB2 (1UL << 6) +#define CANCMR_STB3 (1UL << 7) + +/* + * CAN Global Status register bits. + */ +#define CANGSR_RBS (1UL << 0) +#define CANGSR_DOS (1UL << 1) +#define CANGSR_TBS (1UL << 2) +#define CANGSR_TCS (1UL << 3) +#define CANGSR_RS (1UL << 4) +#define CANGSR_TS (1UL << 5) +#define CANGSR_ES (1UL << 6) +#define CANGSR_BS (1UL << 7) +#define CANGSR_RXERR 0x00FF0000 +#define CANGSR_TXERR 0xFF000000 + +/* + * CAN Interrupt and Capture register bits. + */ +#define CANICR_RI (1UL << 0) +#define CANICR_TI1 (1UL << 1) +#define CANICR_EI (1UL << 2) +#define CANICR_DOI (1UL << 3) +#define CANICR_WUI (1UL << 4) +#define CANICR_EPI (1UL << 5) +#define CANICR_ALI (1UL << 6) +#define CANICR_BEI (1UL << 7) +#define CANICR_IDI (1UL << 8) +#define CANICR_TI2 (1UL << 9) +#define CANICR_TI3 (1UL << 10) +#define CANICR_ERRBIT 0x001F0000 +#define CANICR_ERRBIT_SOF 0x00030000 +#define CANICR_ERRBIT_ID28_ID21 0x00020000 +#define CANICR_ERRBIT_ID20_ID18 0x00060000 +#define CANICR_ERRBIT_SRTR 0x00040000 +#define CANICR_ERRBIT_IDE 0x00050000 +#define CANICR_ERRBIT_ID17_ID13 0x00070000 +#define CANICR_ERRBIT_ID12_ID5 0x000F0000 +#define CANICR_ERRBIT_ID4_ID0 0x000E0000 +#define CANICR_ERRBIT_RTR 0x000C0000 +#define CANICR_ERRBIT_RES_BIT1 0x000D0000 +#define CANICR_ERRBIT_RES_BIT0 0x00090000 +#define CANICR_ERRBIT_DATA_LEN_CODE 0x000B0000 +#define CANICR_ERRBIT_DATA_FIELD 0x000A0000 +#define CANICR_ERRBIT_CRC_SEQ 0x00080000 +#define CANICR_ERRBIT_CRC_DEL 0x00180000 +#define CANICR_ERRBIT_ACK_SLOT 0x00190000 +#define CANICR_ERRBIT_ACK_DEL 0x001B0000 +#define CANICR_ERRBIT_EOF 0x001A0000 +#define CANICR_ERRBIT_INTERMISSION 0x00120000 +#define CANICR_ERRBIT_ACTIVE_ERROR 0x00110000 +#define CANICR_ERRBIT_PASSIVE_ERROR 0x00160000 +#define CANICR_ERRBIT_TOL_DOM_BITS 0x00130000 +#define CANICR_ERRBIT_ERROR_DEL 0x00170000 +#define CANICR_ERRBIT_OVERLOAD 0x001C0000 +#define CANICR_ERRDIR (1UL << 21) +#define CANICR_ERRC (3UL << 22) +#define CANICR_ERRC_BIT_ERR (0UL << 22) +#define CANICR_ERRC_FORM_ERR (1UL << 22) +#define CANICR_ERRC_STUFF_ERR (2UL << 22) +#define CANICR_ERRC_OTHER_ERR (3UL << 22) +#define CANICR_ALCBIT 0xFF000000 + +/* + * CAN Interrupt Enable register bits. + */ +#define CANIER_RIE (1UL << 0) +#define CANIER_TIE1 (1UL << 1) +#define CANIER_EIE (1UL << 2) +#define CANIER_DOIE (1UL << 3) +#define CANIER_WUIE (1UL << 4) +#define CANIER_EPIE (1UL << 5) +#define CANIER_ALIE (1UL << 6) +#define CANIER_BEIE (1UL << 7) +#define CANIER_IDIE (1UL << 8) +#define CANIER_TIE2 (1UL << 9) +#define CANIER_TIE3 (1UL << 10) + +/* + * CAN Bus Timing register bits. + */ +#define CANBTR_BRP(t) ((t) << 0) +#define CANBTR_SJW(t) ((t) << 14) +#define CANBTR_TESG1(t) ((t) << 16) +#define CANBTR_TESG2(t) ((t) << 20) +#define CANBTR_SAM (1UL << 23) + +/* + * CAN Status register bits. + */ +#define CANSR_RBS (1UL << 0) +#define CANSR_DOS (1UL << 1) +#define CANSR_TBS1 (1UL << 2) +#define CANSR_TCS1 (1UL << 3) +#define CANSR_RS (1UL << 4) +#define CANSR_TS1 (1UL << 5) +#define CANSR_ES (1UL << 6) +#define CANSR_BS (1UL << 7) +#define CANSR_TBS2 (1UL << 10) +#define CANSR_TCS2 (1UL << 11) +#define CANSR_TS2 (1UL << 13) +#define CANSR_TBS3 (1UL << 18) +#define CANSR_TCS3 (1UL << 19) +#define CANSR_TS3 (1UL << 21) + +/* + * CAN Receive Frame Status register bits. + */ +#define CANRFS_ID 0x000001FF +#define CANRFS_BP (1UL << 10) +#define CANRFS_DLC 0x000F0000 +#define CANRFS_RTR (1UL << 30) +#define CANRFS_FF (1UL << 31) + +/* + * CAN Transmit Frame Information register bits. + */ +#define CANTFI_PRIO(p) ((p) << 0) +#define CANTFI_DLC(l) ((l) << 16) +#define CANTFI_RTR (1UL << 30) +#define CANTFI_FF (1UL << 31) + +/* + * CAN Sleep Clear register bits. + */ +#define CANSLEEPCLR_CAN1SLEEP (1UL << 1) +#define CANSLEEPCLR_CAN2SLEEP (1UL << 2) + +/* + * CAN Wake-up Flags register bits. + */ +#define CANWAKEFLAGS_CAN1WAKE (1UL << 1) +#define CANWAKEFLAGS_CAN2WAKE (1UL << 2) + +/* + * Central Transmit Status register bits. + */ +#define CANTSR_TS1 (1UL << 0) +#define CANTSR_TS2 (1UL << 1) +#define CANTSR_TBS1 (1UL << 8) +#define CANTSR_TBS2 (1UL << 9) +#define CANTSR_TCS1 (1UL << 16) +#define CANTSR_TCS2 (1UL << 17) + +/* + * Central Receive Status register bits. + */ +#define CANRSR_RS1 (1UL << 0) +#define CANRSR_RS2 (1UL << 1) +#define CANRSR_RB1 (1UL << 8) +#define CANRSR_RB2 (1UL << 9) +#define CANRSR_DOS1 (1UL << 16) +#define CANRSR_DOS2 (1UL << 17) + +/* + * Central Miscellaneous Status register bits. + */ +#define CANMSR_E1 (1UL << 0) +#define CANMSR_E2 (1UL << 1) +#define CANMSR_BS1 (1UL << 8) +#define CANMSR_BS2 (1UL << 9) + +/* + * Acceptance Filter Mode register bits. + */ +#define AFMR_ACC_OFF (1UL << 0) +#define AFMR_ACC_BP (1UL << 1) +#define AFMR_E_FCAN (1UL << 2) + +/** + * @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 three transmit mailboxes. + */ +#define CAN_TX_MAILBOXES 3 + +/** + * @brief This implementation supports two receive mailboxes. + */ +#define CAN_RX_MAILBOXES 1 + +/** @} */ + +/** + * @name CAN registers helper macros + * @{ + */ +#define CAN_IDE_STD 0 /**< @brief Standard id. */ +#define CAN_IDE_EXT 1 /**< @brief Extended id. */ + +#define CAN_RTR_DATA 0 /**< @brief Data frame. */ +#define CAN_RTR_REMOTE 1 /**< @brief Remote frame. */ + +#undef CAN_LIMIT_WARNING +#undef CAN_LIMIT_ERROR +#undef CAN_BUS_OFF_ERROR +#undef CAN_FRAMING_ERROR + +#define CAN_WARNING_ERROR 1 +#define CAN_PASSIVE_ERROR 2 +#define CAN_BUS_ERROR 4 + +/** + * @brief CAN filter fullCAN (standard identifier) type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterFCEntry(ctrl_i1, dis_i1, id_i1, ctrl_i2, dis_i2, id_i2) \ + ((((uint32_t)ctrl_i1) << 29) | (((uint32_t)dis_i1) << 28) | (((uint32_t)id_i1) << 16) | \ + (((uint32_t)ctrl_i2) << 13) | (((uint32_t)dis_i2) << 12) | ((uint32_t)(id_i2))) + +/** + * @brief CAN filter standard identifier type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterStdEntry(ctrl_i1, dis_i1, id_i1, ctrl_i2, dis_i2, id_i2) \ + ((((uint32_t)ctrl_i1) << 29) | (((uint32_t)dis_i1) << 28) | (((uint32_t)id_i1) << 16) | \ + (((uint32_t)ctrl_i2) << 13) | (((uint32_t)dis_i2) << 12) | ((uint32_t)(id_i2))) +/** + * @brief CAN filter extended identifier range type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterStdRangeEntry(ctrl_low, dis_low, id_low, ctrl_high, dis_high, id_high) \ + ((((uint32_t)ctrl_low) << 29) | (((uint32_t)dis_low) << 28) | (((uint32_t)id_low) << 16) | \ + (((uint32_t)ctrl_up) << 13) | (((uint32_t)dis_up) << 12) | ((uint32_t)(id_up))) + +/** + * @brief CAN filter extended identifier type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterExtEntry(ctrl, id) \ + ((((uint32_t)ctrl) << 29) | ((uint32_t)(id))) + +/** + * @brief CAN filter extended range identifier type entry. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +#define CANFilterExtRangeEntry(ctrl, id) \ + ((((uint32_t)ctrl) << 29) | ((uint32_t)(id))) +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief CAN1 driver enable switch. + * @details If set to @p TRUE the support for CAN1 is included. + */ +#if !defined(LPC17xx_CAN_USE_CAN1) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_CAN1 FALSE +#endif + +/** + * @brief CAN2 driver enable switch. + * @details If set to @p TRUE the support for CAN2 is included. + */ +#if !defined(LPC17xx_CAN_USE_CAN2) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_CAN2 FALSE +#endif + +/** + * @brief CAN1 and CAN2 interrupt priority level setting. + */ +#if !defined(LPC17xx_CAN_IRQ_PRIORITY) || defined(__DOXYGEN__) +#define LPC17xx_CAN_IRQ_PRIORITY 11 +#endif +/** @} */ + +/** + * @brief CAN1 and CAN2 local self test enable. + */ +#if !defined(LPC17xx_CAN_USE_LOCAL_SELF_TEST) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_LOCAL_SELF_TEST FALSE +#endif +/** @} */ + +/** + * @brief CAN1 and CAN2 acceptance filter enable. + */ +#if !defined(LPC17xx_CAN_USE_FILTER) || defined(__DOXYGEN__) +#define LPC17xx_CAN_USE_FILTER FALSE +#endif +/** @} */ + +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if LPC17xx_CAN_USE_CAN1 && !LPC17xx_HAS_CAN1 +#error "CAN1 not present in the selected device" +#endif + +#if LPC17xx_CAN_USE_CAN2 && !LPC17xx_HAS_CAN2 +#error "CAN2 not present in the selected device" +#endif + +#if !LPC17xx_CAN_USE_CAN1 && !LPC17xx_CAN_USE_CAN2 +#error "CAN driver activated but no CAN peripheral assigned" +#endif + +#if !LPC17xx_CAN_USE_CAN1 && LPC17xx_CAN_USE_CAN2 +#error "CAN2 requires CAN1, it cannot operate independently" +#endif + +#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; + +/** + * @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 { + uint16_t IDF:10; /**< @brief Filter id. */ + }; + 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. */ + }; +} CANRxFrame; + +/** + * @brief CAN filter standard identifier type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterStd; + +/** + * @brief CAN filter standard identifier range type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterStdRange; + +/** + * @brief CAN filter extended identifier range type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterExt; + +/** + * @brief CAN filter extended range identifier type. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef const uint32_t CANFilterExtRange; + +/** + * @brief CAN filter configuration structure. + * @note Refer to the LPC17xx reference manual for info about filters. + */ +typedef struct { + /** + * @brief Acceptance filter mode register. + */ + uint32_t afmr; + /** + * @brief FullCAN (standard identifier) table. + */ + CANFilterStd *fc_id_table; + /** + * @brief Number of positions in fullCAN (standard identifier) table. + */ + uint32_t fc_id_table_n; + /** + * @brief Standard identifier table. + */ + CANFilterStd *std_id_table; + /** + * @brief Number of positions in standard identifier table. + */ + uint32_t std_id_table_n; + /** + * @brief Standard range identifier table. + */ + CANFilterStdRange *std_range_id_table; + /** + * @brief Number of positions in standard range identifier table. + */ + uint32_t std_range_id_table_n; + /** + * @brief Extended identifier table. + */ + CANFilterExt *ext_id_table; + /** + * @brief Number of positions in extended identifier table. + */ + uint32_t ext_id_table_n; + /** + * @brief Extended range identifier table. + */ + CANFilterExtRange *ext_range_id_table; + /** + * @brief Number of positions in extended range identifier table. + */ + uint32_t ext_range_id_table_n; +} CANFilterConfig; + +/** + * @brief Driver configuration structure. + */ +typedef struct { + /** + * @brief CAN MOD register initialization data. + * @note Some bits in this register are enforced by the driver regardless + * their status in this field. + */ + uint32_t mod; + /** + * @brief CAN BTR register initialization data. + * @note Some bits in this register are enforced by the driver regardless + * their status in this field. + */ + uint32_t btr; +} CANConfig; + +/** + * @brief Structure representing an CAN driver. + */ +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 or more frames become available. + * @note After broadcasting this event it will not be broadcasted again + * until the received frames queue has been completely emptied. It + * is <b>not</b> broadcasted for each received frame. It is + * responsibility of the application to empty the queue by + * repeatedly invoking @p chReceive() when listening to this event. + * This behavior minimizes the interrupt served by the system + * because CAN traffic. + * @note The flags associated to the listeners will indicate which + * receive mailboxes become non-empty. + */ + EventSource rxfull_event; + /** + * @brief One or more transmission mailbox become available. + * @note The flags associated to the listeners will indicate which + * transmit mailboxes become empty. + * + */ + EventSource txempty_event; + /** + * @brief A CAN bus error happened. + * @note The flags associated to the listeners will indicate the + * error(s) that have occurred. + */ + 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 Pointer to the CAN registers. + */ + LPC_CAN_TypeDef *can; +} CANDriver; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if LPC17xx_CAN_USE_CAN1 && !defined(__DOXYGEN__) +extern CANDriver CAND1; +#endif + +#if LPC17xx_CAN_USE_CAN2 && !defined(__DOXYGEN__) +extern CANDriver CAND2; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void can_lld_init(void); + 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 */ +#if LPC17xx_CAN_USE_FILTER + void canSetFilter(const CANFilterConfig *cfc); +#endif /* LPC17xx_CAN_USE_FILTER */ +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_CAN */ + +#endif /* _CAN_LLD_H_ */ + +/** @} */ |