diff options
Diffstat (limited to 'os/hal/platforms/LPC17xx/can_lld.h')
| -rw-r--r-- | os/hal/platforms/LPC17xx/can_lld.h | 645 |
1 files changed, 0 insertions, 645 deletions
diff --git a/os/hal/platforms/LPC17xx/can_lld.h b/os/hal/platforms/LPC17xx/can_lld.h deleted file mode 100644 index b265c9412..000000000 --- a/os/hal/platforms/LPC17xx/can_lld.h +++ /dev/null @@ -1,645 +0,0 @@ -/*
- 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_ */
-
-/** @} */
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