diff options
Diffstat (limited to 'os/hal/templates/can_lld.h')
| -rw-r--r-- | os/hal/templates/can_lld.h | 74 |
1 files changed, 61 insertions, 13 deletions
diff --git a/os/hal/templates/can_lld.h b/os/hal/templates/can_lld.h index 14588c0d5..9b1124a18 100644 --- a/os/hal/templates/can_lld.h +++ b/os/hal/templates/can_lld.h @@ -29,6 +29,10 @@ #if CH_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. @@ -53,10 +57,6 @@ #endif /* !CAN_SUPPORTS_SLEEP */
/*===========================================================================*/
-/* Driver constants. */
-/*===========================================================================*/
-
-/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
@@ -66,21 +66,63 @@ typedef uint32_t canstatus_t;
/**
- * @brief CAN frame.
+ * @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 cf_DLC:4; /**< @brief Data length. */
+ uint8_t cf_RTR:1; /**< @brief Frame type. */
+ uint8_t cf_IDE:1; /**< @brief Identifier type. */
+ };
+ union {
+ struct {
+ uint32_t cf_SID:11; /**< @brief Standard identifier.*/
+ };
+ struct {
+ uint32_t cf_EID:29; /**< @brief Extended identifier.*/
+ };
+ };
+ union {
+ uint8_t cf_data8[8]; /**< @brief Frame data. */
+ uint16_t cf_data16[4]; /**< @brief Frame data. */
+ uint32_t cf_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. + * machine data endianness, it can be still useful for a quick filling.
*/
typedef struct {
- uint8_t cf_DLC:4; /**< @brief Data length. */
- uint8_t cf_IDE:1; /**< @brief Identifier type. */
- uint8_t cf_RTR:1; /**< @brief Frame type. */
- uint32_t cf_id; /**< @brief Frame identifier. */
+ struct {
+ uint8_t cf_DLC:4; /**< @brief Data length. */
+ uint8_t cf_RTR:1; /**< @brief Frame type. */
+ uint8_t cf_IDE:1; /**< @brief Identifier type. */
+ };
+ union {
+ struct {
+ uint32_t cf_SID:11; /**< @brief Standard identifier.*/
+ };
+ struct {
+ uint32_t cf_EID:29; /**< @brief Extended identifier.*/
+ };
+ };
union {
uint8_t cf_data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */
};
-} CANFrame;
+} CANRxFrame;
+
+/**
+ * @brief CAN filter.
+ * @note It could not be present on some architectures.
+ */
+typedef struct {
+} CANFilter;
/**
* @brief Driver configuration structure.
@@ -111,6 +153,12 @@ typedef struct { Semaphore cd_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.
*/
EventSource cd_rxfull_event;
/**
@@ -149,9 +197,9 @@ extern "C" { void can_lld_start(CANDriver *canp);
void can_lld_stop(CANDriver *canp);
bool_t can_lld_can_transmit(CANDriver *canp);
- msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp);
+ void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);
bool_t can_lld_can_receive(CANDriver *canp);
- msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp);
+ void can_lld_receive(CANDriver *canp, CANRxFrame *ctfp);
#if CAN_USE_SLEEP_MODE
void can_lld_sleep(CANDriver *canp);
void can_lld_wakeup(CANDriver *canp);
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