diff options
Diffstat (limited to 'os/hal/templates/can_lld.h')
| -rw-r--r-- | os/hal/templates/can_lld.h | 102 |
1 files changed, 68 insertions, 34 deletions
diff --git a/os/hal/templates/can_lld.h b/os/hal/templates/can_lld.h index 91a3ac4b9..c4bf67937 100644 --- a/os/hal/templates/can_lld.h +++ b/os/hal/templates/can_lld.h @@ -39,12 +39,34 @@ * @brief This switch defines whether the driver implementation supports
* a low power switch mode with automatic an wakeup feature.
*/
-#define CAN_SUPPORTS_SLEEP TRUE
+#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 2
/*===========================================================================*/
/* 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(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)
+#define PLATFORM_CAN_USE_CAN1 FALSE
+#endif
+
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
@@ -58,15 +80,14 @@ /*===========================================================================*/
/**
- * @brief CAN status flags.
+ * @brief Type of a transmission mailbox index.
*/
-typedef uint32_t canstatus_t;
+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.
+ * @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 {
@@ -91,9 +112,8 @@ typedef struct { /**
* @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.
+ * @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 {
@@ -123,6 +143,7 @@ typedef struct { * @note It could not be present on some architectures.
*/
typedef struct {
+ uint32_t dummy;
} CANFilter;
/**
@@ -132,59 +153,62 @@ typedef struct { * @note It could be empty on some architectures.
*/
typedef struct {
+ uint32_t dummy;
} CANConfig;
/**
* @brief Structure representing an CAN driver.
- * @note Implementations may extend this structure to contain more,
- * architecture dependent, fields.
*/
typedef struct {
/**
- * @brief Driver state.
+ * @brief Driver state.
*/
canstate_t state;
/**
- * @brief Current configuration data.
+ * @brief Current configuration data.
*/
const CANConfig *config;
/**
- * @brief Transmission queue semaphore.
+ * @brief Transmission queue semaphore.
*/
Semaphore txsem;
/**
- * @brief Receive queue semaphore.
+ * @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.
+ * @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 slots become available.
+ * @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.
+ * @brief A CAN bus error happened.
+ * @note The flags associated to the listeners will indicate the
+ * error(s) that have occurred.
*/
EventSource error_event;
- /**
- * @brief Error flags set when an error event is broadcasted.
- */
- canstatus_t status;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/**
- * @brief Entering sleep state event.
+ * @brief Entering sleep state event.
*/
EventSource sleep_event;
/**
- * @brief Exiting sleep state event.
+ * @brief Exiting sleep state event.
*/
EventSource wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */
@@ -199,16 +223,26 @@ typedef struct { /* External declarations. */
/*===========================================================================*/
+#if PLATFORM_CAN_USE_CAN1 && !defined(__DOXYGEN__)
+extern CANDriver CAND1;
+#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_can_transmit(CANDriver *canp);
- void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);
- bool_t can_lld_can_receive(CANDriver *canp);
- void can_lld_receive(CANDriver *canp, CANRxFrame *ctfp);
+ 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);
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