100 lines
4.0 KiB
Plaintext
100 lines
4.0 KiB
Plaintext
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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---
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes ChibiOS/RT, without being obliged to provide
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the source code for any proprietary components. See the file exception.txt
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for full details of how and when the exception can be applied.
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*/
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/**
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* @defgroup CAN CAN Driver
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* @brief Generic CAN Driver.
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* @details This module implements a generic CAN (Controller Area Network)
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* driver allowing the exchange of information at frame level.
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* @pre In order to use the CAN driver the @p HAL_USE_CAN option
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* must be enabled in @p halconf.h.
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*
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* @section can_1 Driver State Machine
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* The driver implements a state machine internally, not all the driver
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* functionalities can be used in any moment, any transition not explicitly
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* shown in the following diagram has to be considered an error and shall
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* be captured by an assertion (if enabled).
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* @if LATEX_PDF
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* @dot
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digraph example {
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Helvetica, fontsize=8];
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stop [label="CAN_STOP\nLow Power"];
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uninit [label="CAN_UNINIT", style="bold"];
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starting [label="CAN_STARTING\nInitializing"];
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ready [label="CAN_READY\nClock Enabled"];
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sleep [label="CAN_SLEEP\nLow Power"];
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uninit -> stop [label=" canInit()", constraint=false];
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stop -> stop [label="\ncanStop()"];
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stop -> ready [label="\ncanStart()\n(fast implementation)"];
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stop -> starting [label="\ncanStart()\n(slow implementation)"];
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starting -> starting [label="\ncanStart()\n(other thread)"];
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starting -> ready [label="\ninitialization complete\n(all threads)"];
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ready -> stop [label="\ncanStop()"];
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ready -> ready [label="\ncanStart()\ncanReceive()\ncanTransmit()"];
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ready -> sleep [label="\ncanSleep()"];
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sleep -> sleep [label="\ncanSleep()"];
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sleep -> ready [label="\ncanWakeup()"];
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sleep -> ready [label="\nhardware\nwakeup event"];
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}
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* @enddot
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* @else
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Helvetica, fontsize=8];
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stop [label="CAN_STOP\nLow Power"];
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uninit [label="CAN_UNINIT", style="bold"];
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starting [label="CAN_STARTING\nInitializing"];
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ready [label="CAN_READY\nClock Enabled"];
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sleep [label="CAN_SLEEP\nLow Power"];
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uninit -> stop [label=" canInit()", constraint=false];
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stop -> stop [label="\ncanStop()"];
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stop -> ready [label="\ncanStart()\n(fast implementation)"];
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stop -> starting [label="\ncanStart()\n(slow implementation)"];
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starting -> starting [label="\ncanStart()\n(other thread)"];
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starting -> ready [label="\ninitialization complete\n(all threads)"];
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ready -> stop [label="\ncanStop()"];
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ready -> ready [label="\ncanStart()\ncanReceive()\ncanTransmit()"];
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ready -> sleep [label="\ncanSleep()"];
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sleep -> sleep [label="\ncanSleep()"];
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sleep -> ready [label="\ncanWakeup()"];
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sleep -> ready [label="\nhardware\nwakeup event"];
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}
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* @enddot
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* @endif
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*
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* @ingroup IO
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*/
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