166 lines
5.1 KiB
C
166 lines
5.1 KiB
C
/*
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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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* @file can.h
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* @brief CAN Driver macros and structures.
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*
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* @addtogroup CAN
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* @{
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*/
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#ifndef _CAN_H_
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#define _CAN_H_
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#if HAL_USE_CAN || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name CAN status flags
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* @{
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*/
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/**
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* @brief Errors rate warning.
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*/
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#define CAN_LIMIT_WARNING 1
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/**
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* @brief Errors rate error.
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*/
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#define CAN_LIMIT_ERROR 2
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/**
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* @brief Bus off condition reached.
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*/
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#define CAN_BUS_OFF_ERROR 4
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/**
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* @brief Framing error of some kind on the CAN bus.
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*/
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#define CAN_FRAMING_ERROR 8
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/**
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* @brief Overflow in receive queue.
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*/
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#define CAN_OVERFLOW_ERROR 16
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/** @} */
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/**
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* @brief Special mailbox identifier.
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*/
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#define CAN_ANY_MAILBOX 0
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name CAN configuration options
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* @{
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*/
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/**
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* @brief Sleep mode related APIs inclusion switch.
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* @details This option can only be enabled if the CAN implementation supports
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* the sleep mode, see the macro @p CAN_SUPPORTS_SLEEP exported by
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* the underlying implementation.
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*/
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#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
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#define CAN_USE_SLEEP_MODE TRUE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !CH_USE_SEMAPHORES || !CH_USE_EVENTS
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#error "CAN driver requires CH_USE_SEMAPHORES and CH_USE_EVENTS"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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CAN_UNINIT = 0, /**< Not initialized. */
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CAN_STOP = 1, /**< Stopped. */
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CAN_STARTING = 2, /**< Starting. */
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CAN_READY = 3, /**< Ready. */
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CAN_SLEEP = 4 /**< Sleep state. */
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} canstate_t;
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#include "can_lld.h"
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Converts a mailbox index to a bit mask.
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*/
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#define CAN_MAILBOX_TO_MASK(mbx) (1 << ((mbx) - 1))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void canInit(void);
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void canObjectInit(CANDriver *canp);
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void canStart(CANDriver *canp, const CANConfig *config);
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void canStop(CANDriver *canp);
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msg_t canTransmit(CANDriver *canp,
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canmbx_t mailbox,
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const CANTxFrame *ctfp,
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systime_t timeout);
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msg_t canReceive(CANDriver *canp,
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canmbx_t mailbox,
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CANRxFrame *crfp,
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systime_t timeout);
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#if CAN_USE_SLEEP_MODE
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void canSleep(CANDriver *canp);
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void canWakeup(CANDriver *canp);
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#endif /* CAN_USE_SLEEP_MODE */
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_CAN */
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#endif /* _CAN_H_ */
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/** @} */
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