Generic CAN Driver. More...

Collaboration diagram for CAN Driver:

Description

Generic CAN Driver.

This module implements a generic ADC driver. The driver implements a state machine internally:

Modules
	CAN Low Level Driver
	CAN Driver low level driver template.
Defines
#define	CAN_LIMIT_WARNING 1
	Errors rate warning.
#define	CAN_LIMIT_ERROR 2
	Errors rate error.
#define	CAN_BUS_OFF_ERROR 4
	Bus off condition reached.
#define	CAN_FRAMING_ERROR 8
	Framing error of some kind on the CAN bus.
#define	CAN_OVERFLOW_ERROR 16
	Overflow in receive queue.
#define	CAN_USE_SLEEP_MODE TRUE
	Sleep mode related APIs inclusion switch.
#define	canAddFlagsI(canp, mask) ((canp)->cd_status \|= (mask))
	Adds some flags to the CAN status mask.
Enumerations
enum	canstate_t { CAN_UNINIT = 0, CAN_STOP = 1, CAN_STARTING = 2, CAN_READY = 3, CAN_SLEEP = 4 }
	Driver state machine possible states. More...
Functions
void	canInit (void)
	CAN Driver initialization.
void	canObjectInit (CANDriver *canp)
	Initializes the standard part of a `CANDriver` structure.
void	canStart (CANDriver canp, const CANConfig config)
	Configures and activates the CAN peripheral.
void	canStop (CANDriver *canp)
	Deactivates the CAN peripheral.
msg_t	canTransmit (CANDriver canp, const CANTxFrame ctfp, systime_t timeout)
	Can frame transmission.
msg_t	canReceive (CANDriver canp, CANRxFrame crfp, systime_t timeout)
	Can frame receive.
canstatus_t	canGetAndClearFlags (CANDriver *canp)
	Returns the current status mask and clears it.
void	canSleep (CANDriver *canp)
	Enters the sleep mode.
void	canWakeup (CANDriver *canp)
	Enforces leaving the sleep mode.

Define Documentation

#define CAN_LIMIT_WARNING 1

Errors rate warning.

Definition at line 47 of file can.h.

#define CAN_LIMIT_ERROR 2

Errors rate error.

Definition at line 51 of file can.h.

#define CAN_BUS_OFF_ERROR 4

Bus off condition reached.

Definition at line 55 of file can.h.

#define CAN_FRAMING_ERROR 8

Framing error of some kind on the CAN bus.

Definition at line 59 of file can.h.

#define CAN_OVERFLOW_ERROR 16

Overflow in receive queue.

Definition at line 63 of file can.h.

#define CAN_USE_SLEEP_MODE TRUE

Sleep mode related APIs inclusion switch.

Definition at line 73 of file can.h.

#define canAddFlagsI	(	canp,
		mask
	)		((canp)->cd_status \|= (mask))

Adds some flags to the CAN status mask.

Parameters:

`[in]`	canp	pointer to the `CANDriver` object
`[in]`	mask	flags to be added to the status mask

Definition at line 111 of file can.h.

Enumeration Type Documentation

enum canstate_t

Driver state machine possible states.

Enumerator:

CAN_UNINIT	Not initialized.
CAN_STOP	Stopped.
CAN_STARTING	Starting.
CAN_READY	Ready.
CAN_SLEEP	Sleep state.

Definition at line 91 of file can.h.

Function Documentation

void canInit ( void )

CAN Driver initialization.

Definition at line 59 of file can.c.

References can_lld_init().

Referenced by halInit().

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void canObjectInit ( CANDriver * canp )

Initializes the standard part of a CANDriver structure.

Parameters:

[in] canp pointer to the CANDriver object

Definition at line 69 of file can.c.

References CANDriver::cd_config, CANDriver::cd_error_event, CANDriver::cd_rxfull_event, CANDriver::cd_rxsem, CANDriver::cd_sleep_event, CANDriver::cd_state, CANDriver::cd_status, CANDriver::cd_txempty_event, CANDriver::cd_txsem, CANDriver::cd_wakeup_event, chEvtInit, and chSemInit().

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void canStart	(	CANDriver *	canp,
		const CANConfig *	config
	)

Configures and activates the CAN peripheral.

Parameters:

`[in]`	canp	pointer to the `CANDriver` object
`[in]`	config	pointer to the `CANConfig` object

Definition at line 91 of file can.c.

References can_lld_start(), CAN_READY, CAN_STARTING, CAN_STOP, CANDriver::cd_config, CANDriver::cd_state, chDbgAssert, chDbgCheck, chSysLock, chSysUnlock, and chThdSleepS.

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void canStop ( CANDriver * canp )

Deactivates the CAN peripheral.

Parameters:

[in] canp pointer to the CANDriver object

Definition at line 116 of file can.c.

References can_lld_stop(), CAN_READY, CAN_STOP, CANDriver::cd_rxsem, CANDriver::cd_state, CANDriver::cd_status, CANDriver::cd_txsem, chDbgAssert, chDbgCheck, chSchRescheduleS(), chSemResetI(), chSysLock, and chSysUnlock.

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msg_t canTransmit	(	CANDriver *	canp,
		const CANTxFrame *	ctfp,
		systime_t	timeout
	)

Can frame transmission.

The specified frame is queued for transmission, if the hardware queue is full then the invoking thread is queued.

Note:: Trying to transmit while in sleep mode simply enqueues the thread.

Parameters:

[in] canp pointer to the CANDriver object

[in] ctfp pointer to the CAN frame to be transmitted

[in]

timeout

the number of ticks before the operation timeouts, the following special values are allowed:

TIME_IMMEDIATE immediate timeout.
TIME_INFINITE no timeout.

Returns:: The operation result.

Return values:

	RDY_OK	the frame has been queued for transmission.
	RDY_TIMEOUT	operation not finished within the specified time.
	RDY_RESET	driver stopped while waiting.

Definition at line 151 of file can.c.

References can_lld_can_transmit(), can_lld_transmit(), CAN_READY, CAN_SLEEP, CANDriver::cd_state, CANDriver::cd_txsem, chDbgAssert, chDbgCheck, chSemWaitTimeoutS(), chSysLock, chSysUnlock, and RDY_OK.

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msg_t canReceive	(	CANDriver *	canp,
		CANRxFrame *	crfp,
		systime_t	timeout
	)

Can frame receive.

The function waits until a frame is received.

Note:: Trying to receive while in sleep mode simply enqueues the thread.

Parameters:

[in] canp pointer to the CANDriver object

[out] crfp pointer to the buffer where the CAN frame is copied

[in]

timeout

the number of ticks before the operation timeouts, the following special values are allowed:

TIME_IMMEDIATE immediate timeout (useful in an event driven scenario where a thread never blocks for I/O).
TIME_INFINITE no timeout.

Returns:: The operation result.

Return values:

	RDY_OK	a frame has been received and placed in the buffer.
	RDY_TIMEOUT	operation not finished within the specified time or frame not immediately available if invoked using `TIME_IMMEDIATE`.
	RDY_RESET	driver stopped while waiting.