ChibiOS/RT Architecture - Reference Manual - Guides |
00001 /* 00002 ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. 00003 00004 This file is part of ChibiOS/RT. 00005 00006 ChibiOS/RT is free software; you can redistribute it and/or modify 00007 it under the terms of the GNU General Public License as published by 00008 the Free Software Foundation; either version 3 of the License, or 00009 (at your option) any later version. 00010 00011 ChibiOS/RT is distributed in the hope that it will be useful, 00012 but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 GNU General Public License for more details. 00015 00016 You should have received a copy of the GNU General Public License 00017 along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 00019 --- 00020 00021 A special exception to the GPL can be applied should you wish to distribute 00022 a combined work that includes ChibiOS/RT, without being obliged to provide 00023 the source code for any proprietary components. See the file exception.txt 00024 for full details of how and when the exception can be applied. 00025 */ 00026 00027 /** 00028 * @file can.h 00029 * @brief CAN Driver macros and structures. 00030 * 00031 * @addtogroup CAN 00032 * @{ 00033 */ 00034 00035 #ifndef _CAN_H_ 00036 #define _CAN_H_ 00037 00038 #if CH_HAL_USE_CAN || defined(__DOXYGEN__) 00039 00040 /*===========================================================================*/ 00041 /* Driver constants. */ 00042 /*===========================================================================*/ 00043 00044 /** 00045 * @brief Errors rate warning. 00046 */ 00047 #define CAN_LIMIT_WARNING 1 00048 /** 00049 * @brief Errors rate error. 00050 */ 00051 #define CAN_LIMIT_ERROR 2 00052 /** 00053 * @brief Bus off condition reached. 00054 */ 00055 #define CAN_BUS_OFF_ERROR 4 00056 /** 00057 * @brief Framing error of some kind on the CAN bus. 00058 */ 00059 #define CAN_FRAMING_ERROR 8 00060 /** 00061 * @brief Overflow in receive queue. 00062 */ 00063 #define CAN_OVERFLOW_ERROR 16 00064 00065 /*===========================================================================*/ 00066 /* Driver pre-compile time settings. */ 00067 /*===========================================================================*/ 00068 00069 /** 00070 * @brief Sleep mode related APIs inclusion switch. 00071 */ 00072 #define CAN_USE_SLEEP_MODE TRUE 00073 00074 /*===========================================================================*/ 00075 /* Derived constants and error checks. */ 00076 /*===========================================================================*/ 00077 00078 #if !CH_USE_SEMAPHORES || !CH_USE_EVENTS 00079 #error "CAN driver requires CH_USE_SEMAPHORES and CH_USE_EVENTS" 00080 #endif 00081 00082 /*===========================================================================*/ 00083 /* Driver data structures and types. */ 00084 /*===========================================================================*/ 00085 00086 /** 00087 * @brief Driver state machine possible states. 00088 */ 00089 typedef enum { 00090 CAN_UNINIT = 0, /**< @brief Not initialized. */ 00091 CAN_STOP = 1, /**< @brief Stopped. */ 00092 CAN_STARTING = 2, /**< @brief Starting. */ 00093 CAN_READY = 3, /**< @brief Ready. */ 00094 CAN_SLEEP = 4 /**< @brief Sleep state. */ 00095 } canstate_t; 00096 00097 #include "can_lld.h" 00098 00099 /*===========================================================================*/ 00100 /* Driver macros. */ 00101 /*===========================================================================*/ 00102 00103 /** 00104 * @brief Adds some flags to the CAN status mask. 00105 * 00106 * @param[in] canp pointer to the @p CANDriver object 00107 * @param[in] mask flags to be added to the status mask 00108 */ 00109 #define canAddFlagsI(canp, mask) ((canp)->cd_status |= (mask)) 00110 00111 /*===========================================================================*/ 00112 /* External declarations. */ 00113 /*===========================================================================*/ 00114 00115 #ifdef __cplusplus 00116 extern "C" { 00117 #endif 00118 void canInit(void); 00119 void canObjectInit(CANDriver *canp); 00120 void canStart(CANDriver *canp, const CANConfig *config); 00121 void canStop(CANDriver *canp); 00122 msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout); 00123 msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout); 00124 canstatus_t canGetAndClearFlags(CANDriver *canp); 00125 #if CAN_USE_SLEEP_MODE 00126 void canSleep(CANDriver *canp); 00127 void canWakeup(CANDriver *canp); 00128 #endif /* CAN_USE_SLEEP_MODE */ 00129 #ifdef __cplusplus 00130 } 00131 #endif 00132 00133 #endif /* CH_HAL_USE_CAN */ 00134 00135 #endif /* _CAN_H_ */ 00136 00137 /** @} */