/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file FDCANv2/hal_can_lld.h
* @brief STM32 CAN subsystem low level driver header.
*
* @addtogroup CAN
* @{
*/
#ifndef HAL_CAN_LLD_H
#define HAL_CAN_LLD_H
#if HAL_USE_CAN || defined(__DOXYGEN__)
#include "stm32_fdcan.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief Maximum number of bytes in data of CAN packets.
*/
#define CAN_MAX_DLC_BYTES 64
/**
* @brief Number of transmit mailboxes.
*/
#define CAN_TX_MAILBOXES 1
/**
* @brief Number of receive mailboxes.
*/
#define CAN_RX_MAILBOXES 2
/**
* @brief bytes to DLC (Data length code).
*/
#define FDCAN_0BYTES_TO_DLC 0U
#define FDCAN_1BYTES_TO_DLC 1U
#define FDCAN_2BYTES_TO_DLC 2U
#define FDCAN_3BYTES_TO_DLC 3U
#define FDCAN_4BYTES_TO_DLC 4U
#define FDCAN_5BYTES_TO_DLC 5U
#define FDCAN_6BYTES_TO_DLC 6U
#define FDCAN_7BYTES_TO_DLC 7U
#define FDCAN_8BYTES_TO_DLC 8U
#define FDCAN_12BYTES_TO_DLC 9U
#define FDCAN_16BYTES_TO_DLC 10U
#define FDCAN_20BYTES_TO_DLC 11U
#define FDCAN_24BYTES_TO_DLC 12U
#define FDCAN_32BYTES_TO_DLC 13U
#define FDCAN_48BYTES_TO_DLC 14U
#define FDCAN_64BYTES_TO_DLC 15U
/**
* @brief DLC (Data length code) to bytes.
*/
#define FDCAN_0DLC_TO_BYTES 0U
#define FDCAN_1DLC_TO_BYTES 1U
#define FDCAN_2DLC_TO_BYTES 2U
#define FDCAN_3DLC_TO_BYTES 3U
#define FDCAN_4DLC_TO_BYTES 4U
#define FDCAN_5DLC_TO_BYTES 5U
#define FDCAN_6DLC_TO_BYTES 6U
#define FDCAN_7DLC_TO_BYTES 7U
#define FDCAN_8DLC_TO_BYTES 8U
#define FDCAN_9DLC_TO_BYTES 12U
#define FDCAN_10DLC_TO_BYTES 16U
#define FDCAN_11DLC_TO_BYTES 20U
#define FDCAN_12DLC_TO_BYTES 24U
#define FDCAN_13DLC_TO_BYTES 32U
#define FDCAN_14DLC_TO_BYTES 48U
#define FDCAN_15DLC_TO_BYTES 64U
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief CAN1 driver enable switch.
* @details If set to @p TRUE the support for FDCAN1 is included.
*/
#if !defined(STM32_CAN_USE_FDCAN1) || defined(__DOXYGEN__)
#define STM32_CAN_USE_FDCAN1 FALSE
#endif
/**
* @brief CAN2 driver enable switch.
* @details If set to @p TRUE the support for FDCAN2 is included.
*/
#if !defined(STM32_CAN_USE_FDCAN2) || defined(__DOXYGEN__)
#define STM32_CAN_USE_FDCAN2 FALSE
#endif
/**
* @brief CAN3 driver enable switch.
* @details If set to @p TRUE the support for FDCAN3 is included.
*/
#if !defined(STM32_CAN_USE_FDCAN3) || defined(__DOXYGEN__)
#define STM32_CAN_USE_FDCAN3 FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !defined(STM32_HAS_FDCAN1)
#error "STM32_HAS_FDCAN1 not defined in registry"
#endif
#if !defined(STM32_HAS_FDCAN2)
#error "STM32_HAS_FDCAN2 not defined in registry"
#endif
#if !defined(STM32_HAS_FDCAN3)
#error "STM32_HAS_FDCAN3 not defined in registry"
#endif
#if STM32_CAN_USE_FDCAN1 && !STM32_HAS_FDCAN1
#error "FDCAN1 not present in the selected device"
#endif
#if STM32_CAN_USE_FDCAN2 && !STM32_HAS_FDCAN2
#error "FDCAN2 not present in the selected device"
#endif
#if STM32_CAN_USE_FDCAN3 && !STM32_HAS_FDCAN3
#error "FDCAN3 not present in the selected device"
#endif
#if !STM32_CAN_USE_FDCAN1 && !STM32_CAN_USE_FDCAN2 && !STM32_CAN_USE_FDCAN3
#error "CAN driver activated but no FDCAN peripheral assigned"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Supported modes for the peripheral FDCAN.
*/
typedef enum {
OPMODE_FDCAN = 1,
OPMODE_CAN = 2
} fdcanopmode_t;
/**
* @brief Convert DLC in BYTES.
*/
static const uint8_t dlc_to_bytes[] = {
FDCAN_0DLC_TO_BYTES,
FDCAN_1DLC_TO_BYTES,
FDCAN_2DLC_TO_BYTES,
FDCAN_3DLC_TO_BYTES,
FDCAN_4DLC_TO_BYTES,
FDCAN_5DLC_TO_BYTES,
FDCAN_6DLC_TO_BYTES,
FDCAN_7DLC_TO_BYTES,
FDCAN_8DLC_TO_BYTES,
FDCAN_9DLC_TO_BYTES,
FDCAN_10DLC_TO_BYTES,
FDCAN_11DLC_TO_BYTES,
FDCAN_12DLC_TO_BYTES,
FDCAN_13DLC_TO_BYTES,
FDCAN_14DLC_TO_BYTES,
FDCAN_15DLC_TO_BYTES
};
/**
* @brief Type of a CAN driver.
*/
typedef struct hal_can_driver CANDriver;
/**
* @brief Type of a transmission mailbox index.
*/
typedef uint32_t canmbx_t;
/**
* @brief Type of a word size.
*/
typedef uint8_t wordsize_t;
#if (CAN_ENFORCE_USE_CALLBACKS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Type of a CAN notification callback.
*
* @param[in] canp pointer to the @p CANDriver object triggering the
* callback
* @param[in] flags flags associated to the mailbox callback
*/
typedef void (*can_callback_t)(CANDriver *canp, uint32_t flags);
#endif
/**
* @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.
*/
typedef struct {
/**
* @brief Frame header.
*/
union {
struct {
union {
struct {
uint32_t EID:29; /**< @brief Extended identifier. */
} ext;
struct {
uint32_t _R1:18; /**< @brief Reserved for offset. */
uint32_t SID:11; /**< @brief Standard identifier. */
} std;
struct {
uint32_t _R1:29; /**< @brief Reserved for offset. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
} common;
};
uint32_t _R2:16;
uint32_t DLC:4; /**< @brief Data length code. */
uint32_t BPS:1; /**< @brief Accepted non-matching
frame. */
uint32_t FDF:1; /**< @brief FDCAN frame format. */
uint32_t _R3:1;
uint32_t EFC:1; /**< @brief Event FIFO control. */
uint32_t MM:8; /**< @brief Message event marker. */
};
uint32_t header32[2];
};
/**
* @brief Frame data.
*/
union {
uint8_t data8[CAN_MAX_DLC_BYTES];
uint16_t data16[CAN_MAX_DLC_BYTES / 2];
uint32_t data32[CAN_MAX_DLC_BYTES / 4];
};
} CANTxFrame;
/**
* @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.
*/
typedef struct {
/**
* @brief Frame header.
*/
union {
struct {
union {
struct {
uint32_t EID:29; /**< @brief Extended identifier. */
} ext;
struct {
uint32_t _R1:18;
uint32_t SID:11; /**< @brief Standard identifier. */
} std;
struct {
uint32_t _R1:29; /**< @brief Reserved for offset. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
} common;
};
uint32_t RXTS:16; /**< @brief TX time stamp. */
uint32_t DLC:4; /**< @brief Data length code. */
uint32_t BRS:1; /**< @brief Bit rate switch. */
uint32_t FDF:1; /**< @brief FDCAN frame format. */
uint32_t _R2:2;
uint32_t FIDX:7; /**< @brief Filter index. */
uint32_t ANMF:1; /**< @brief Accepted non-matching
frame. */
};
uint32_t header32[2];
};
/**
* @brief Frame data.
*/
union {
uint8_t data8[CAN_MAX_DLC_BYTES];
uint16_t data16[CAN_MAX_DLC_BYTES / 2];
uint32_t data32[CAN_MAX_DLC_BYTES / 4];
};
} CANRxFrame;
/**
* @brief CAN standard filter.
* @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 {
union {
struct {
uint16_t SFID2:11;
uint8_t _R1:5;
uint16_t SFID1:11;
uint8_t SFEC:3;
uint8_t SFT:2;
};
union {
uint32_t data32;
uint16_t data16[2];
uint8_t data8[4];
};
};
} CANRxStandardFilter;
/**
* @brief CAN extended filter.
* @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 {
union {
struct {
uint32_t EFID1:29;
uint8_t EFEC:3;
uint32_t EFID2:29;
uint8_t _R1:1;
uint8_t EFT:2;
};
union {
uint32_t data32[2];
uint16_t data16[4];
uint8_t data8[8];
};
};
} CANRxExtendedFilter;
/**
* @brief Filter type element.
*/
typedef enum {
CAN_FILTER_TYPE_STD = 0x00, /**< Standard filter */
CAN_FILTER_TYPE_EXT = 0x01 /**< Extended filter */
} filter_type_t;
/**
* @brief Filter mode.
*/
typedef enum {
CAN_FILTER_MODE_RANGE = 0x00, /**< Range filter from SFID1 to SFID2 */
CAN_FILTER_MODE_DUAL = 0x01, /**< Dual ID filter for SFID1 or SFID2 */
CAN_FILTER_MODE_CLASSIC = 0x02 /**< Classic filter: SFID1 = filter, SFID2 = mask */
} filter_mode_t;
/**
* @brief Filter configuration.
*/
typedef enum {
CAN_FILTER_CFG_FIFO_0 = 0x01, /**< Store in Rx FIFO 0 if filter matches */
CAN_FILTER_CFG_FIFO_1 = 0x02, /**< Store in Rx FIFO 1 if filter matches */
CAN_FILTER_CFG_REJECT = 0x03 /**< Reject ID if filter matches in range FID1-FID2 */
} filter_cfg_t;
/**
* @brief CAN filter configuration.
* @note Refer to the STM32 reference manual for info about filters.
*/
typedef struct {
/**
* @brief Filter type;
* @note Standard filter
* Extended filter
*/
filter_type_t filter_type;
/**
* @brief Filter mode;
* @note Field SFT / EFT;
* @note Range filter from SFID1 to SFID2
* Dual ID filter for SFID1 or SFID2
* Classic filter: SFID1 = filter, SFID2 = mask
*/
filter_mode_t filter_mode;
/**
* @brief Filter configuration;
* @note Field SFEC / EFEC;
* @note Store in Rx FIFO 0 if filter matches
* Store in Rx FIFO 1 if filter matches
* Reject ID if filter matches in range FID1-FID2
*/
filter_cfg_t filter_cfg;
/**
* @brief Message address to filter.
* @note 29-bit Extended identifier.
* 11-bit Standard identifier.
*/
uint32_t identifier1;
/**
* @brief Message address to filter.
* @note 29-bit Extended identifier.
* 11-bit Standard identifier.
*/
uint32_t identifier2;
} CANFilter;
/**
* @brief Type of a CAN configuration structure.
*/
typedef struct hal_can_config {
/**
* @brief Specifies the FDCAN operation mode.
*/
fdcanopmode_t op_mode;
/**
* @brief Nominal bit timing and prescaler register.
*/
uint32_t NBTP;
/**
* @brief Data bit timing and prescaler register.
*/
uint32_t DBTP;
/**
* @brief Data delay compensation register.
*/
uint32_t TDCR;
/**
* @brief CC control register.
*/
uint32_t CCCR;
/**
* @brief Test configuration register.
*/
uint32_t TEST;
/**
* @brief Global filter configuration register.
*/
uint32_t RXGFC;
} CANConfig;
/**
* @brief Structure representing an CAN driver.
*/
struct hal_can_driver {
/**
* @brief Driver state.
*/
canstate_t state;
/**
* @brief Current configuration data.
*/
const CANConfig *config;
/**
* @brief Transmission threads queue.
*/
threads_queue_t txqueue;
/**
* @brief Receive threads queue.
*/
threads_queue_t rxqueue;
#if (CAN_ENFORCE_USE_CALLBACKS == FALSE) || defined(__DOXYGEN__)
/**
* @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 not broadcasted for each received frame. It is
* responsibility of the application to empty the queue by
* repeatedly invoking @p canReceive() 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.
*/
event_source_t rxfull_event;
/**
* @brief One or more transmission mailbox become available.
* @note The flags associated to the listeners will indicate which
* transmit mailboxes become empty.
* @note The upper 16 bits are transmission error flags associated
* to the transmit mailboxes.
*/
event_source_t txempty_event;
/**
* @brief A CAN bus error happened.
* @note The flags associated to the listeners will indicate that
* receive error(s) have occurred.
* @note In this implementation the upper 16 bits are filled with the
* unprocessed content of the ESR register.
*/
event_source_t error_event;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/**
* @brief Entering sleep state event.
*/
event_source_t sleep_event;
/**
* @brief Exiting sleep state event.
*/
event_source_t wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */
#else /* CAN_ENFORCE_USE_CALLBACKS == TRUE */
/**
* @brief One or more frames become available.
* @note After calling this function it will not be called again
* until the received frames queue has been completely emptied. It
* is not called for each received frame. It is
* responsibility of the application to empty the queue by
* repeatedly invoking @p chTryReceiveI().
* This behavior minimizes the interrupt served by the system
* because CAN traffic.
*/
can_callback_t rxfull_cb;
/**
* @brief One or more transmission mailbox become available.
* @note The flags associated to the callback will indicate which
* transmit mailboxes become empty.
*/
can_callback_t txempty_cb;
/**
* @brief A CAN bus error happened.
*/
can_callback_t error_cb;
#if (CAN_USE_SLEEP_MODE == TRUE) || defined (__DOXYGEN__)
/**
* @brief Exiting sleep state.
*/
can_callback_t wakeup_cb;
#endif
#endif
/* End of the mandatory fields.*/
/**
* @brief Element size (RAM words).
*/
wordsize_t word_size;
/**
* @brief Pointer to the CAN registers.
*/
FDCAN_GlobalTypeDef *fdcan;
/**
* @brief Pointer to FDCAN RAM base.
*/
uint32_t *ram_base;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if STM32_CAN_USE_FDCAN1 && !defined(__DOXYGEN__)
extern CANDriver CAND1;
#endif
#if STM32_CAN_USE_FDCAN2 && !defined(__DOXYGEN__)
extern CANDriver CAND2;
#endif
#if STM32_CAN_USE_FDCAN3 && !defined(__DOXYGEN__)
extern CANDriver CAND3;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void can_lld_init(void);
bool can_lld_start(CANDriver *canp);
void can_lld_stop(CANDriver *canp);
bool can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox);
void can_lld_transmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *crfp);
bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox);
void can_lld_receive(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *ctfp);
void can_lld_abort(CANDriver *canp,
canmbx_t mailbox);
#if CAN_USE_SLEEP_MODE
void can_lld_sleep(CANDriver *canp);
void can_lld_wakeup(CANDriver *canp);
#endif /* CAN_USE_SLEEP_MODE */
void can_lld_serve_interrupt(CANDriver *canp);
void canSTM32SetFilters(CANDriver *canp, uint8_t num, const CANFilter *cfp);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_CAN */
#endif /* HAL_CAN_LLD_H */
/** @} */