esp-idf/components/soc/include/hal/can_hal.h
Darian Leung a049e02d96 can: Refactor CAN to use HAL and LowLevel layers
The following commit refactors the CAN driver such that
it is split into HAL and Lowlevel layers. The following
changes have also been made:

- Added bit field members to can_message_t as alternative
  to message flags. Updated examples and docs accordingly
- Register field names and fields of can_dev_t updated
2020-01-09 16:13:51 +08:00

306 lines
9.3 KiB
C

// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
//
// 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.
/*******************************************************************************
* NOTICE
* The hal is not public api, don't use in application code.
* See readme.md in soc/include/hal/readme.md
******************************************************************************/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stddef.h>
#include <stdbool.h>
#include "hal/can_types.h"
#include "hal/can_ll.h"
/* ------------------------- Defines and Typedefs --------------------------- */
//Error active interrupt related
#define CAN_HAL_EVENT_BUS_OFF (1 << 0)
#define CAN_HAL_EVENT_BUS_RECOV_CPLT (1 << 1)
#define CAN_HAL_EVENT_BUS_RECOV_PROGRESS (1 << 2)
#define CAN_HAL_EVENT_ABOVE_EWL (1 << 3)
#define CAN_HAL_EVENT_BELOW_EWL (1 << 4)
#define CAN_HAL_EVENT_ERROR_PASSIVE (1 << 5)
#define CAN_HAL_EVENT_ERROR_ACTIVE (1 << 6)
#define CAN_HAL_EVENT_BUS_ERR (1 << 7)
#define CAN_HAL_EVENT_ARB_LOST (1 << 8)
#define CAN_HAL_EVENT_RX_BUFF_FRAME (1 << 9)
#define CAN_HAL_EVENT_TX_BUFF_FREE (1 << 10)
typedef struct {
can_dev_t *dev;
} can_hal_context_t;
typedef can_ll_frame_buffer_t can_hal_frame_t;
/* ---------------------------- Init and Config ----------------------------- */
/**
* @brief Initialize CAN peripheral and HAL context
*
* Sets HAL context, puts CAN peripheral into reset mode, then sets some
* registers with default values.
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully initialized, false otherwise.
*/
bool can_hal_init(can_hal_context_t *hal_ctx);
/**
* @brief Deinitialize the CAN peripheral and HAL context
*
* Clears any unhandled interrupts and unsets HAL context
*
* @param hal_ctx Context of the HAL layer
*/
void can_hal_deinit(can_hal_context_t *hal_ctx);
/**
* @brief Configure the CAN peripheral
*
* @param hal_ctx Context of the HAL layer
* @param t_config Pointer to timing configuration structure
* @param f_config Pointer to filter configuration structure
* @param intr_mask Mask of interrupts to enable
* @param clkout_divider Clock divider value for CLKOUT. Set to -1 to disable CLKOUT
*/
void can_hal_configure(can_hal_context_t *hal_ctx, const can_timing_config_t *t_config, const can_filter_config_t *f_config, uint32_t intr_mask, uint32_t clkout_divider);
/* -------------------------------- Actions --------------------------------- */
/**
* @brief Start the CAN peripheral
*
* Start the CAN peripheral by configuring its operating mode, then exiting
* reset mode so that the CAN peripheral can participate in bus activities.
*
* @param hal_ctx Context of the HAL layer
* @param mode Operating mode
* @return True if successfully started, false otherwise.
*/
bool can_hal_start(can_hal_context_t *hal_ctx, can_mode_t mode);
/**
* @brief Stop the CAN peripheral
*
* Stop the CAN peripheral by entering reset mode to stop any bus activity, then
* setting the operating mode to Listen Only so that REC is frozen.
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully stopped, false otherwise.
*/
bool can_hal_stop(can_hal_context_t *hal_ctx);
/**
* @brief Start bus recovery
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully started bus recovery, false otherwise.
*/
static inline bool can_hal_start_bus_recovery(can_hal_context_t *hal_ctx)
{
return can_ll_exit_reset_mode(hal_ctx->dev);
}
/**
* @brief Get the value of the TX Error Counter
*
* @param hal_ctx Context of the HAL layer
* @return TX Error Counter Value
*/
static inline uint32_t can_hal_get_tec(can_hal_context_t *hal_ctx)
{
return can_ll_get_tec((hal_ctx)->dev);
}
/**
* @brief Get the value of the RX Error Counter
*
* @param hal_ctx Context of the HAL layer
* @return RX Error Counter Value
*/
static inline uint32_t can_hal_get_rec(can_hal_context_t *hal_ctx)
{
return can_ll_get_rec((hal_ctx)->dev);
}
/**
* @brief Get the RX message count register
*
* @param hal_ctx Context of the HAL layer
* @return RX message count
*/
static inline uint32_t can_hal_get_rx_msg_count(can_hal_context_t *hal_ctx)
{
return can_ll_get_rx_msg_count((hal_ctx)->dev);
}
/**
* @brief Check if the last transmitted frame was successful
*
* @param hal_ctx Context of the HAL layer
* @return True if successful
*/
static inline bool can_hal_check_last_tx_successful(can_hal_context_t *hal_ctx)
{
return can_ll_is_last_tx_successful((hal_ctx)->dev);
}
/* ----------------------------- Event Handling ----------------------------- */
/**
* @brief Decode current events that triggered an interrupt
*
* This function should be called on every CAN interrupt. It will read (and
* thereby clear) the interrupt register, then determine what events have
* occurred to trigger the interrupt.
*
* @param hal_ctx Context of the HAL layer
* @param bus_recovering Whether the CAN peripheral was previous undergoing bus recovery
* @return Bit mask of events that have occurred
*/
uint32_t can_hal_decode_interrupt_events(can_hal_context_t *hal_ctx, bool bus_recovering);
/**
* @brief Handle bus recovery complete
*
* This function should be called on an bus recovery complete event. It simply
* enters reset mode to stop bus activity.
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully handled bus recovery completion, false otherwise.
*/
static inline bool can_hal_handle_bus_recov_cplt(can_hal_context_t *hal_ctx)
{
return can_ll_enter_reset_mode((hal_ctx)->dev);
}
/**
* @brief Handle arbitration lost
*
* This function should be called on an arbitration lost event. It simply clears
* the clears the ALC register.
*
* @param hal_ctx Context of the HAL layer
*/
static inline void can_hal_handle_arb_lost(can_hal_context_t *hal_ctx)
{
can_ll_clear_arb_lost_cap((hal_ctx)->dev);
}
/**
* @brief Handle bus error
*
* This function should be called on an bus error event. It simply clears
* the clears the ECC register.
*
* @param hal_ctx Context of the HAL layer
*/
static inline void can_hal_handle_bus_error(can_hal_context_t *hal_ctx)
{
can_ll_clear_err_code_cap((hal_ctx)->dev);
}
/**
* @brief Handle BUS OFF
*
* This function should be called on a BUS OFF event. It simply changes the
* mode to LOM to freeze REC
*
* @param hal_ctx Context of the HAL layer
*/
static inline void can_hal_handle_bus_off(can_hal_context_t *hal_ctx)
{
can_ll_set_mode((hal_ctx)->dev, CAN_MODE_LISTEN_ONLY);
}
/* ------------------------------- TX and RX -------------------------------- */
/**
* @brief Format a CAN Frame
*
* This function takes a CAN message structure (containing ID, DLC, data, and
* flags) and formats it to match the layout of the TX frame buffer.
*
* @param message Pointer to CAN message
* @param frame Pointer to empty frame structure
*/
static inline void can_hal_format_frame(const can_message_t *message, can_hal_frame_t *frame)
{
//Direct call to ll function
can_ll_format_frame_buffer(message->identifier, message->data_length_code, message->data,
message->flags, frame);
}
/**
* @brief Parse a CAN Frame
*
* This function takes a CAN frame (in the format of the RX frame buffer) and
* parses it to a CAN message (containing ID, DLC, data and flags).
*
* @param frame Pointer to frame structure
* @param message Pointer to empty message structure
*/
static inline void can_hal_parse_frame(can_hal_frame_t *frame, can_message_t *message)
{
//Direct call to ll function
can_ll_prase_frame_buffer(frame, &message->identifier, &message->data_length_code,
message->data, &message->flags);
}
/**
* @brief Copy a frame into the TX buffer and transmit
*
* This function copies a formatted TX frame into the TX buffer, and the
* transmit by setting the correct transmit command (e.g. normal, single shot,
* self RX) in the command register.
*
* @param hal_ctx Context of the HAL layer
* @param tx_frame Pointer to structure containing formatted TX frame
*/
void can_hal_set_tx_buffer_and_transmit(can_hal_context_t *hal_ctx, can_hal_frame_t *tx_frame);
/**
* @brief Copy a frame from the RX buffer and release
*
* This function copies a frame from the RX buffer, then release the buffer (so
* that it loads the next frame in the RX FIFO).
*
* @param hal_ctx Context of the HAL layer
* @param rx_frame Pointer to structure to store RX frame
*/
static inline void can_hal_read_rx_buffer_and_clear(can_hal_context_t *hal_ctx, can_hal_frame_t *rx_frame)
{
can_ll_get_rx_buffer(hal_ctx->dev, rx_frame);
can_ll_set_cmd_release_rx_buffer(hal_ctx->dev);
/*
* Todo: Support overrun handling by:
* - Check overrun status bit. Return false if overrun
*/
}
//Todo: Decode ALC register
//Todo: Decode error code capture
#ifdef __cplusplus
}
#endif