a049e02d96
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
347 lines
15 KiB
C
347 lines
15 KiB
C
// Copyright 2015-2018 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "soc/soc_caps.h"
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#ifndef SOC_CAN_SUPPORTED
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#error CAN is not supported in this chip target
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#endif
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#include "freertos/FreeRTOS.h"
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#include "esp_types.h"
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#include "esp_intr_alloc.h"
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#include "esp_err.h"
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#include "gpio.h"
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#include "soc/can_caps.h"
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#include "hal/can_types.h"
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/* -------------------- Default initializers and flags ---------------------- */
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/** @cond */ //Doxy command to hide preprocessor definitions from docs
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/**
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* @brief Initializer macro for general configuration structure.
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*
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* This initializer macros allows the TX GPIO, RX GPIO, and operating mode to be
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* configured. The other members of the general configuration structure are
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* assigned default values.
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*/
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#define CAN_GENERAL_CONFIG_DEFAULT(tx_io_num, rx_io_num, op_mode) {.mode = op_mode, .tx_io = tx_io_num, .rx_io = rx_io_num, \
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.clkout_io = CAN_IO_UNUSED, .bus_off_io = CAN_IO_UNUSED, \
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.tx_queue_len = 5, .rx_queue_len = 5, \
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.alerts_enabled = CAN_ALERT_NONE, .clkout_divider = 0, }
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/**
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* @brief Alert flags
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*
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* The following flags represents the various kind of alerts available in
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* the CAN driver. These flags can be used when configuring/reconfiguring
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* alerts, or when calling can_read_alerts().
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*
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* @note The CAN_ALERT_AND_LOG flag is not an actual alert, but will configure
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* the CAN driver to log to UART when an enabled alert occurs.
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*/
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#define CAN_ALERT_TX_IDLE 0x0001 /**< Alert(1): No more messages to transmit */
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#define CAN_ALERT_TX_SUCCESS 0x0002 /**< Alert(2): The previous transmission was successful */
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#define CAN_ALERT_BELOW_ERR_WARN 0x0004 /**< Alert(4): Both error counters have dropped below error warning limit */
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#define CAN_ALERT_ERR_ACTIVE 0x0008 /**< Alert(8): CAN controller has become error active */
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#define CAN_ALERT_RECOVERY_IN_PROGRESS 0x0010 /**< Alert(16): CAN controller is undergoing bus recovery */
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#define CAN_ALERT_BUS_RECOVERED 0x0020 /**< Alert(32): CAN controller has successfully completed bus recovery */
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#define CAN_ALERT_ARB_LOST 0x0040 /**< Alert(64): The previous transmission lost arbitration */
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#define CAN_ALERT_ABOVE_ERR_WARN 0x0080 /**< Alert(128): One of the error counters have exceeded the error warning limit */
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#define CAN_ALERT_BUS_ERROR 0x0100 /**< Alert(256): A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus */
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#define CAN_ALERT_TX_FAILED 0x0200 /**< Alert(512): The previous transmission has failed (for single shot transmission) */
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#define CAN_ALERT_RX_QUEUE_FULL 0x0400 /**< Alert(1024): The RX queue is full causing a frame to be lost */
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#define CAN_ALERT_ERR_PASS 0x0800 /**< Alert(2048): CAN controller has become error passive */
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#define CAN_ALERT_BUS_OFF 0x1000 /**< Alert(4096): Bus-off condition occurred. CAN controller can no longer influence bus */
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#define CAN_ALERT_ALL 0x1FFF /**< Bit mask to enable all alerts during configuration */
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#define CAN_ALERT_NONE 0x0000 /**< Bit mask to disable all alerts during configuration */
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#define CAN_ALERT_AND_LOG 0x2000 /**< Bit mask to enable alerts to also be logged when they occur */
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/** @endcond */
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#define CAN_IO_UNUSED ((gpio_num_t) -1) /**< Marks GPIO as unused in CAN configuration */
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/* ----------------------- Enum and Struct Definitions ---------------------- */
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/**
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* @brief CAN driver states
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*/
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typedef enum {
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CAN_STATE_STOPPED, /**< Stopped state. The CAN controller will not participate in any CAN bus activities */
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CAN_STATE_RUNNING, /**< Running state. The CAN controller can transmit and receive messages */
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CAN_STATE_BUS_OFF, /**< Bus-off state. The CAN controller cannot participate in bus activities until it has recovered */
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CAN_STATE_RECOVERING, /**< Recovering state. The CAN controller is undergoing bus recovery */
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} can_state_t;
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/**
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* @brief Structure for general configuration of the CAN driver
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*
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* @note Macro initializers are available for this structure
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*/
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typedef struct {
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can_mode_t mode; /**< Mode of CAN controller */
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gpio_num_t tx_io; /**< Transmit GPIO number */
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gpio_num_t rx_io; /**< Receive GPIO number */
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gpio_num_t clkout_io; /**< CLKOUT GPIO number (optional, set to -1 if unused) */
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gpio_num_t bus_off_io; /**< Bus off indicator GPIO number (optional, set to -1 if unused) */
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uint32_t tx_queue_len; /**< Number of messages TX queue can hold (set to 0 to disable TX Queue) */
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uint32_t rx_queue_len; /**< Number of messages RX queue can hold */
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uint32_t alerts_enabled; /**< Bit field of alerts to enable (see documentation) */
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uint32_t clkout_divider; /**< CLKOUT divider. Can be 1 or any even number from 2 to 14 (optional, set to 0 if unused) */
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} can_general_config_t;
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/**
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* @brief Structure to store status information of CAN driver
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*/
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typedef struct {
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can_state_t state; /**< Current state of CAN controller (Stopped/Running/Bus-Off/Recovery) */
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uint32_t msgs_to_tx; /**< Number of messages queued for transmission or awaiting transmission completion */
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uint32_t msgs_to_rx; /**< Number of messages in RX queue waiting to be read */
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uint32_t tx_error_counter; /**< Current value of Transmit Error Counter */
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uint32_t rx_error_counter; /**< Current value of Receive Error Counter */
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uint32_t tx_failed_count; /**< Number of messages that failed transmissions */
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uint32_t rx_missed_count; /**< Number of messages that were lost due to a full RX queue */
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uint32_t arb_lost_count; /**< Number of instances arbitration was lost */
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uint32_t bus_error_count; /**< Number of instances a bus error has occurred */
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} can_status_info_t;
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/* ----------------------------- Public API -------------------------------- */
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/**
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* @brief Install CAN driver
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*
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* This function installs the CAN driver using three configuration structures.
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* The required memory is allocated and the CAN driver is placed in the stopped
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* state after running this function.
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*
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* @param[in] g_config General configuration structure
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* @param[in] t_config Timing configuration structure
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* @param[in] f_config Filter configuration structure
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*
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* @note Macro initializers are available for the configuration structures (see documentation)
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*
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* @note To reinstall the CAN driver, call can_driver_uninstall() first
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*
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* @return
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* - ESP_OK: Successfully installed CAN driver
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* - ESP_ERR_INVALID_ARG: Arguments are invalid
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* - ESP_ERR_NO_MEM: Insufficient memory
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* - ESP_ERR_INVALID_STATE: Driver is already installed
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*/
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esp_err_t can_driver_install(const can_general_config_t *g_config, const can_timing_config_t *t_config, const can_filter_config_t *f_config);
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/**
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* @brief Uninstall the CAN driver
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*
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* This function uninstalls the CAN driver, freeing the memory utilized by the
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* driver. This function can only be called when the driver is in the stopped
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* state or the bus-off state.
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*
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* @warning The application must ensure that no tasks are blocked on TX/RX
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* queues or alerts when this function is called.
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*
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* @return
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* - ESP_OK: Successfully uninstalled CAN driver
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* - ESP_ERR_INVALID_STATE: Driver is not in stopped/bus-off state, or is not installed
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*/
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esp_err_t can_driver_uninstall(void);
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/**
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* @brief Start the CAN driver
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*
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* This function starts the CAN driver, putting the CAN driver into the running
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* state. This allows the CAN driver to participate in CAN bus activities such
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* as transmitting/receiving messages. The RX queue is reset in this function,
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* clearing any unread messages. This function can only be called when the CAN
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* driver is in the stopped state.
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*
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* @return
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* - ESP_OK: CAN driver is now running
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* - ESP_ERR_INVALID_STATE: Driver is not in stopped state, or is not installed
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*/
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esp_err_t can_start(void);
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/**
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* @brief Stop the CAN driver
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*
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* This function stops the CAN driver, preventing any further message from being
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* transmitted or received until can_start() is called. Any messages in the TX
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* queue are cleared. Any messages in the RX queue should be read by the
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* application after this function is called. This function can only be called
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* when the CAN driver is in the running state.
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*
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* @warning A message currently being transmitted/received on the CAN bus will
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* be ceased immediately. This may lead to other CAN nodes interpreting
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* the unfinished message as an error.
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*
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* @return
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* - ESP_OK: CAN driver is now Stopped
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* - ESP_ERR_INVALID_STATE: Driver is not in running state, or is not installed
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*/
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esp_err_t can_stop(void);
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/**
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* @brief Transmit a CAN message
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*
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* This function queues a CAN message for transmission. Transmission will start
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* immediately if no other messages are queued for transmission. If the TX queue
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* is full, this function will block until more space becomes available or until
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* it timesout. If the TX queue is disabled (TX queue length = 0 in configuration),
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* this function will return immediately if another message is undergoing
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* transmission. This function can only be called when the CAN driver is in the
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* running state and cannot be called under Listen Only Mode.
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*
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* @param[in] message Message to transmit
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* @param[in] ticks_to_wait Number of FreeRTOS ticks to block on the TX queue
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*
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* @note This function does not guarantee that the transmission is successful.
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* The TX_SUCCESS/TX_FAILED alert can be enabled to alert the application
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* upon the success/failure of a transmission.
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*
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* @note The TX_IDLE alert can be used to alert the application when no other
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* messages are awaiting transmission.
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*
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* @return
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* - ESP_OK: Transmission successfully queued/initiated
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* - ESP_ERR_INVALID_ARG: Arguments are invalid
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* - ESP_ERR_TIMEOUT: Timed out waiting for space on TX queue
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* - ESP_FAIL: TX queue is disabled and another message is currently transmitting
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* - ESP_ERR_INVALID_STATE: CAN driver is not in running state, or is not installed
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* - ESP_ERR_NOT_SUPPORTED: Listen Only Mode does not support transmissions
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*/
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esp_err_t can_transmit(const can_message_t *message, TickType_t ticks_to_wait);
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/**
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* @brief Receive a CAN message
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*
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* This function receives a message from the RX queue. The flags field of the
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* message structure will indicate the type of message received. This function
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* will block if there are no messages in the RX queue
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*
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* @param[out] message Received message
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* @param[in] ticks_to_wait Number of FreeRTOS ticks to block on RX queue
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*
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* @warning The flags field of the received message should be checked to determine
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* if the received message contains any data bytes.
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*
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* @return
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* - ESP_OK: Message successfully received from RX queue
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* - ESP_ERR_TIMEOUT: Timed out waiting for message
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* - ESP_ERR_INVALID_ARG: Arguments are invalid
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* - ESP_ERR_INVALID_STATE: CAN driver is not installed
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*/
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esp_err_t can_receive(can_message_t *message, TickType_t ticks_to_wait);
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/**
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* @brief Read CAN driver alerts
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*
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* This function will read the alerts raised by the CAN driver. If no alert has
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* been when this function is called, this function will block until an alert
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* occurs or until it timeouts.
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*
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* @param[out] alerts Bit field of raised alerts (see documentation for alert flags)
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* @param[in] ticks_to_wait Number of FreeRTOS ticks to block for alert
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*
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* @note Multiple alerts can be raised simultaneously. The application should
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* check for all alerts that have been enabled.
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*
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* @return
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* - ESP_OK: Alerts read
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* - ESP_ERR_TIMEOUT: Timed out waiting for alerts
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* - ESP_ERR_INVALID_ARG: Arguments are invalid
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* - ESP_ERR_INVALID_STATE: CAN driver is not installed
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*/
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esp_err_t can_read_alerts(uint32_t *alerts, TickType_t ticks_to_wait);
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/**
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* @brief Reconfigure which alerts are enabled
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*
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* This function reconfigures which alerts are enabled. If there are alerts
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* which have not been read whilst reconfiguring, this function can read those
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* alerts.
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*
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* @param[in] alerts_enabled Bit field of alerts to enable (see documentation for alert flags)
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* @param[out] current_alerts Bit field of currently raised alerts. Set to NULL if unused
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*
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* @return
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* - ESP_OK: Alerts reconfigured
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* - ESP_ERR_INVALID_STATE: CAN driver is not installed
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*/
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esp_err_t can_reconfigure_alerts(uint32_t alerts_enabled, uint32_t *current_alerts);
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/**
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* @brief Start the bus recovery process
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*
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* This function initiates the bus recovery process when the CAN driver is in
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* the bus-off state. Once initiated, the CAN driver will enter the recovering
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* state and wait for 128 occurrences of the bus-free signal on the CAN bus
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* before returning to the stopped state. This function will reset the TX queue,
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* clearing any messages pending transmission.
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*
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* @note The BUS_RECOVERED alert can be enabled to alert the application when
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* the bus recovery process completes.
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*
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* @return
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* - ESP_OK: Bus recovery started
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* - ESP_ERR_INVALID_STATE: CAN driver is not in the bus-off state, or is not installed
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*/
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esp_err_t can_initiate_recovery(void);
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/**
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* @brief Get current status information of the CAN driver
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*
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* @param[out] status_info Status information
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*
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* @return
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* - ESP_OK: Status information retrieved
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* - ESP_ERR_INVALID_ARG: Arguments are invalid
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* - ESP_ERR_INVALID_STATE: CAN driver is not installed
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*/
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esp_err_t can_get_status_info(can_status_info_t *status_info);
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/**
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* @brief Clear the transmit queue
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*
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* This function will clear the transmit queue of all messages.
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*
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* @note The transmit queue is automatically cleared when can_stop() or
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* can_initiate_recovery() is called.
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*
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* @return
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* - ESP_OK: Transmit queue cleared
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* - ESP_ERR_INVALID_STATE: CAN driver is not installed or TX queue is disabled
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*/
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esp_err_t can_clear_transmit_queue(void);
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/**
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* @brief Clear the receive queue
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*
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* This function will clear the receive queue of all messages.
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*
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* @note The receive queue is automatically cleared when can_start() is
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* called.
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*
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* @return
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* - ESP_OK: Transmit queue cleared
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* - ESP_ERR_INVALID_STATE: CAN driver is not installed
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*/
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esp_err_t can_clear_receive_queue(void);
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#ifdef __cplusplus
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}
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#endif
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