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
138 lines
7 KiB
C
138 lines
7 KiB
C
// Copyright 2015-2019 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 <stdint.h>
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#include <stdbool.h>
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/**
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* @brief CAN2.0B Constants
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*/
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#define CAN_EXTD_ID_MASK 0x1FFFFFFF /**< Bit mask for 29 bit Extended Frame Format ID */
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#define CAN_STD_ID_MASK 0x7FF /**< Bit mask for 11 bit Standard Frame Format ID */
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#define CAN_FRAME_MAX_DLC 8 /**< Max data bytes allowed in CAN2.0 */
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#define CAN_FRAME_EXTD_ID_LEN_BYTES 4 /**< EFF ID requires 4 bytes (29bit) */
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#define CAN_FRAME_STD_ID_LEN_BYTES 2 /**< SFF ID requires 2 bytes (11bit) */
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#define CAN_ERR_PASS_THRESH 128 /**< Error counter threshold for error passive */
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/** @cond */ //Doxy command to hide preprocessor definitions from docs
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/**
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* @brief CAN Message flags
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*
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* The message flags are used to indicate the type of message transmitted/received.
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* Some flags also specify the type of transmission.
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*/
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#define CAN_MSG_FLAG_NONE 0x00 /**< No message flags (Standard Frame Format) */
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#define CAN_MSG_FLAG_EXTD 0x01 /**< Extended Frame Format (29bit ID) */
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#define CAN_MSG_FLAG_RTR 0x02 /**< Message is a Remote Transmit Request */
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#define CAN_MSG_FLAG_SS 0x04 /**< Transmit as a Single Shot Transmission. Unused for received. */
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#define CAN_MSG_FLAG_SELF 0x08 /**< Transmit as a Self Reception Request. Unused for received. */
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#define CAN_MSG_FLAG_DLC_NON_COMP 0x10 /**< Message's Data length code is larger than 8. This will break compliance with CAN2.0B */
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/**
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* @brief Initializer macros for timing configuration structure
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*
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* The following initializer macros offer commonly found bit rates.
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*
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* @note These timing values are based on the assumption APB clock is at 80MHz
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* @note The 20K, 16K and 12.5K bit rates are only available from ESP32 Revision 2 onwards
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*/
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#ifdef CAN_BRP_DIV_SUPPORTED
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#define CAN_TIMING_CONFIG_12_5KBITS() {.brp = 256, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_16KBITS() {.brp = 200, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_20KBITS() {.brp = 200, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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#endif
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#define CAN_TIMING_CONFIG_25KBITS() {.brp = 128, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_50KBITS() {.brp = 80, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_100KBITS() {.brp = 40, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_125KBITS() {.brp = 32, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_250KBITS() {.brp = 16, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_500KBITS() {.brp = 8, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_800KBITS() {.brp = 4, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
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#define CAN_TIMING_CONFIG_1MBITS() {.brp = 4, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
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/**
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* @brief Initializer macro for filter configuration to accept all IDs
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*/
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#define CAN_FILTER_CONFIG_ACCEPT_ALL() {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true}
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/** @endcond */
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/**
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* @brief CAN Controller operating modes
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*/
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typedef enum {
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CAN_MODE_NORMAL, /**< Normal operating mode where CAN controller can send/receive/acknowledge messages */
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CAN_MODE_NO_ACK, /**< Transmission does not require acknowledgment. Use this mode for self testing */
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CAN_MODE_LISTEN_ONLY, /**< The CAN controller will not influence the bus (No transmissions or acknowledgments) but can receive messages */
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} can_mode_t;
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/**
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* @brief Structure to store a CAN message
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*
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* @note
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* @note The flags member is deprecated
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*/
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typedef struct {
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union {
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struct {
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//The order of these bits must match deprecated message flags for compatibility reasons
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uint32_t extd: 1; /**< Extended Frame Format (29bit ID) */
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uint32_t rtr: 1; /**< Message is a Remote Transmit Request */
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uint32_t ss: 1; /**< Transmit as a Single Shot Transmission. Unused for received. */
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uint32_t self: 1; /**< Transmit as a Self Reception Request. Unused for received. */
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uint32_t dlc_non_comp: 1; /**< Message's Data length code is larger than 8. This will break compliance with CAN2.0B. */
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uint32_t reserved: 27; /**< Reserved bits */
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};
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//Todo: Deprecate flags
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uint32_t flags; /**< Alternate way to set message flags using message flag macros (see documentation) */
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};
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uint32_t identifier; /**< 11 or 29 bit identifier */
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uint8_t data_length_code; /**< Data length code */
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uint8_t data[CAN_FRAME_MAX_DLC]; /**< Data bytes (not relevant in RTR frame) */
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} can_message_t;
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/**
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* @brief Structure for bit timing 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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uint32_t brp; /**< Baudrate prescaler (i.e., APB clock divider) can be any even number from 2 to 128.
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For ESP32 Rev 2 or later, multiples of 4 from 132 to 256 are also supported */
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uint8_t tseg_1; /**< Timing segment 1 (Number of time quanta, between 1 to 16) */
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uint8_t tseg_2; /**< Timing segment 2 (Number of time quanta, 1 to 8) */
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uint8_t sjw; /**< Synchronization Jump Width (Max time quanta jump for synchronize from 1 to 4) */
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bool triple_sampling; /**< Enables triple sampling when the CAN controller samples a bit */
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} can_timing_config_t;
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/**
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* @brief Structure for acceptance filter configuration of the CAN driver (see documentation)
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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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uint32_t acceptance_code; /**< 32-bit acceptance code */
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uint32_t acceptance_mask; /**< 32-bit acceptance mask */
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bool single_filter; /**< Use Single Filter Mode (see documentation) */
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} can_filter_config_t;
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#ifdef __cplusplus
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}
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#endif
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