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Add Can Drv
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Aubr.Cool
@@ -0,0 +1,292 @@
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/*
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* File : can.h
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* This file is part of RT-Thread RTOS
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* COPYRIGHT (C) 2015, RT-Thread Development Team
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*
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* The license and distribution terms for this file may be
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* found in the file LICENSE in this distribution or at
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* http://www.rt-thread.org/license/LICENSE
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*
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* Change Logs:
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* Date Author Notes
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*/
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#ifndef CAN_H_
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#define CAN_H_
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#ifndef RT_CANMSG_BOX_SZ
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#define RT_CANMSG_BOX_SZ 16
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#endif
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#ifndef RT_CANSND_BOX_NUM
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#define RT_CANSND_BOX_NUM 1
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#endif
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enum CANBAUD
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{
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CAN1MBaud=0, // 1 MBit/sec
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CAN800kBaud, // 800 kBit/sec
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CAN500kBaud, // 500 kBit/sec
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CAN250kBaud, // 250 kBit/sec
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CAN125kBaud, // 125 kBit/sec
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CAN100kBaud, // 100 kBit/sec
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CAN50kBaud, // 50 kBit/sec
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CAN20kBaud, // 20 kBit/sec
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CAN10kBaud // 10 kBit/sec
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};
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#define RT_CAN_MODE_NORMAL 0
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#define RT_CAN_MODE_LISEN 1
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#define RT_CAN_MODE_LOOPBACK 2
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#define RT_CAN_MODE_LOOPBACKANLISEN 3
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#define RT_CAN_MODE_PRIV 0x01
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#define RT_CAN_MODE_NOPRIV 0x00
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#ifdef RT_CAN_USING_LED
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struct rt_can_led
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{
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rt_uint32_t pin,mode,init;
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struct rt_timer* timer;
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const char* timer_name;
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};
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#endif /*RT_CAN_USING_LED*/
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struct rt_can_filter_item
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{
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rt_uint32_t id :29;
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rt_uint32_t ide :1;
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rt_uint32_t rtr :1;
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rt_uint32_t mode :1;
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rt_uint32_t mask;
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rt_int32_t hdr;
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rt_err_t (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
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void* args;
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};
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#ifdef RT_CAN_USING_HDR
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#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
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{\
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id,\
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ide,\
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rtr,\
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mode,\
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mask,\
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-1,\
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ind,\
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args,\
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}
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#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
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RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
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#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
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RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
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#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
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RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
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#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
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RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
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#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
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RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,ind,args)
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#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
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RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
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#else
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#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,args) \
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{\
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id,\
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ide,\
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rtr,\
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mode,\
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mask,\
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-1,\
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args,\
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}
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#define RT_CAN_FILTER_STD_INIT(id,args) \
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RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,args)
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#define RT_CAN_FILTER_EXT_INIT(id,args) \
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RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,args)
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#define RT_CAN_STD_RMT_FILTER_INIT(id,args) \
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RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,args)
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#define RT_CAN_EXT_RMT_FILTER_INIT(id,args) \
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RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,args)
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#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,args) \
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RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,args)
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#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,args) \
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RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,args)
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#endif
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struct rt_can_filter_config
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{
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rt_uint32_t count;
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rt_uint32_t actived;
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struct rt_can_filter_item* items;
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};
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struct can_configure
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{
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rt_uint32_t baud_rate;
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rt_uint32_t msgboxsz;
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rt_uint32_t sndboxnumber;
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rt_uint32_t mode :8;
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rt_uint32_t privmode :8;
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rt_uint32_t reserved :16;
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#ifdef RT_CAN_USING_LED
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const struct rt_can_led* rcvled;
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const struct rt_can_led* sndled;
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const struct rt_can_led* errled;
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#endif /*RT_CAN_USING_LED*/
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rt_uint32_t ticks;
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#ifdef RT_CAN_USING_HDR
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rt_uint32_t maxhdr;
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#endif
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};
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#define CANDEFAULTCONFIG \
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{\
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CAN1MBaud,\
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RT_CANMSG_BOX_SZ,\
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RT_CANSND_BOX_NUM,\
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RT_CAN_MODE_NORMAL,\
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};
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struct rt_can_ops;
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#define RT_CAN_CMD_SET_FILTER 0x13
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#define RT_CAN_CMD_SET_BAUD 0x14
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#define RT_CAN_CMD_SET_MODE 0x15
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#define RT_CAN_CMD_SET_PRIV 0x16
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#define RT_CAN_CMD_GET_STATUS 0x17
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#define RT_CAN_CMD_SET_STATUS_IND 0x18
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#define RT_DEVICE_CAN_INT_ERR 0x1000
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enum RT_CAN_STATUS_MODE
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{
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NORMAL = 0,
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ERRWARNING = 1,
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ERRPASSIVE = 2,
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BUSOFF = 4,
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};
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enum RT_CAN_BUS_ERR
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{
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RT_CAN_BUS_NO_ERR = 0,
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RT_CAN_BUS_BIT_PAD_ERR = 1,
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RT_CAN_BUS_FORMAT_ERR = 2,
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RT_CAN_BUS_ACK_ERR = 3,
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RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
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RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
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RT_CAN_BUS_CRC_ERR = 6,
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};
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struct rt_can_status
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{
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rt_uint32_t rcverrcnt;
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rt_uint32_t snderrcnt;
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rt_uint32_t errcode;
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rt_uint32_t rcvpkg;
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rt_uint32_t dropedrcvpkg;
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rt_uint32_t sndpkg;
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rt_uint32_t dropedsndpkg;
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rt_uint32_t bitpaderrcnt;
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rt_uint32_t formaterrcnt;
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rt_uint32_t ackerrcnt;
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rt_uint32_t biterrcnt;
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rt_uint32_t crcerrcnt;
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rt_uint32_t rcvchange;
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rt_uint32_t sndchange;
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rt_uint32_t lasterrtype;
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};
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#ifdef RT_CAN_USING_HDR
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struct rt_can_hdr {
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rt_uint32_t connected;
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rt_uint32_t msgs;
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struct rt_can_filter_item filter;
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struct rt_list_node list;
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};
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#endif
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struct rt_can_device;
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typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
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typedef struct rt_can_status_ind_type
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{
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rt_canstatus_ind ind;
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void* args;
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} *rt_can_status_ind_type_t;
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struct rt_can_device
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{
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struct rt_device parent;
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const struct rt_can_ops *ops;
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struct can_configure config;
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struct rt_can_status status;
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rt_uint32_t timerinitflag;
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struct rt_timer timer;
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struct rt_can_status_ind_type status_indicate;
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#ifdef RT_CAN_USING_HDR
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struct rt_can_hdr* hdr;
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#endif
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void *can_rx;
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void *can_tx;
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};
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typedef struct rt_can_device *rt_can_t;
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#define RT_CAN_STDID 0
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#define RT_CAN_EXTID 1
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#define RT_CAN_DTR 0
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#define RT_CAN_RTR 1
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typedef struct rt_can_status * rt_can_status_t;
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struct rt_can_msg
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{
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rt_uint32_t id :29;
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rt_uint32_t ide :1;
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rt_uint32_t rtr :1;
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rt_uint32_t rsv :1;
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rt_uint32_t len :8;
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rt_uint32_t priv :8;
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rt_uint32_t hdr :8;
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rt_uint32_t reserved :8;
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rt_uint8_t data[8];
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};
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typedef struct rt_can_msg* rt_can_msg_t;
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struct rt_can_msg_list {
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struct rt_list_node list;
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#ifdef RT_CAN_USING_HDR
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struct rt_list_node hdrlist;
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struct rt_can_hdr* owner;
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#endif
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struct rt_can_msg data;
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};
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struct rt_can_rx_fifo
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{
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/* software fifo */
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struct rt_can_msg_list *buffer;
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rt_uint32_t freenumbers;
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struct rt_list_node freelist;
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struct rt_list_node uselist;
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};
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#define RT_CAN__SND_RESUTL_OK 0
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#define RT_CAN__SND_RESUTL_ERR 1
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#define RT_CAN__SND_RESUTL_WAIT 2
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#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
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#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
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#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
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#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
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#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
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struct rt_can_sndbxinx_list {
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struct rt_list_node list;
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struct rt_completion completion;
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rt_uint32_t result;
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};
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struct rt_can_tx_fifo
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{
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struct rt_can_sndbxinx_list *buffer;
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struct rt_completion completion;
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struct rt_list_node freelist;
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};
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struct rt_can_ops
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{
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rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
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rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
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int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
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int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
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};
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rt_err_t rt_hw_can_register(struct rt_can_device *can,
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const char *name,
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const struct rt_can_ops *ops,
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void *data);
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void rt_hw_can_isr(struct rt_can_device *can, int event);
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#endif /*_CAN_H*/
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@@ -366,6 +366,10 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
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#include "drivers/pin.h"
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#endif
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#ifdef RT_USING_CAN
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#include "drivers/can.h"
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#endif
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#ifdef __cplusplus
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}
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#endif
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