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rt-thread-official/components/drivers/include/drivers/can.h

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/*
* Copyright (c) 2006-2023, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
* 2015-07-06 Bernard remove RT_CAN_USING_LED.
* 2022-05-08 hpmicro add CANFD support, fixed typos
*/
#ifndef CAN_H_
#define CAN_H_
#include <rtthread.h>
#ifndef RT_CANMSG_BOX_SZ
#define RT_CANMSG_BOX_SZ 16
#endif
#ifndef RT_CANSND_BOX_NUM
#define RT_CANSND_BOX_NUM 1
#endif
enum CAN_DLC
{
CAN_MSG_0BYTE = 0,
CAN_MSG_1BYTE,
CAN_MSG_2BYTES,
CAN_MSG_3BYTES,
CAN_MSG_4BYTES,
CAN_MSG_5BYTES,
CAN_MSG_6BYTES,
CAN_MSG_7BYTES,
CAN_MSG_8BYTES,
CAN_MSG_12BYTES,
CAN_MSG_16BYTES,
CAN_MSG_20BYTES,
CAN_MSG_24BYTES,
CAN_MSG_32BYTES,
CAN_MSG_48BYTES,
CAN_MSG_64BYTES,
};
enum CANBAUD
{
CAN1MBaud = 1000UL * 1000,/* 1 MBit/sec */
CAN800kBaud = 1000UL * 800, /* 800 kBit/sec */
CAN500kBaud = 1000UL * 500, /* 500 kBit/sec */
CAN250kBaud = 1000UL * 250, /* 250 kBit/sec */
CAN125kBaud = 1000UL * 125, /* 125 kBit/sec */
CAN100kBaud = 1000UL * 100, /* 100 kBit/sec */
CAN50kBaud = 1000UL * 50, /* 50 kBit/sec */
CAN20kBaud = 1000UL * 20, /* 20 kBit/sec */
CAN10kBaud = 1000UL * 10 /* 10 kBit/sec */
};
#define RT_CAN_MODE_NORMAL 0
#define RT_CAN_MODE_LISTEN 1
#define RT_CAN_MODE_LOOPBACK 2
#define RT_CAN_MODE_LOOPBACKANLISTEN 3
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00
/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number
* @{
*/
#define CAN_RX_FIFO0 (0x00000000U) /*!< CAN receive FIFO 0 */
#define CAN_RX_FIFO1 (0x00000001U) /*!< CAN receive FIFO 1 */
struct rt_can_filter_item
{
rt_uint32_t id : 29;
rt_uint32_t ide : 1;
rt_uint32_t rtr : 1;
rt_uint32_t mode : 1;
rt_uint32_t mask;
rt_int32_t hdr_bank;/*Should be defined as:rx.FilterBank,which should be changed to rt_int32_t hdr_bank*/
rt_uint32_t rxfifo;/*Add a configuration item that CAN_RX_FIFO0/CAN_RX_FIFO1*/
#ifdef RT_CAN_USING_HDR
rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
void *args;
#endif /*RT_CAN_USING_HDR*/
};
#ifdef RT_CAN_USING_HDR
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
{(id), (ide), (rtr), (mode),(mask), -1, CAN_RX_FIFO0,(ind), (args)}/*0:CAN_RX_FIFO0*/
#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,ind,args)
#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
#else
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
{(id), (ide), (rtr), (mode), (mask), -1, CAN_RX_FIFO0 }/*0:CAN_RX_FIFO0*/
#define RT_CAN_FILTER_STD_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
#define RT_CAN_FILTER_EXT_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF)
#define RT_CAN_STD_RMT_FILTER_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF)
#define RT_CAN_EXT_RMT_FILTER_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF)
#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF)
#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF)
#endif
struct rt_can_filter_config
{
rt_uint32_t count;
rt_uint32_t actived;
struct rt_can_filter_item *items;
};
struct rt_can_bit_timing
{
rt_uint16_t prescaler; /* Pre-scaler */
rt_uint16_t num_seg1; /* Bit Timing Segment 1, in terms of Tq */
rt_uint16_t num_seg2; /* Bit Timing Segment 2, in terms of Tq */
rt_uint8_t num_sjw; /* Synchronization Jump Width, in terms of Tq */
rt_uint8_t num_sspoff; /* Secondary Sample Point Offset, in terms of Tq */
};
/**
* CAN bit timing configuration list
* NOTE:
* items[0] always for CAN2.0/CANFD Arbitration Phase
* items[1] always for CANFD (if it exists)
*/
struct rt_can_bit_timing_config
{
rt_uint32_t count;
struct rt_can_bit_timing *items;
};
struct can_configure
{
rt_uint32_t baud_rate;
rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber;
rt_uint32_t mode : 8;
rt_uint32_t privmode : 8;
rt_uint32_t reserved : 16;
rt_uint32_t ticks;
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
#endif
#ifdef RT_CAN_USING_CANFD
rt_uint32_t baud_rate_fd; /* CANFD data bit rate*/
rt_uint32_t use_bit_timing: 8; /* Use the bit timing for CAN timing configuration */
rt_uint32_t enable_canfd : 8; /* Enable CAN-FD mode */
rt_uint32_t reserved1 : 16;
/* The below fields take effect only if use_bit_timing is non-zero */
struct rt_can_bit_timing can_timing; /* CAN bit-timing /CANFD bit-timing for arbitration phase */
struct rt_can_bit_timing canfd_timing; /* CANFD bit-timing for datat phase */
#endif
};
#define CANDEFAULTCONFIG \
{\
CAN1MBaud,\
RT_CANMSG_BOX_SZ,\
RT_CANSND_BOX_NUM,\
RT_CAN_MODE_NORMAL,\
};
struct rt_can_ops;
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
#define RT_CAN_CMD_SET_BUS_HOOK 0x19
#define RT_CAN_CMD_SET_CANFD 0x1A
#define RT_CAN_CMD_SET_BAUD_FD 0x1B
#define RT_CAN_CMD_SET_BITTIMING 0x1C
#define RT_DEVICE_CAN_INT_ERR 0x1000
enum RT_CAN_STATUS_MODE
{
NORMAL = 0,
ERRWARNING = 1,
ERRPASSIVE = 2,
BUSOFF = 4,
};
enum RT_CAN_BUS_ERR
{
RT_CAN_BUS_NO_ERR = 0,
RT_CAN_BUS_BIT_PAD_ERR = 1,
RT_CAN_BUS_FORMAT_ERR = 2,
RT_CAN_BUS_ACK_ERR = 3,
RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
RT_CAN_BUS_CRC_ERR = 6,
};
struct rt_can_status
{
rt_uint32_t rcverrcnt;
rt_uint32_t snderrcnt;
rt_uint32_t errcode;
rt_uint32_t rcvpkg;
rt_uint32_t dropedrcvpkg;
rt_uint32_t sndpkg;
rt_uint32_t dropedsndpkg;
rt_uint32_t bitpaderrcnt;
rt_uint32_t formaterrcnt;
rt_uint32_t ackerrcnt;
rt_uint32_t biterrcnt;
rt_uint32_t crcerrcnt;
rt_uint32_t rcvchange;
rt_uint32_t sndchange;
rt_uint32_t lasterrtype;
};
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr
{
rt_uint32_t connected;
rt_uint32_t msgs;
struct rt_can_filter_item filter;
struct rt_list_node list;
};
#endif
struct rt_can_device;
typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device *, void *);
typedef struct rt_can_status_ind_type
{
rt_canstatus_ind ind;
void *args;
} *rt_can_status_ind_type_t;
typedef void (*rt_can_bus_hook)(struct rt_can_device *);
struct rt_can_device
{
struct rt_device parent;
const struct rt_can_ops *ops;
struct can_configure config;
struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr *hdr;
#endif
#ifdef RT_CAN_USING_BUS_HOOK
rt_can_bus_hook bus_hook;
#endif /*RT_CAN_USING_BUS_HOOK*/
struct rt_mutex lock;
void *can_rx;
void *can_tx;
};
typedef struct rt_can_device *rt_can_t;
#define RT_CAN_STDID 0
#define RT_CAN_EXTID 1
#define RT_CAN_DTR 0
#define RT_CAN_RTR 1
typedef struct rt_can_status *rt_can_status_t;
struct rt_can_msg
{
rt_uint32_t id : 29;
rt_uint32_t ide : 1;
rt_uint32_t rtr : 1;
rt_uint32_t rsv : 1;
rt_uint32_t len : 8;
rt_uint32_t priv : 8;
rt_int32_t hdr_index : 8;/*Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/
#ifdef RT_CAN_USING_CANFD
rt_uint32_t fd_frame : 1;
rt_uint32_t brs : 1;
rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
rt_uint32_t reserved : 4;
#else
rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
rt_uint32_t reserved : 6;
#endif
#ifdef RT_CAN_USING_CANFD
rt_uint8_t data[64];
#else
rt_uint8_t data[8];
#endif
};
typedef struct rt_can_msg *rt_can_msg_t;
struct rt_can_msg_list
{
struct rt_list_node list;
#ifdef RT_CAN_USING_HDR
struct rt_list_node hdrlist;
struct rt_can_hdr *owner;
#endif
struct rt_can_msg data;
};
struct rt_can_rx_fifo
{
/* software fifo */
struct rt_can_msg_list *buffer;
rt_uint32_t freenumbers;
struct rt_list_node freelist;
struct rt_list_node uselist;
};
#define RT_CAN_SND_RESULT_OK 0
#define RT_CAN_SND_RESULT_ERR 1
#define RT_CAN_SND_RESULT_WAIT 2
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx fail */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
struct rt_can_sndbxinx_list
{
struct rt_list_node list;
struct rt_completion completion;
rt_uint32_t result;
};
struct rt_can_tx_fifo
{
struct rt_can_sndbxinx_list *buffer;
struct rt_semaphore sem;
struct rt_list_node freelist;
};
struct rt_can_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
rt_ssize_t (*sendmsg)(struct rt_can_device *can, const void *buf, rt_uint32_t boxno);
rt_ssize_t (*recvmsg)(struct rt_can_device *can, void *buf, rt_uint32_t boxno);
};
rt_err_t rt_hw_can_register(struct rt_can_device *can,
const char *name,
const struct rt_can_ops *ops,
void *data);
void rt_hw_can_isr(struct rt_can_device *can, int event);
#endif /*_CAN_H*/
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