322 lines
9.0 KiB
C
322 lines
9.0 KiB
C
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/*
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* Copyright (c) 2015-2018 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* 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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*
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* 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, WITHOUT
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* 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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*/
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#include "Driver_CAN.h"
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#define ARM_CAN_DRV_VERSION ARM_DRIVER_VERSION_MAJOR_MINOR(1,0) // CAN driver version
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// Driver Version
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static const ARM_DRIVER_VERSION can_driver_version = { ARM_CAN_API_VERSION, ARM_CAN_DRV_VERSION };
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// Driver Capabilities
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static const ARM_CAN_CAPABILITIES can_driver_capabilities = {
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32U, // Number of CAN Objects available
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1U, // Supports reentrant calls to ARM_CAN_MessageSend, ARM_CAN_MessageRead, ARM_CAN_ObjectConfigure and abort message sending used by ARM_CAN_Control.
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0U, // Does not support CAN with Flexible Data-rate mode (CAN_FD)
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0U, // Does not support restricted operation mode
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1U, // Supports bus monitoring mode
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1U, // Supports internal loopback mode
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1U, // Supports external loopback mode
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};
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// Object Capabilities
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static const ARM_CAN_OBJ_CAPABILITIES can_object_capabilities = {
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1U, // Object supports transmission
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1U, // Object supports reception
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0U, // Object does not support RTR reception and automatic Data transmission
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0U, // Object does not support RTR transmission and automatic Data reception
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1U, // Object allows assignment of multiple filters to it
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1U, // Object supports exact identifier filtering
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0U, // Object does not support range identifier filtering
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1U, // Object supports mask identifier filtering
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3U // Object can buffer 3 messages
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};
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static uint8_t can_driver_powered = 0U;
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static uint8_t can_driver_initialized = 0U;
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static ARM_CAN_SignalUnitEvent_t CAN_SignalUnitEvent = NULL;
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static ARM_CAN_SignalObjectEvent_t CAN_SignalObjectEvent = NULL;
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//
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// Functions
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//
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static ARM_DRIVER_VERSION CAN_GetVersion (void) {
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// Return driver version
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return can_driver_version;
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}
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static ARM_CAN_CAPABILITIES CAN_GetCapabilities (void) {
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// Return driver capabilities
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return can_driver_capabilities;
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}
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static int32_t CAN_Initialize (ARM_CAN_SignalUnitEvent_t cb_unit_event,
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ARM_CAN_SignalObjectEvent_t cb_object_event) {
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if (can_driver_initialized != 0U) { return ARM_DRIVER_OK; }
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CAN_SignalUnitEvent = cb_unit_event;
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CAN_SignalObjectEvent = cb_object_event;
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// Add code for pin, memory, RTX objects initialization
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// ..
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can_driver_initialized = 1U;
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return ARM_DRIVER_OK;
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}
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static int32_t CAN_Uninitialize (void) {
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// Add code for pin, memory, RTX objects de-initialization
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// ..
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can_driver_initialized = 0U;
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return ARM_DRIVER_OK;
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}
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static int32_t CAN_PowerControl (ARM_POWER_STATE state) {
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switch (state) {
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case ARM_POWER_OFF:
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can_driver_powered = 0U;
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// Add code to disable interrupts and put peripheral into reset mode,
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// and if possible disable clock
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// ..
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case ARM_POWER_FULL:
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if (can_driver_initialized == 0U) { return ARM_DRIVER_ERROR; }
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if (can_driver_powered != 0U) { return ARM_DRIVER_OK; }
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// Add code to enable clocks, reset variables enable interrupts
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// and put peripheral into operational
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// ..
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can_driver_powered = 1U;
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break;
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default:
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// Other states are not supported
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return ARM_DRIVER_ERROR_UNSUPPORTED;
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}
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return ARM_DRIVER_OK;
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}
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uint32_t CAN_GetClock (void) {
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// Add code to return peripheral clock frequency
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// ..
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}
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static int32_t CAN_SetBitrate (ARM_CAN_BITRATE_SELECT select, uint32_t bitrate, uint32_t bit_segments) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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// Add code to setup peripheral parameters to generate specified bitrate
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// with specified bit segments
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// ..
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return ARM_DRIVER_OK;
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}
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static int32_t CAN_SetMode (ARM_CAN_MODE mode) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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switch (mode) {
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case ARM_CAN_MODE_INITIALIZATION:
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// Add code to put peripheral into initialization mode
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// ..
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break;
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case ARM_CAN_MODE_NORMAL:
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// Add code to put peripheral into normal operation mode
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// ..
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break;
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case ARM_CAN_MODE_RESTRICTED:
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// Add code to put peripheral into restricted operation mode
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// ..
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break;
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case ARM_CAN_MODE_MONITOR:
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// Add code to put peripheral into bus monitoring mode
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// ..
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break;
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case ARM_CAN_MODE_LOOPBACK_INTERNAL:
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// Add code to put peripheral into internal loopback mode
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// ..
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break;
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case ARM_CAN_MODE_LOOPBACK_EXTERNAL:
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// Add code to put peripheral into external loopback mode
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// ..
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break;
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default:
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// Handle unknown mode code
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return ARM_DRIVER_ERROR_UNSUPPORTED;
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}
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return ARM_DRIVER_OK;
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}
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ARM_CAN_OBJ_CAPABILITIES CAN_ObjectGetCapabilities (uint32_t obj_idx) {
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// Return object capabilities
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return can_object_capabilities;
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}
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static int32_t CAN_ObjectSetFilter (uint32_t obj_idx, ARM_CAN_FILTER_OPERATION operation, uint32_t id, uint32_t arg) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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switch (operation) {
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case ARM_CAN_FILTER_ID_EXACT_ADD:
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// Add code to setup peripheral to receive messages with specified exact ID
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break;
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case ARM_CAN_FILTER_ID_MASKABLE_ADD:
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// Add code to setup peripheral to receive messages with specified maskable ID
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break;
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case ARM_CAN_FILTER_ID_RANGE_ADD:
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// Add code to setup peripheral to receive messages within specified range of IDs
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break;
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case ARM_CAN_FILTER_ID_EXACT_REMOVE:
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// Add code to remove specified exact ID from being received by peripheral
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break;
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case ARM_CAN_FILTER_ID_MASKABLE_REMOVE:
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// Add code to remove specified maskable ID from being received by peripheral
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break;
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case ARM_CAN_FILTER_ID_RANGE_REMOVE:
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// Add code to remove specified range of IDs from being received by peripheral
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break;
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default:
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// Handle unknown operation code
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return ARM_DRIVER_ERROR_UNSUPPORTED;
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}
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return ARM_DRIVER_OK;
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}
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static int32_t CAN_ObjectConfigure (uint32_t obj_idx, ARM_CAN_OBJ_CONFIG obj_cfg) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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switch (obj_cfg) {
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case ARM_CAN_OBJ_INACTIVE:
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// Deactivate object
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// ..
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break;
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case ARM_CAN_OBJ_RX_RTR_TX_DATA:
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// Setup object to automatically return data when RTR with it's ID is received
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// ..
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break;
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case ARM_CAN_OBJ_TX_RTR_RX_DATA:
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// Setup object to send RTR and receive data response
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// ..
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break;
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case ARM_CAN_OBJ_TX:
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// Setup object to be used for sending messages
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// ..
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break;
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case ARM_CAN_OBJ_RX:
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// Setup object to be used for receiving messages
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// ..
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break;
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default:
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// Handle unknown object configuration code
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return ARM_DRIVER_ERROR_UNSUPPORTED;
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}
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return ARM_DRIVER_OK;
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}
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static int32_t CAN_MessageSend (uint32_t obj_idx, ARM_CAN_MSG_INFO *msg_info, const uint8_t *data, uint8_t size) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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// Add code to send requested message
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// ..
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return ((int32_t)size);
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}
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static int32_t CAN_MessageRead (uint32_t obj_idx, ARM_CAN_MSG_INFO *msg_info, uint8_t *data, uint8_t size) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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// Add code to read previously received message
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// (reception was started when object was configured for reception)
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// ..
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return ((int32_t)size);
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}
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static int32_t CAN_Control (uint32_t control, uint32_t arg) {
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if (can_driver_powered == 0U) { return ARM_DRIVER_ERROR; }
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switch (control & ARM_CAN_CONTROL_Msk) {
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case ARM_CAN_ABORT_MESSAGE_SEND:
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// Add code to abort message pending to be sent
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// ..
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break;
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case ARM_CAN_SET_FD_MODE:
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// Add code to enable Flexible Data-rate mode
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// ..
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break;
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case ARM_CAN_SET_TRANSCEIVER_DELAY:
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// Add code to set transceiver delay
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// ..
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break;
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default:
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// Handle unknown control code
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return ARM_DRIVER_ERROR_UNSUPPORTED;
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}
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return ARM_DRIVER_OK;
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}
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static ARM_CAN_STATUS CAN_GetStatus (void) {
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// Add code to return device bus and error status
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// ..
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}
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// IRQ handlers
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// Add interrupt routines to handle transmission, reception, error and status interrupts
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// ..
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// CAN driver functions structure
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ARM_DRIVER_CAN Driver_CAN = {
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CAN_GetVersion,
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CAN_GetCapabilities,
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CAN_Initialize,
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CAN_Uninitialize,
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CAN_PowerControl,
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CAN_GetClock,
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CAN_SetBitrate,
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CAN_SetMode,
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CAN_ObjectGetCapabilities,
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CAN_ObjectSetFilter,
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CAN_ObjectConfigure,
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CAN_MessageSend,
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CAN_MessageRead,
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CAN_Control,
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CAN_GetStatus
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};
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