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| /* | ||
| * Copyright (c) 2015-2018 Arm Limited. All rights reserved. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the License); you may | ||
| * not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an AS IS BASIS, WITHOUT | ||
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
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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 | ||
| static const ARM_DRIVER_VERSION can_driver_version = { ARM_CAN_API_VERSION, ARM_CAN_DRV_VERSION }; | ||
|
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| // Driver Capabilities | ||
| static const ARM_CAN_CAPABILITIES can_driver_capabilities = { | ||
| 32U, // Number of CAN Objects available | ||
| 1U, // Supports reentrant calls to ARM_CAN_MessageSend, ARM_CAN_MessageRead, ARM_CAN_ObjectConfigure and abort message sending used by ARM_CAN_Control. | ||
| 0U, // Does not support CAN with Flexible Data-rate mode (CAN_FD) | ||
| 0U, // Does not support restricted operation mode | ||
| 1U, // Supports bus monitoring mode | ||
| 1U, // Supports internal loopback mode | ||
| 1U, // Supports external loopback mode | ||
| }; | ||
|
|
||
| // Object Capabilities | ||
| static const ARM_CAN_OBJ_CAPABILITIES can_object_capabilities = { | ||
| 1U, // Object supports transmission | ||
| 1U, // Object supports reception | ||
| 0U, // Object does not support RTR reception and automatic Data transmission | ||
| 0U, // Object does not support RTR transmission and automatic Data reception | ||
| 1U, // Object allows assignment of multiple filters to it | ||
| 1U, // Object supports exact identifier filtering | ||
| 0U, // Object does not support range identifier filtering | ||
| 1U, // Object supports mask identifier filtering | ||
| 3U // Object can buffer 3 messages | ||
| }; | ||
|
|
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| static uint8_t can_driver_powered = 0U; | ||
| static uint8_t can_driver_initialized = 0U; | ||
| static ARM_CAN_SignalUnitEvent_t CAN_SignalUnitEvent = NULL; | ||
| static ARM_CAN_SignalObjectEvent_t CAN_SignalObjectEvent = NULL; | ||
|
|
||
| // | ||
| // Functions | ||
| // | ||
|
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| static ARM_DRIVER_VERSION CAN_GetVersion (void) { | ||
| // Return driver version | ||
| return can_driver_version; | ||
| } | ||
|
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| static ARM_CAN_CAPABILITIES CAN_GetCapabilities (void) { | ||
| // Return driver capabilities | ||
| return can_driver_capabilities; | ||
| } | ||
|
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| static int32_t CAN_Initialize (ARM_CAN_SignalUnitEvent_t cb_unit_event, | ||
| 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; | ||
| CAN_SignalObjectEvent = cb_object_event; | ||
|
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| // Add code for pin, memory, RTX objects initialization | ||
| // .. | ||
|
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| can_driver_initialized = 1U; | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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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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| can_driver_initialized = 0U; | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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| static int32_t CAN_PowerControl (ARM_POWER_STATE state) { | ||
| switch (state) { | ||
| case ARM_POWER_OFF: | ||
| can_driver_powered = 0U; | ||
| // Add code to disable interrupts and put peripheral into reset mode, | ||
| // and if possible disable clock | ||
| // .. | ||
|
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| case ARM_POWER_FULL: | ||
| if (can_driver_initialized == 0U) { return ARM_DRIVER_ERROR; } | ||
| if (can_driver_powered != 0U) { return ARM_DRIVER_OK; } | ||
|
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| // Add code to enable clocks, reset variables enable interrupts | ||
| // and put peripheral into operational | ||
| // .. | ||
|
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| can_driver_powered = 1U; | ||
| break; | ||
|
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| default: | ||
| // Other states are not supported | ||
| return ARM_DRIVER_ERROR_UNSUPPORTED; | ||
| } | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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| uint32_t CAN_GetClock (void) { | ||
|
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| // Add code to return peripheral clock frequency | ||
| // .. | ||
| } | ||
|
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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 | ||
| // with specified bit segments | ||
| // .. | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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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) { | ||
| case ARM_CAN_MODE_INITIALIZATION: | ||
| // Add code to put peripheral into initialization mode | ||
| // .. | ||
| break; | ||
| case ARM_CAN_MODE_NORMAL: | ||
| // Add code to put peripheral into normal operation mode | ||
| // .. | ||
| break; | ||
| case ARM_CAN_MODE_RESTRICTED: | ||
| // Add code to put peripheral into restricted operation mode | ||
| // .. | ||
| break; | ||
| case ARM_CAN_MODE_MONITOR: | ||
| // Add code to put peripheral into bus monitoring mode | ||
| // .. | ||
| break; | ||
| case ARM_CAN_MODE_LOOPBACK_INTERNAL: | ||
| // Add code to put peripheral into internal loopback mode | ||
| // .. | ||
| break; | ||
| case ARM_CAN_MODE_LOOPBACK_EXTERNAL: | ||
| // Add code to put peripheral into external loopback mode | ||
| // .. | ||
| break; | ||
| default: | ||
| // Handle unknown mode code | ||
| return ARM_DRIVER_ERROR_UNSUPPORTED; | ||
| } | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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| ARM_CAN_OBJ_CAPABILITIES CAN_ObjectGetCapabilities (uint32_t obj_idx) { | ||
| // Return object capabilities | ||
| return can_object_capabilities; | ||
| } | ||
|
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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) { | ||
| case ARM_CAN_FILTER_ID_EXACT_ADD: | ||
| // Add code to setup peripheral to receive messages with specified exact ID | ||
| break; | ||
| case ARM_CAN_FILTER_ID_MASKABLE_ADD: | ||
| // Add code to setup peripheral to receive messages with specified maskable ID | ||
| break; | ||
| case ARM_CAN_FILTER_ID_RANGE_ADD: | ||
| // Add code to setup peripheral to receive messages within specified range of IDs | ||
| break; | ||
| case ARM_CAN_FILTER_ID_EXACT_REMOVE: | ||
| // Add code to remove specified exact ID from being received by peripheral | ||
| break; | ||
| case ARM_CAN_FILTER_ID_MASKABLE_REMOVE: | ||
| // Add code to remove specified maskable ID from being received by peripheral | ||
| break; | ||
| case ARM_CAN_FILTER_ID_RANGE_REMOVE: | ||
| // Add code to remove specified range of IDs from being received by peripheral | ||
| break; | ||
| default: | ||
| // Handle unknown operation code | ||
| return ARM_DRIVER_ERROR_UNSUPPORTED; | ||
| } | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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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) { | ||
| case ARM_CAN_OBJ_INACTIVE: | ||
| // Deactivate object | ||
| // .. | ||
| break; | ||
| case ARM_CAN_OBJ_RX_RTR_TX_DATA: | ||
| // Setup object to automatically return data when RTR with it's ID is received | ||
| // .. | ||
| break; | ||
| case ARM_CAN_OBJ_TX_RTR_RX_DATA: | ||
| // Setup object to send RTR and receive data response | ||
| // .. | ||
| break; | ||
| case ARM_CAN_OBJ_TX: | ||
| // Setup object to be used for sending messages | ||
| // .. | ||
| break; | ||
| case ARM_CAN_OBJ_RX: | ||
| // Setup object to be used for receiving messages | ||
| // .. | ||
| break; | ||
| default: | ||
| // Handle unknown object configuration code | ||
| return ARM_DRIVER_ERROR_UNSUPPORTED; | ||
| } | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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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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| return ((int32_t)size); | ||
| } | ||
|
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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 | ||
| // (reception was started when object was configured for reception) | ||
| // .. | ||
|
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| return ((int32_t)size); | ||
| } | ||
|
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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) { | ||
| case ARM_CAN_ABORT_MESSAGE_SEND: | ||
| // Add code to abort message pending to be sent | ||
| // .. | ||
| break; | ||
| case ARM_CAN_SET_FD_MODE: | ||
| // Add code to enable Flexible Data-rate mode | ||
| // .. | ||
| break; | ||
| case ARM_CAN_SET_TRANSCEIVER_DELAY: | ||
| // Add code to set transceiver delay | ||
| // .. | ||
| break; | ||
| default: | ||
| // Handle unknown control code | ||
| return ARM_DRIVER_ERROR_UNSUPPORTED; | ||
| } | ||
|
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| return ARM_DRIVER_OK; | ||
| } | ||
|
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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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| // IRQ handlers | ||
| // Add interrupt routines to handle transmission, reception, error and status interrupts | ||
| // .. | ||
|
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| // CAN driver functions structure | ||
|
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| ARM_DRIVER_CAN Driver_CAN = { | ||
| CAN_GetVersion, | ||
| CAN_GetCapabilities, | ||
| CAN_Initialize, | ||
| CAN_Uninitialize, | ||
| CAN_PowerControl, | ||
| CAN_GetClock, | ||
| CAN_SetBitrate, | ||
| CAN_SetMode, | ||
| CAN_ObjectGetCapabilities, | ||
| CAN_ObjectSetFilter, | ||
| CAN_ObjectConfigure, | ||
| CAN_MessageSend, | ||
| CAN_MessageRead, | ||
| CAN_Control, | ||
| CAN_GetStatus | ||
| }; | ||
|
|
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