548 lines
15 KiB
C
548 lines
15 KiB
C
/*
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* Copyright (c) 2006-2025, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2015-05-14 aubrcool@qq.com first version
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* 2015-07-06 Bernard remove RT_CAN_USING_LED.
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* 2022-05-08 hpmicro add CANFD support, fixed typos
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*/
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#ifndef __DEV_CAN_H_
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#define __DEV_CAN_H_
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#include <rtthread.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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#ifndef RT_CANSND_MSG_TIMEOUT
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#define RT_CANSND_MSG_TIMEOUT 100
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#endif
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enum CAN_DLC
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{
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CAN_MSG_0BYTE = 0,
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CAN_MSG_1BYTE,
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CAN_MSG_2BYTES,
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CAN_MSG_3BYTES,
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CAN_MSG_4BYTES,
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CAN_MSG_5BYTES,
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CAN_MSG_6BYTES,
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CAN_MSG_7BYTES,
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CAN_MSG_8BYTES,
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CAN_MSG_12BYTES,
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CAN_MSG_16BYTES,
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CAN_MSG_20BYTES,
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CAN_MSG_24BYTES,
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CAN_MSG_32BYTES,
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CAN_MSG_48BYTES,
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CAN_MSG_64BYTES,
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};
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enum CANBAUD
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{
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CAN1MBaud = 1000UL * 1000,/* 1 MBit/sec */
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CAN800kBaud = 1000UL * 800, /* 800 kBit/sec */
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CAN500kBaud = 1000UL * 500, /* 500 kBit/sec */
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CAN250kBaud = 1000UL * 250, /* 250 kBit/sec */
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CAN125kBaud = 1000UL * 125, /* 125 kBit/sec */
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CAN100kBaud = 1000UL * 100, /* 100 kBit/sec */
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CAN50kBaud = 1000UL * 50, /* 50 kBit/sec */
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CAN20kBaud = 1000UL * 20, /* 20 kBit/sec */
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CAN10kBaud = 1000UL * 10 /* 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_LISTEN 1
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#define RT_CAN_MODE_LOOPBACK 2
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#define RT_CAN_MODE_LOOPBACKANLISTEN 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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/**
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* @defgroup group_drivers_can CAN Driver
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* @brief CAN driver api
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* @ingroup group_device_driver
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*
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* <b>Example</b>
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* @code {.c}
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* #include <rtthread.h>
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* #include "rtdevice.h"
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*
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* #define CAN_DEV_NAME "can1" // CAN 设备名称
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*
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* static struct rt_semaphore rx_sem; // 用于接收消息的信号量
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* static rt_device_t can_dev; // CAN 设备句柄
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*
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* // 接收数据回调函数
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* static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
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* {
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* // CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量
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* rt_sem_release(&rx_sem);
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*
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* return RT_EOK;
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* }
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*
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* static void can_rx_thread(void *parameter)
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* {
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* int i;
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* rt_err_t res;
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* struct rt_can_msg rxmsg = {0};
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*
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* // 设置接收回调函数
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* rt_device_set_rx_indicate(can_dev, can_rx_call);
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*
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* #ifdef RT_CAN_USING_HDR
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* struct rt_can_filter_item items[5] =
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* {
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* RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL), // std,match ID:0x100~0x1ff，hdr 为 - 1，设置默认过滤表
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* RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 0, 0x700, RT_NULL, RT_NULL), // std,match ID:0x300~0x3ff，hdr 为 - 1
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* RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 0, 0x7ff, RT_NULL, RT_NULL), // std,match ID:0x211，hdr 为 - 1
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* RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL), // std,match ID:0x486，hdr 为 - 1
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* {0x555, 0, 0, 0, 0x7ff, 7,} // std,match ID:0x555，hdr 为 7，指定设置 7 号过滤表
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* };
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* struct rt_can_filter_config cfg = {5, 1, items}; // 一共有 5 个过滤表
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* // 设置硬件过滤表
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* res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
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* RT_ASSERT(res == RT_EOK);
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* #endif
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* res = RT_TRUE;
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* res = rt_device_control(can_dev, RT_CAN_CMD_START, &res);
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* while (1)
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* {
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* // hdr 值为 - 1，表示直接从 uselist 链表读取数据
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* rxmsg.hdr = -1;
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* // 阻塞等待接收信号量
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* rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
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* // 从 CAN 读取一帧数据
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* rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
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* // 打印数据 ID 及内容
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* rt_kprintf("ID:%x", rxmsg.id);
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* for (i = 0; i < 8; i++)
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* {
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* rt_kprintf("%2x", rxmsg.data[i]);
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* }
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*
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* rt_kprintf("\n");
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* }
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* }
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*
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* int can_sample(int argc, char *argv[])
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* {
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* struct rt_can_msg msg = {0};
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* rt_err_t res;
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* rt_size_t size;
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* rt_thread_t thread;
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* char can_name[RT_NAME_MAX];
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*
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* if (argc == 2)
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* {
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* rt_strncpy(can_name, argv[1], RT_NAME_MAX);
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* }
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* else
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* {
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* rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
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* }
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* // 查找 CAN 设备
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* can_dev = rt_device_find(can_name);
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* if (!can_dev)
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* {
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* rt_kprintf("find %s failed!\n", can_name);
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* return -RT_ERROR;
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* }
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*
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* // 初始化 CAN 接收信号量
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* rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);
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*
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* // 以中断接收及发送方式打开 CAN 设备
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* res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
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* RT_ASSERT(res == RT_EOK);
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* // 创建数据接收线程
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* thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
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* if (thread != RT_NULL)
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* {
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* rt_thread_startup(thread);
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* }
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* else
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* {
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* rt_kprintf("create can_rx thread failed!\n");
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* }
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*
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* msg.id = 0x78; // ID 为 0x78
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* msg.ide = RT_CAN_STDID; // 标准格式
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* msg.rtr = RT_CAN_DTR; // 数据帧
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* msg.len = 8; // 数据长度为 8
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* // 待发送的 8 字节数据
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* msg.data[0] = 0x00;
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* msg.data[1] = 0x11;
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* msg.data[2] = 0x22;
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* msg.data[3] = 0x33;
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* msg.data[4] = 0x44;
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* msg.data[5] = 0x55;
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* msg.data[6] = 0x66;
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* msg.data[7] = 0x77;
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* // 发送一帧 CAN 数据
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* size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
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* if (size == 0)
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* {
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* rt_kprintf("can dev write data failed!\n");
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* }
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*
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* return res;
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* }
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* // 导出到 msh 命令列表中
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* MSH_CMD_EXPORT(can_sample, can device sample);
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* @endcode
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*/
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/*!
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* @addtogroup group_drivers_can
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* @{
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*/
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#define CAN_RX_FIFO0 (0x00000000U) /*!< CAN receive FIFO 0 */
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#define CAN_RX_FIFO1 (0x00000001U) /*!< CAN receive FIFO 1 */
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/**
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* @brief CAN filter item
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*/
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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_bank;/*Should be defined as:rx.FilterBank,which should be changed to rt_int32_t hdr_bank*/
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rt_uint32_t rxfifo;/*Add a configuration item that CAN_RX_FIFO0/CAN_RX_FIFO1*/
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#ifdef RT_CAN_USING_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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#endif /*RT_CAN_USING_HDR*/
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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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{(id), (ide), (rtr), (mode),(mask), -1, CAN_RX_FIFO0,(ind), (args)}/*0:CAN_RX_FIFO0*/
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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) \
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{(id), (ide), (rtr), (mode), (mask), -1, CAN_RX_FIFO0 }/*0:CAN_RX_FIFO0*/
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#define RT_CAN_FILTER_STD_INIT(id) \
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RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
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#define RT_CAN_FILTER_EXT_INIT(id) \
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RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF)
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#define RT_CAN_STD_RMT_FILTER_INIT(id) \
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RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF)
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#define RT_CAN_EXT_RMT_FILTER_INIT(id) \
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RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF)
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#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id) \
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RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF)
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#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id) \
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RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF)
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#endif
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/**
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* @brief CAN filter configuration
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*/
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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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/**
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* @brief CAN timing configuration
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*/
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struct rt_can_bit_timing
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{
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rt_uint16_t prescaler; /* Pre-scaler */
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rt_uint16_t num_seg1; /* Bit Timing Segment 1, in terms of Tq */
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rt_uint16_t num_seg2; /* Bit Timing Segment 2, in terms of Tq */
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rt_uint8_t num_sjw; /* Synchronization Jump Width, in terms of Tq */
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rt_uint8_t num_sspoff; /* Secondary Sample Point Offset, in terms of Tq */
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};
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/**
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* @brief CAN bit timing configuration list
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* @note
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* items[0] always for CAN2.0/CANFD Arbitration Phase
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* items[1] always for CANFD (if it exists)
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*/
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struct rt_can_bit_timing_config
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{
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rt_uint32_t count;
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struct rt_can_bit_timing *items;
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};
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/**
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* @brief CAN configuration
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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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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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#ifdef RT_CAN_USING_CANFD
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rt_uint32_t baud_rate_fd; /* CANFD data bit rate*/
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rt_uint32_t use_bit_timing: 8; /* Use the bit timing for CAN timing configuration */
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rt_uint32_t enable_canfd : 8; /* Enable CAN-FD mode */
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rt_uint32_t reserved1 : 16;
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/* The below fields take effect only if use_bit_timing is non-zero */
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struct rt_can_bit_timing can_timing; /* CAN bit-timing /CANFD bit-timing for arbitration phase */
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struct rt_can_bit_timing canfd_timing; /* CANFD bit-timing for datat phase */
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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_CAN_CMD_SET_BUS_HOOK 0x19
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#define RT_CAN_CMD_SET_CANFD 0x1A
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#define RT_CAN_CMD_SET_BAUD_FD 0x1B
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#define RT_CAN_CMD_SET_BITTIMING 0x1C
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#define RT_CAN_CMD_START 0x1D
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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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/**
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* @brief CAN status
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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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{
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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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typedef void (*rt_can_bus_hook)(struct rt_can_device *);
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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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#ifdef RT_CAN_USING_BUS_HOOK
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rt_can_bus_hook bus_hook;
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#endif /*RT_CAN_USING_BUS_HOOK*/
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struct rt_mutex lock;
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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_int32_t hdr_index : 8;/*Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/
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#ifdef RT_CAN_USING_CANFD
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rt_uint32_t fd_frame : 1;
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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;
|
||
};
|
||
|
||
/**
|
||
* @brief CAN operators
|
||
*/
|
||
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);
|
||
};
|
||
|
||
/**
|
||
* @brief Register a CAN device to device list
|
||
*
|
||
* @param can the CAN device object
|
||
* @param name the name of CAN device
|
||
* @param ops the CAN device operators
|
||
* @param data the private data of CAN device
|
||
*
|
||
* @return the error code, RT_EOK on successfully
|
||
*/
|
||
rt_err_t rt_hw_can_register(struct rt_can_device *can,
|
||
const char *name,
|
||
const struct rt_can_ops *ops,
|
||
void *data);
|
||
|
||
/**
|
||
* @brief CAN interrupt service routine
|
||
*
|
||
* @param can the CAN device
|
||
* @param event the event mask
|
||
*/
|
||
void rt_hw_can_isr(struct rt_can_device *can, int event);
|
||
|
||
/*! @}*/
|
||
|
||
#endif /*__DEV_CAN_H*/
|
||
|