diff options
Diffstat (limited to 'src/drivers/boards/px4cannode-v1/bootloader/can/driver.h')
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/bootloader/can/driver.h | 198 |
1 files changed, 185 insertions, 13 deletions
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h b/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h index 138e14ba3..a83cab86b 100644 --- a/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h +++ b/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h @@ -1,7 +1,56 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * Author: Ben Dyer <ben_dyer@mac.com> + * Pavel Kirienko <pavel.kirienko@zubax.com> + * David Sidrane <david_s5@nscdg.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + #pragma once +/**************************************************************************** + * Included Files + ****************************************************************************/ + #include "timer.h" +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Type Definitions + ****************************************************************************/ + + typedef enum { CAN_UNKNOWN = 0, @@ -19,29 +68,152 @@ typedef enum CAN_Mode_Silent_LoopBack = 3 // Bits 30 and 31 11 } can_mode_t; + +/* + * Receive from FIFO 1 -- filters are configured to push the messages there, + * and there are send/receive functions called off the SysTick ISR so + * we partition the usage of the CAN hardware to avoid the same FIFOs/mailboxes + * as the rest of the application uses. + */ + typedef enum { fifoAll = 0, MBAll = 0, - /* - Receive from FIFO 1 -- filters are configured to push the messages there, - and this is called from SysTick so needs to avoid the same FIFOs/mailboxes - as the rest of the application. - */ fifoGetNodeInfo = 1, MBGetNodeInfo = 1, MBNodeStatus = 1, - } can_fifo_mailbox_t; -void can_tx(uint32_t message_id, size_t length, - const uint8_t * message, uint8_t mailbox); -uint8_t can_rx(uint32_t * out_message_id, size_t * out_length, - uint8_t * out_message, uint8_t fifo); -int can_init(can_speed_t speed, can_mode_t mode); -int can_autobaud(can_speed_t *can_speed, bl_timer_id tboot); +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ +/**************************************************************************** + * Name: can_speed2freq + * + * Description: + * This function maps a can_speed_t to a bit rate in Hz + * + * Input Parameters: + * can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD + * + * Returned value: + * Bit rate in Hz + * + ****************************************************************************/ + +int can_speed2freq(can_speed_t speed); + +/**************************************************************************** + * Name: can_speed2freq + * + * Description: + * This function maps a frequency in Hz to a can_speed_t in the range + * CAN_125KBAUD to CAN_1MBAUD. + * + * Input Parameters: + * freq - Bit rate in Hz + * + * Returned value: + * A can_speed_t from CAN_125KBAUD to CAN_1MBAUD + * + ****************************************************************************/ -int can_speed2freq(can_speed_t); can_speed_t can_freq2speed(int freq); + +/**************************************************************************** + * Name: can_tx + * + * Description: + * This function is called to transmit a CAN frame using the supplied + * mailbox. It will busy wait on the mailbox if not available. + * + * Input Parameters: + * message_id - The CAN message's EXID field + * length - The number of bytes of data - the DLC field + * message - A pointer to 8 bytes of data to be sent (all 8 bytes will be + * loaded into the CAN transmitter but only length bytes will + * be sent. + * mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing + * mailbox. + * + * Returned value: + * None + * + ****************************************************************************/ + +void can_tx(uint32_t message_id, size_t length, const uint8_t * message, + uint8_t mailbox); + +/**************************************************************************** + * Name: can_rx + * + * Description: + * This function is called to receive a CAN frame from a supplied fifo. + * It does not block if there is not available, but returns 0 + * + * Input Parameters: + * message_id - A pointer to return the CAN message's EXID field + * length - A pointer to return the number of bytes of data - the DLC field + * message - A pointer to return 8 bytes of data to be sent (all 8 bytes will + * be written from the CAN receiver but only length bytes will be sent. + * fifo A can_fifo_mailbox_t fifixxx value to choose the incoming fifo. + * + * Returned value: + * The length of the data read or 0 if the fifo was empty + * + ****************************************************************************/ +uint8_t can_rx(uint32_t * message_id, size_t * length, uint8_t * message, + uint8_t fifo); + +/**************************************************************************** + * Name: can_init + * + * Description: + * This function is used to initialize the CAN block for a given bit rate and + * mode. + * + * Input Parameters: + * speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD + * mode - One of the can_mode_t of Normal, LoopBack and Silent or + * combination thereof. + * + * Returned value: + * OK - on Success or a negate errno value + * + ****************************************************************************/ + +int can_init(can_speed_t speed, can_mode_t mode); + +/**************************************************************************** + * Name: can_autobaud + * + * Description: + * This function will attempt to detect the bit rate in use on the CAN + * interface until the timeout provided expires or the successful detection + * occurs. + * + * It will initialize the CAN block for a given bit rate + * to test that a message can be received. The CAN interface is left + * operating at the detected bit rate and in CAN_Mode_Normal mode. + * + * Input Parameters: + * can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to + * CAN_1MBAUD + * timeout - The timer id of a timer to use as the maximum time to wait for + * successful bit rate detection. This timer may be not running + * in which case the auto baud code will try indefinitely to + * detect the bit rate. + * + * Returned value: + * CAN_OK - on Success or a CAN_BOOT_TIMEOUT + * + ****************************************************************************/ + +int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout); |