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109 lines
3.5 KiB
C
109 lines
3.5 KiB
C
/*
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* Copyright (C) 2019 Gunar Schorcht
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @defgroup cpu_esp32_esp_can ESP32 CAN controller
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* @ingroup cpu_esp32
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* @ingroup drivers_can
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* @brief CAN controller driver for ESP32 (esp_can)
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*
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* The ESP32 intregates a CAN controller which is compatible with the
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* NXP SJA1000 CAN controller. Thus, it is CAN 2.0B specification compliant
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* and supports two message formats:
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*
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* - Base frame format (11-bit ID)
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* - Extended frame format (29-bit ID)
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*
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* @note
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* - ESP32 CAN does not support CAN-FD and is not CAN-FD tolerant.
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* - ESP32 CAN does not support SJA1000's sleep mode and wake-up functionality.
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*
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* As with the SJA1000, the ESP32 CAN controller provides only the data link
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* layer and the physical layer signaling sublayer. Therefore, depending on
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* the physical layer requirements, an external transceiver module is required
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* which converts the `CAN-RX` and `CAN-TX` signals of the ESP32 into `CAN_H`
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* and `CAN_L` bus signals, e.g., the MCP2551 or SN65HVD23X transceiver for
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* compatibility with ISO 11898-2.
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*
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* The driver realizes a low-level CAN driver interface for the ESP32 CAN
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* controller and provides a CAN DLL device that can be used in RIOT's CAN
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* protocol stack.
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* It uses the ESP32 CAN controller in SJA1000 PeliCAN mode. Please refer the
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* [SJA1000 Datasheet](https://www.nxp.com/documents/data_sheet/SJA1000.pdf)
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* for detailed information about the CAN controller and its programming.
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*
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* @author Gunar Schorcht <gunar@schorcht.net>
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* @{
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* @file
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*/
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#ifndef CAN_ESP_H
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#define CAN_ESP_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "can/candev.h"
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#include "periph/gpio.h"
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/** Number of receiver acceptance filters */
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#define ESP_CAN_MAX_RX_FILTERS (16)
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/** Number of frames in receiver buffer, must be a power of two */
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#define ESP_CAN_MAX_RX_FRAMES (8)
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/**
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* Low level device structure for ESP32 CAN (extension of candev_t)
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*/
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typedef struct can {
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candev_t candev; /**< candev base structure */
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canopt_state_t state; /**< current state of device */
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struct can_frame *tx_frame; /**< frame in transmission */
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struct can_frame rx_frames[ESP_CAN_MAX_RX_FRAMES]; /**< frames received */
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struct can_filter rx_filters[ESP_CAN_MAX_RX_FILTERS]; /**< acceptance filter list */
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uint32_t rx_frames_wptr; /**< pointer to ring buffer for write */
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uint32_t rx_frames_rptr; /**< pointer to ring buffer for read */
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uint32_t rx_frames_num; /**< number of frames in ring buffer */
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uint32_t rx_filter_num; /**< number of acceptance filters */
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bool powered_up; /**< device is powered up */
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uint32_t events; /**< events triggered by the last interrupt */
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} can_t;
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/** CAN device type can_t is redefined by ESP CAN */
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#define HAVE_CAN_T
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/**
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* ESP CAN device configuration
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*/
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typedef struct {
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uint32_t bitrate; /**< Bitrate */
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gpio_t tx_pin; /**< CAN transceiver TX pin */
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gpio_t rx_pin; /**< CAN transceiver RX pin */
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#ifdef CAN_CLK_OUT
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gpio_t clk_out_pin; /**< optional CLK_OUT pin */
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#endif
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#ifdef CAN_BUS_ON_OFF
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gpio_t bus_on_off_pin; /**< optional BUS_ON_OFF pin */
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#endif
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} can_conf_t;
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/** CAN device configuration type can_conf_t is redefined by ESP CAN */
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#define HAVE_CAN_CONF_T
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#ifdef __cplusplus
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}
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#endif
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#endif /* CAN_ESP_H */
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/** @} */
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