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Merge branch 'refactor/can_driver' into 'master'

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Refactor CAN to use HAL and LowLevel layers

Closes IDF-617

See merge request espressif/esp-idf!7019
This commit is contained in:
Angus Gratton
2020-01-10 14:22:02 +08:00
parent b2404513db a049e02d96
commit 782fc0df5f
17 changed files with 1665 additions and 783 deletions
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docs/en/api-reference/peripherals/can.rst
+11 -10
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@@ -273,7 +273,7 @@ Driver States
Message Flags
^^^^^^^^^^^^^
The CAN driver distinguishes different types of CAN messages by using the message flags in the ``flags`` field of :cpp:type:`can_message_t`. These flags help distinguish whether a message is in standard or extended format, an RTR, and the type of transmission to use when transmitting such a message. The CAN driver supports the following flags:
The CAN driver distinguishes different types of CAN messages by using the various bit field members of the :cpp:type:`can_message_t` structure. These bit field members help distinguish whether a message is in standard or extended format, an RTR, and the type of transmission to use when transmitting such a message. These bit field members can also be toggled using the the `flags` member of :cpp:type:`can_message_t` and the following message flags:
+-------------------------------+----------------------------------------------+
| Flag | Description |
@@ -286,19 +286,19 @@ The CAN driver distinguishes different types of CAN messages by using the messag
| ``CAN_MSG_FLAG_SS`` | Transmit message using Single Shot |
| | Transmission (Message will not be |
| | retransmitted upon error or loss of |
| | arbitration) |
| | arbitration). Unused for received message. |
+-------------------------------+----------------------------------------------+
| ``CAN_MSG_FLAG_SELF`` | Transmit message using Self Reception |
| | Request (Transmitted message will also |
| | received by the same node) |
| | received by the same node). Unused for |
| | received message. |
+-------------------------------+----------------------------------------------+
| ``CAN_MSG_FLAG_DLC_NON_COMP`` | Message's Data length code is larger than 8. |
| | This will break compliance with CAN2.0B |
+-------------------------------+----------------------------------------------+
.. note::
The ``CAN_MSG_FLAG_NONE`` flag can be used for Standard Frame Format messages
| ``CAN_MSG_FLAG_NONE`` | Clears all bit fields. Equivalent to a |
| | Standard Frame Format (11bit ID) Data Frame. |
+-------------------------------+----------------------------------------------+
.. -------------------------------- Examples -----------------------------------
@@ -360,7 +360,7 @@ The following code snippet demonstrates how to transmit a message via the usage
//Configure message to transmit
can_message_t message;
message.identifier = 0xAAAA;
message.flags = CAN_MSG_FLAG_EXTD;
message.extd = 1;
message.data_length_code = 4;
for (int i = 0; i < 4; i++) {
message.data[i] = 0;
@@ -394,13 +394,13 @@ The following code snippet demonstrates how to receive a message via the usage o
}
//Process received message
if (message.flags & CAN_MSG_FLAG_EXTD) {
if (message.extd) {
printf("Message is in Extended Format\n");
} else {
printf("Message is in Standard Format\n");
}
printf("ID is %d\n", message.identifier);
if (!(message.flags & CAN_MSG_FLAG_RTR)) {
if (!(message.rtr)) {
for (int i = 0; i < message.data_length_code; i++) {
printf("Data byte %d = %d\n", i, message.data[i]);
}
@@ -485,4 +485,5 @@ Application Examples
API Reference
-------------
.. include:: /_build/inc/can_types.inc
.. include:: /_build/inc/can.inc