espressif/esp-idf
1
0
Fork 1
mirror of https://github.com/espressif/esp-idf.git synced 2026-05-05 04:15:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

can: Refactor CAN to use HAL and LowLevel layers

Browse Source 
The following commit refactors the CAN driver such that
it is split into HAL and Lowlevel layers. The following
changes have also been made:

- Added bit field members to can_message_t as alternative
  to message flags. Updated examples and docs accordingly
- Register field names and fields of can_dev_t updated
This commit is contained in:
Darian Leung
2019-12-11 17:38:54 +08:00
parent 2e7e05a79a
commit a049e02d96
17 changed files with 1665 additions and 783 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/api-reference/peripherals/can.rst
+11 -10
View File
@@ -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