go:*handler is pointer to interface, not interface

最新推荐文章于 2022-11-29 12:25:45 发布
转载 最新推荐文章于 2022-11-29 12:25:45 发布 · 827 阅读 · 0 ·
CC 4.0 BY-SA版权
原文链接：https://blog.youkuaiyun.com/Nick_666/article/details/78629196
文章标签：

#go

本文探讨了在Go语言中为什么不能声明接口指针，以及在C++中为何不能声明指向引用的指针。通过两个语言的对比，加深了对这两种特性背后原因的理解。

一句话总结：不能声明一个接口的指针，如同不能在C++中不能声明一个指向引用的指针。

type handler interface {
	Do()
}
var h *handler //error


C++中不能声明一个指向引用的指针

int&* p; //error

 

本文转载自:https://blog.youkuaiyun.com/Nick_666/article/details/78629196

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/**************************************************************************** ** ** This file is part of the LibreCAD project, a 2D CAD program ** ** Copyright (C) 2010 R. van Twisk (librecad@rvt.dds.nl) ** Copyright (C) 2001-2003 RibbonSoft. All rights reserved. ** ** ** This file may be distributed and/or modified under the terms of the ** GNU General Public License version 2 as published by the Free Software ** Foundation and appearing in the file gpl-2.0.txt included in the ** packaging of this file. ** ** This program is distributed in the hope that it will be useful, ** but WITHOUT ANY WARRANTY; without even the implied warranty of ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ** GNU General Public License for more details. ** ** You should have received a copy of the GNU General Public License ** along with this program; if not, write to the Free Software ** Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA ** ** This copyright notice MUST APPEAR in all copies of the script! ** **********************************************************************/ #ifndef QC_APPLICATIONWINDOW_H #define QC_APPLICATIONWINDOW_H #undef QT_NO_WORKSPACE #include <qworkspace.h> #include "qc_mdiwindow.h" #include "qg_mainwindowinterface.h" #ifdef RS_SCRIPTING #include "qs_scripter.h" #include <qsproject.h> #endif class QG_LibraryWidget; class QG_CadToolBar; class QC_DialogFactory; class QG_LayerWidget; class QG_BlockWidget; class QG_CommandWidget; class QG_CoordinateWidget; class QG_MouseWidget; class QG_SelectionWidget; class QG_RecentFiles; class QG_PenToolBar; class QHelpEngine; class QC_PluginInterface; /** * Main application window. Hold together document, view and controls. * * @author Andrew Mustun */ class QC_ApplicationWindow: public QMainWindow, public QG_MainWindowInterface { Q_OBJECT public: QC_ApplicationWindow(); ~QC_ApplicationWindow(); void initActions(); void initMenuBar(); void initToolBar(); void initStatusBar(); void initSettings(); void restoreDocks(); void storeSettings(); void updateRecentFilesMenu(); void initMDI(); void initView(); bool queryExit(bool force); /** Catch hotkey for giving focus to command line. */ virtual void keyPressEvent(QKeyEvent* e); virtual void keyReleaseEvent(QKeyEvent* e); public slots: virtual void show(); void finishSplashScreen(); void slotFocus(); void slotBack(); void slotKillAllActions(); //void slotNext(); void slotEnter(); void slotFocusCommandLine(); void slotError(const QString& msg); void slotWindowActivated(QWidget* w); void slotWindowsMenuAboutToShow(); void slotWindowsMenuActivated(int); void slotTileHorizontal(); void slotTileVertical(); void slotPenChanged(RS_Pen p); /** generates a new document for a graphic. */ QC_MDIWindow* slotFileNew(RS_Document* doc=NULL); /** opens a document */ void slotFileOpen(); /** * opens a recent file document * @param id File Menu id of the file */ void slotFileOpenRecent(int id); /** * opens the given file. */ void slotFileOpen(const QString& fileName, RS2::FormatType type); /** saves a document */ void slotFileSave(); /** saves a document under a different filename*/ void slotFileSaveAs(); /** auto-save document */ void slotFileAutoSave(); /** exports the document as bitmap */ void slotFileExport(); bool slotFileExport(const QString& name, const QString& format, QSize size, bool black, bool bw=false); /** closes the current file */ void slotFileClose(); /** closing the current file */ void slotFileClosing(); /** prints the current file */ void slotFilePrint(); /** shows print preview of the current file */ void slotFilePrintPreview(bool on); /** exits the application */ void slotFileQuit(); /** toggle the grid */ void slotViewGrid(bool toggle); /** toggle the draft mode */ void slotViewDraft(bool toggle); /** toggle the statusbar */ void slotViewStatusBar(bool toggle); // void slotBlocksEdit(); void slotOptionsGeneral(); void slotScriptOpenIDE(); void slotScriptRun(); void slotRunStartScript(); void slotRunScript(); void slotRunScript(const QString& name); void slotInsertBlock(); void slotInsertBlock(const QString& name); /** shows an about dlg*/ void slotHelpAbout(); void slotHelpManual(); /** dumps entities to file */ void slotTestDumpEntities(RS_EntityContainer* d=NULL); /** dumps undo info to stdout */ void slotTestDumpUndo(); /** updates all inserts */ void slotTestUpdateInserts(); /** draws some random lines */ void slotTestDrawFreehand(); /** inserts a test block */ void slotTestInsertBlock(); /** inserts a test ellipse */ void slotTestInsertEllipse(); /** inserts a test text */ void slotTestInsertText(); /** inserts a test image */ void slotTestInsertImage(); /** unicode table */ void slotTestUnicode(); /** math experimental */ void slotTestMath01(); /** resizes window to 640x480 for screen shots */ void slotTestResize640(); /** resizes window to 640x480 for screen shots */ void slotTestResize800(); /** resizes window to 640x480 for screen shots */ void slotTestResize1024(); signals: void gridChanged(bool on); void draftChanged(bool on); void printPreviewChanged(bool on); void windowsChanged(bool windowsLeft); public: /** * @return Pointer to application window. */ static QC_ApplicationWindow* getAppWindow() { return appWindow; } /** * @return Pointer to workspace. */ QWorkspace* getWorkspace() { return workspace; } /** * @return Pointer to the currently active MDI Window or NULL if no * MDI Window is active. */ QC_MDIWindow* getMDIWindow() { if (workspace!=NULL) { return (QC_MDIWindow*)workspace->activeWindow(); } else { return NULL; } } /** * Implementation from RS_MainWindowInterface (and QS_ScripterHostInterface). * * @return Pointer to the graphic view of the currently active document * window or NULL if no window is available. */ virtual RS_GraphicView* getGraphicView() { QC_MDIWindow* m = getMDIWindow(); if (m!=NULL) { return m->getGraphicView(); } return NULL; } /** * Implementation from RS_MainWindowInterface (and QS_ScripterHostInterface). * * @return Pointer to the graphic document of the currently active document * window or NULL if no window is available. */ virtual RS_Document* getDocument() { QC_MDIWindow* m = getMDIWindow(); if (m!=NULL) { return m->getDocument(); } return NULL; } /** * Creates a new document. 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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #ifndef __ESP_GATTC_API_H__ #define __ESP_GATTC_API_H__ #include "esp_bt_defs.h" #include "esp_gatt_defs.h" #include "esp_err.h" #ifdef __cplusplus extern "C" { #endif /// GATT Client callback function events typedef enum { ESP_GATTC_REG_EVT = 0, /*!< When GATT client is registered, the event comes */ ESP_GATTC_UNREG_EVT = 1, /*!< When GATT client is unregistered, the event comes */ ESP_GATTC_OPEN_EVT = 2, /*!< When GATT virtual connection is set up, the event comes */ ESP_GATTC_READ_CHAR_EVT = 3, /*!< When GATT characteristic is read, the event comes */ ESP_GATTC_WRITE_CHAR_EVT = 4, /*!< When GATT characteristic write operation completes, the event comes */ ESP_GATTC_CLOSE_EVT = 5, /*!< When GATT virtual connection is closed, the event comes */ ESP_GATTC_SEARCH_CMPL_EVT = 6, /*!< When GATT service discovery is completed, the event comes */ ESP_GATTC_SEARCH_RES_EVT = 7, /*!< When GATT service discovery result is got, the event comes */ ESP_GATTC_READ_DESCR_EVT = 8, /*!< When GATT characteristic descriptor read completes, the event comes */ ESP_GATTC_WRITE_DESCR_EVT = 9, /*!< When GATT characteristic descriptor write completes, the event comes */ ESP_GATTC_NOTIFY_EVT = 10, /*!< When GATT notification or indication arrives, the event comes */ ESP_GATTC_PREP_WRITE_EVT = 11, /*!< When GATT prepare-write operation completes, the event comes */ ESP_GATTC_EXEC_EVT = 12, /*!< When write execution completes, the event comes */ ESP_GATTC_ACL_EVT = 13, /*!< When ACL connection is up, the event comes */ ESP_GATTC_CANCEL_OPEN_EVT = 14, /*!< When GATT client ongoing connection is cancelled, the event comes */ ESP_GATTC_SRVC_CHG_EVT = 15, /*!< When "service changed" occurs, the event comes */ ESP_GATTC_ENC_CMPL_CB_EVT = 17, /*!< When encryption procedure completes, the event comes */ ESP_GATTC_CFG_MTU_EVT = 18, /*!< When configuration of MTU completes, the event comes */ ESP_GATTC_ADV_DATA_EVT = 19, /*!< When advertising of data, the event comes */ ESP_GATTC_MULT_ADV_ENB_EVT = 20, /*!< When multi-advertising is enabled, the event comes */ ESP_GATTC_MULT_ADV_UPD_EVT = 21, /*!< When multi-advertising parameters are updated, the event comes */ ESP_GATTC_MULT_ADV_DATA_EVT = 22, /*!< When multi-advertising data arrives, the event comes */ ESP_GATTC_MULT_ADV_DIS_EVT = 23, /*!< When multi-advertising is disabled, the event comes */ ESP_GATTC_CONGEST_EVT = 24, /*!< When GATT connection congestion comes, the event comes */ ESP_GATTC_BTH_SCAN_ENB_EVT = 25, /*!< When batch scan is enabled, the event comes */ ESP_GATTC_BTH_SCAN_CFG_EVT = 26, /*!< When batch scan storage is configured, the event comes */ ESP_GATTC_BTH_SCAN_RD_EVT = 27, /*!< When Batch scan read event is reported, the event comes */ ESP_GATTC_BTH_SCAN_THR_EVT = 28, /*!< When Batch scan threshold is set, the event comes */ ESP_GATTC_BTH_SCAN_PARAM_EVT = 29, /*!< When Batch scan parameters are set, the event comes */ ESP_GATTC_BTH_SCAN_DIS_EVT = 30, /*!< When Batch scan is disabled, the event comes */ ESP_GATTC_SCAN_FLT_CFG_EVT = 31, /*!< When Scan filter configuration completes, the event comes */ ESP_GATTC_SCAN_FLT_PARAM_EVT = 32, /*!< When Scan filter parameters are set, the event comes */ ESP_GATTC_SCAN_FLT_STATUS_EVT = 33, /*!< When Scan filter status is reported, the event comes */ ESP_GATTC_ADV_VSC_EVT = 34, /*!< When advertising vendor spec content event is reported, the event comes */ ESP_GATTC_REG_FOR_NOTIFY_EVT = 38, /*!< When register for notification of a service completes, the event comes */ ESP_GATTC_UNREG_FOR_NOTIFY_EVT = 39, /*!< When unregister for notification of a service completes, the event comes */ ESP_GATTC_CONNECT_EVT = 40, /*!< When the ble physical connection is set up, the event comes */ ESP_GATTC_DISCONNECT_EVT = 41, /*!< When the ble physical connection disconnected, the event comes */ ESP_GATTC_READ_MULTIPLE_EVT = 42, /*!< When the ble characteristic or descriptor multiple complete, the event comes */ ESP_GATTC_QUEUE_FULL_EVT = 43, /*!< When the gattc command queue full, the event comes */ ESP_GATTC_SET_ASSOC_EVT = 44, /*!< When the ble gattc set the associated address complete, the event comes */ ESP_GATTC_GET_ADDR_LIST_EVT = 45, /*!< When the ble get gattc address list in cache finish, the event comes */ ESP_GATTC_DIS_SRVC_CMPL_EVT = 46, /*!< When the ble discover service complete, the event comes */ ESP_GATTC_READ_MULTI_VAR_EVT = 47, /*!< When read multiple variable characteristic complete, the event comes */ } esp_gattc_cb_event_t; /** * @brief Gatt client callback parameters union */ typedef union { /** * @brief ESP_GATTC_REG_EVT */ struct gattc_reg_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t app_id; /*!< Application id which input in register API */ } reg; /*!< Gatt client callback param of ESP_GATTC_REG_EVT */ /** * @brief ESP_GATTC_OPEN_EVT */ struct gattc_open_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ esp_bd_addr_t remote_bda; /*!< Remote bluetooth device address */ uint16_t mtu; /*!< MTU size */ } open; /*!< Gatt client callback param of ESP_GATTC_OPEN_EVT */ /** * @brief ESP_GATTC_CLOSE_EVT */ struct gattc_close_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ esp_bd_addr_t remote_bda; /*!< Remote bluetooth device address */ esp_gatt_conn_reason_t reason; /*!< The reason of gatt connection close */ } close; /*!< Gatt client callback param of ESP_GATTC_CLOSE_EVT */ /** * @brief ESP_GATTC_CFG_MTU_EVT */ struct gattc_cfg_mtu_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ uint16_t mtu; /*!< MTU size */ } cfg_mtu; /*!< Gatt client callback param of ESP_GATTC_CFG_MTU_EVT */ /** * @brief ESP_GATTC_SEARCH_CMPL_EVT */ struct gattc_search_cmpl_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ esp_service_source_t searched_service_source; /*!< The source of the service information */ } search_cmpl; /*!< Gatt client callback param of ESP_GATTC_SEARCH_CMPL_EVT */ /** * @brief ESP_GATTC_SEARCH_RES_EVT */ struct gattc_search_res_evt_param { uint16_t conn_id; /*!< Connection id */ uint16_t start_handle; /*!< Service start handle */ uint16_t end_handle; /*!< Service end handle */ esp_gatt_id_t srvc_id; /*!< Service id, include service uuid and other information */ bool is_primary; /*!< True if this is the primary service */ } search_res; /*!< Gatt client callback param of ESP_GATTC_SEARCH_RES_EVT */ /** * @brief ESP_GATTC_READ_CHAR_EVT, ESP_GATTC_READ_DESCR_EVT, ESP_GATTC_READ_MULTIPLE_EVT, ESP_GATTC_READ_MULTI_VAR_EVT */ struct gattc_read_char_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ uint16_t handle; /*!< Characteristic handle */ uint8_t *value; /*!< Characteristic value */ uint16_t value_len; /*!< Characteristic value length */ } read; /*!< Gatt client callback param of ESP_GATTC_READ_CHAR_EVT */ /** * @brief ESP_GATTC_WRITE_CHAR_EVT, ESP_GATTC_PREP_WRITE_EVT, ESP_GATTC_WRITE_DESCR_EVT */ struct gattc_write_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ uint16_t handle; /*!< The Characteristic or descriptor handle */ uint16_t offset; /*!< The prepare write offset, this value is valid only when prepare write */ } write; /*!< Gatt client callback param of ESP_GATTC_WRITE_DESCR_EVT */ /** * @brief ESP_GATTC_EXEC_EVT */ struct gattc_exec_cmpl_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ } exec_cmpl; /*!< Gatt client callback param of ESP_GATTC_EXEC_EVT */ /** * @brief ESP_GATTC_NOTIFY_EVT */ struct gattc_notify_evt_param { uint16_t conn_id; /*!< Connection id */ esp_bd_addr_t remote_bda; /*!< Remote bluetooth device address */ uint16_t handle; /*!< The Characteristic or descriptor handle */ uint16_t value_len; /*!< Notify attribute value */ uint8_t *value; /*!< Notify attribute value */ bool is_notify; /*!< True means notify, false means indicate */ } notify; /*!< Gatt client callback param of ESP_GATTC_NOTIFY_EVT */ /** * @brief ESP_GATTC_SRVC_CHG_EVT */ struct gattc_srvc_chg_evt_param { esp_bd_addr_t remote_bda; /*!< Remote bluetooth device address */ } srvc_chg; /*!< Gatt client callback param of ESP_GATTC_SRVC_CHG_EVT */ /** * @brief ESP_GATTC_CONGEST_EVT */ struct gattc_congest_evt_param { uint16_t conn_id; /*!< Connection id */ bool congested; /*!< Congested or not */ } congest; /*!< Gatt client callback param of ESP_GATTC_CONGEST_EVT */ /** * @brief ESP_GATTC_REG_FOR_NOTIFY_EVT */ struct gattc_reg_for_notify_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t handle; /*!< The characteristic or descriptor handle */ } reg_for_notify; /*!< Gatt client callback param of ESP_GATTC_REG_FOR_NOTIFY_EVT */ /** * @brief ESP_GATTC_UNREG_FOR_NOTIFY_EVT */ struct gattc_unreg_for_notify_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t handle; /*!< The characteristic or descriptor handle */ } unreg_for_notify; /*!< Gatt client callback param of ESP_GATTC_UNREG_FOR_NOTIFY_EVT */ /** * @brief ESP_GATTC_CONNECT_EVT */ struct gattc_connect_evt_param { uint16_t conn_id; /*!< Connection id */ uint8_t link_role; /*!< Link role : master role = 0 ; slave role = 1*/ esp_bd_addr_t remote_bda; /*!< Remote bluetooth device address */ esp_gatt_conn_params_t conn_params; /*!< current connection parameters */ esp_ble_addr_type_t ble_addr_type; /*!< Remote BLE device address type */ uint16_t conn_handle; /*!< HCI connection handle */ } connect; /*!< Gatt client callback param of ESP_GATTC_CONNECT_EVT */ /** * @brief ESP_GATTC_DISCONNECT_EVT */ struct gattc_disconnect_evt_param { esp_gatt_conn_reason_t reason; /*!< disconnection reason */ uint16_t conn_id; /*!< Connection id */ uint8_t link_role; /*!< Link role : master role = 0 ; slave role = 1*/ esp_bd_addr_t remote_bda; /*!< Remote bluetooth device address */ } disconnect; /*!< Gatt client callback param of ESP_GATTC_DISCONNECT_EVT */ /** * @brief ESP_GATTC_SET_ASSOC_EVT */ struct gattc_set_assoc_addr_cmp_evt_param { esp_gatt_status_t status; /*!< Operation status */ } set_assoc_cmp; /*!< Gatt client callback param of ESP_GATTC_SET_ASSOC_EVT */ /** * @brief ESP_GATTC_GET_ADDR_LIST_EVT */ struct gattc_get_addr_list_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint8_t num_addr; /*!< The number of address in the gattc cache address list */ esp_bd_addr_t *addr_list; /*!< The pointer to the address list which has been get from the gattc cache */ } get_addr_list; /*!< Gatt client callback param of ESP_GATTC_GET_ADDR_LIST_EVT */ /** * @brief ESP_GATTC_QUEUE_FULL_EVT */ struct gattc_queue_full_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ bool is_full; /*!< The gattc command queue is full or not */ } queue_full; /*!< Gatt client callback param of ESP_GATTC_QUEUE_FULL_EVT */ /** * @brief ESP_GATTC_DIS_SRVC_CMPL_EVT */ struct gattc_dis_srvc_cmpl_evt_param { esp_gatt_status_t status; /*!< Operation status */ uint16_t conn_id; /*!< Connection id */ } dis_srvc_cmpl; /*!< Gatt client callback param of ESP_GATTC_DIS_SRVC_CMPL_EVT */ } esp_ble_gattc_cb_param_t; /*!< GATT client callback parameter union type */ /** * @brief GATT Client callback function type * @param event : Event type * @param gattc_if : GATT client access interface, normally * different gattc_if correspond to different profile * @param param : Point to callback parameter, currently is union type */ typedef void (* esp_gattc_cb_t)(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param); /** * @brief This function is called to register application callbacks * with GATTC module. * * @param[in] callback : pointer to the application callback function. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_register_callback(esp_gattc_cb_t callback); /** * @brief This function is called to get the current application callbacks * with BTA GATTC module. * * @return * - esp_gattC_cb_t : current callback * */ esp_gattc_cb_t esp_ble_gattc_get_callback(void); /** * @brief This function is called to register application callbacks * with GATTC module. * * @param[in] app_id : Application Identify (UUID), for different application * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_app_register(uint16_t app_id); /** * @brief This function is called to unregister an application * from GATTC module. * * @param[in] gattc_if: Gatt client access interface. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_app_unregister(esp_gatt_if_t gattc_if); #if (BLE_42_FEATURE_SUPPORT == TRUE) /** * @brief Open a direct connection or add a background auto connection * * @param[in] gattc_if: Gatt client access interface. * @param[in] remote_bda: remote device bluetooth device address. * @param[in] remote_addr_type: remote device bluetooth device the address type. * @param[in] is_direct: direct connection or background auto connection(by now, background auto connection is not supported). * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_open(esp_gatt_if_t gattc_if, esp_bd_addr_t remote_bda, esp_ble_addr_type_t remote_addr_type, bool is_direct); #endif // #if (BLE_42_FEATURE_SUPPORT == TRUE) #if (BLE_50_FEATURE_SUPPORT == TRUE) esp_err_t esp_ble_gattc_aux_open(esp_gatt_if_t gattc_if, esp_bd_addr_t remote_bda, esp_ble_addr_type_t remote_addr_type, bool is_direct); #endif // #if (BLE_50_FEATURE_SUPPORT == TRUE) /** * @brief Close the virtual connection to the GATT server. gattc may have multiple virtual GATT server connections when multiple app_id registered, * this API only close one virtual GATT server connection. if there exist other virtual GATT server connections, * it does not disconnect the physical connection. * if you want to disconnect the physical connection directly, you can use esp_ble_gap_disconnect(esp_bd_addr_t remote_device). * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID to be closed. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_close (esp_gatt_if_t gattc_if, uint16_t conn_id); /** * @brief Configure the MTU size in the GATT channel. This can be done * only once per connection. Before using, use esp_ble_gatt_set_local_mtu() * to configure the local MTU size. * * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_send_mtu_req (esp_gatt_if_t gattc_if, uint16_t conn_id); /** * @brief This function is called to get service from local cache. * This function report service search result by a callback * event, and followed by a service search complete event. * Note: 128-bit base UUID will automatically be converted to a 16-bit UUID in the search results. Other types of UUID remain unchanged. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID. * @param[in] filter_uuid: a UUID of the service application is interested in. * If Null, discover for all services. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_search_service(esp_gatt_if_t gattc_if, uint16_t conn_id, esp_bt_uuid_t *filter_uuid); /** * @brief Find all the service with the given service uuid in the gattc cache, if the svc_uuid is NULL, find all the service. * Note: It just get service from local cache, won't get from remote devices. If want to get it from remote device, need * to used the esp_ble_gattc_cache_refresh, then call esp_ble_gattc_get_service again. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] svc_uuid: the pointer to the service uuid. * @param[out] result: The pointer to the service which has been found in the gattc cache. * @param[inout] count: input the number of service want to find, * it will output the number of service has been found in the gattc cache with the given service uuid. * @param[in] offset: Offset of the service position to get. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_service(esp_gatt_if_t gattc_if, uint16_t conn_id, esp_bt_uuid_t *svc_uuid, esp_gattc_service_elem_t *result, uint16_t *count, uint16_t offset); /** * @brief Find all the characteristic with the given service in the gattc cache * Note: It just get characteristic from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] start_handle: the attribute start handle. * @param[in] end_handle: the attribute end handle * @param[out] result: The pointer to the characteristic in the service. * @param[inout] count: input the number of characteristic want to find, * it will output the number of characteristic has been found in the gattc cache with the given service. * @param[in] offset: Offset of the characteristic position to get. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_all_char(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t start_handle, uint16_t end_handle, esp_gattc_char_elem_t *result, uint16_t *count, uint16_t offset); /** * @brief Find all the descriptor with the given characteristic in the gattc cache * Note: It just get descriptor from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] char_handle: the given characteristic handle * @param[out] result: The pointer to the descriptor in the characteristic. * @param[inout] count: input the number of descriptor want to find, * it will output the number of descriptor has been found in the gattc cache with the given characteristic. * @param[in] offset: Offset of the descriptor position to get. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_all_descr(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t char_handle, esp_gattc_descr_elem_t *result, uint16_t *count, uint16_t offset); /** * @brief Find the characteristic with the given characteristic uuid in the gattc cache * Note: It just get characteristic from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] start_handle: the attribute start handle * @param[in] end_handle: the attribute end handle * @param[in] char_uuid: the characteristic uuid * @param[out] result: The pointer to the characteristic in the service. * @param[inout] count: input the number of characteristic want to find, * it will output the number of characteristic has been found in the gattc cache with the given service. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_char_by_uuid(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t start_handle, uint16_t end_handle, esp_bt_uuid_t char_uuid, esp_gattc_char_elem_t *result, uint16_t *count); /** * @brief Find the descriptor with the given characteristic uuid in the gattc cache * Note: It just get descriptor from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] start_handle: the attribute start handle * @param[in] end_handle: the attribute end handle * @param[in] char_uuid: the characteristic uuid. * @param[in] descr_uuid: the descriptor uuid. * @param[out] result: The pointer to the descriptor in the given characteristic. * @param[inout] count: input the number of descriptor want to find, * it will output the number of descriptor has been found in the gattc cache with the given characteristic. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_descr_by_uuid(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t start_handle, uint16_t end_handle, esp_bt_uuid_t char_uuid, esp_bt_uuid_t descr_uuid, esp_gattc_descr_elem_t *result, uint16_t *count); /** * @brief Find the descriptor with the given characteristic handle in the gattc cache * Note: It just get descriptor from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] char_handle: the characteristic handle. * @param[in] descr_uuid: the descriptor uuid. * @param[out] result: The pointer to the descriptor in the given characteristic. * @param[inout] count: input the number of descriptor want to find, * it will output the number of descriptor has been found in the gattc cache with the given characteristic. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_descr_by_char_handle(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t char_handle, esp_bt_uuid_t descr_uuid, esp_gattc_descr_elem_t *result, uint16_t *count); /** * @brief Find the include service with the given service handle in the gattc cache * Note: It just get include service from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] start_handle: the attribute start handle * @param[in] end_handle: the attribute end handle * @param[in] incl_uuid: the include service uuid * @param[out] result: The pointer to the include service in the given service. * @param[inout] count: input the number of include service want to find, * it will output the number of include service has been found in the gattc cache with the given service. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_include_service(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t start_handle, uint16_t end_handle, esp_bt_uuid_t *incl_uuid, esp_gattc_incl_svc_elem_t *result, uint16_t *count); /** * @brief Find the attribute count with the given service or characteristic in the gattc cache * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id: connection ID which identify the server. * @param[in] type: the attribute type. * @param[in] start_handle: the attribute start handle, if the type is ESP_GATT_DB_DESCRIPTOR, this parameter should be ignore * @param[in] end_handle: the attribute end handle, if the type is ESP_GATT_DB_DESCRIPTOR, this parameter should be ignore * @param[in] char_handle: the characteristic handle, this parameter valid when the type is ESP_GATT_DB_DESCRIPTOR. If the type * isn't ESP_GATT_DB_DESCRIPTOR, this parameter should be ignore. * @param[out] count: output the number of attribute has been found in the gattc cache with the given attribute type. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_attr_count(esp_gatt_if_t gattc_if, uint16_t conn_id, esp_gatt_db_attr_type_t type, uint16_t start_handle, uint16_t end_handle, uint16_t char_handle, uint16_t *count); /** * @brief This function is called to get the GATT database. * Note: It just get attribute data base from local cache, won't get from remote devices. * * @param[in] gattc_if: Gatt client access interface. * @param[in] start_handle: the attribute start handle * @param[in] end_handle: the attribute end handle * @param[in] conn_id: connection ID which identify the server. * @param[in] db: output parameter which will contain the GATT database copy. * Caller is responsible for freeing it. * @param[in] count: number of elements in database. * * @return * - ESP_OK: success * - other: failed * */ esp_gatt_status_t esp_ble_gattc_get_db(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t start_handle, uint16_t end_handle, esp_gattc_db_elem_t *db, uint16_t *count); /** * @brief This function is called to read a service's characteristics of * the given characteristic handle * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] handle : characteritic handle to read. * @param[in] auth_req : authenticate request type * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_read_char (esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t handle, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to read a service's characteristics of * the given characteristic UUID * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] start_handle : the attribute start handle. * @param[in] end_handle : the attribute end handle * @param[in] uuid : The UUID of attribute which will be read. * @param[in] auth_req : authenticate request type * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_read_by_type (esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t start_handle, uint16_t end_handle, esp_bt_uuid_t *uuid, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to read multiple characteristic or * characteristic descriptors. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] read_multi : pointer to the read multiple parameter. * @param[in] auth_req : authenticate request type * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_read_multiple(esp_gatt_if_t gattc_if, uint16_t conn_id, esp_gattc_multi_t *read_multi, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to read multiple variable length characteristic or * characteristic descriptors. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] read_multi : pointer to the read multiple parameter. * @param[in] auth_req : authenticate request type * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_read_multiple_variable(esp_gatt_if_t gattc_if, uint16_t conn_id, esp_gattc_multi_t *read_multi, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to read a characteristics descriptor. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] handle : descriptor handle to read. * @param[in] auth_req : authenticate request type * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_read_char_descr (esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t handle, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to write characteristic value. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] handle : characteristic handle to write. * @param[in] value_len: length of the value to be written. * @param[in] value : the value to be written. * @param[in] write_type : the type of attribute write operation. * @param[in] auth_req : authentication request. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_write_char( esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t handle, uint16_t value_len, uint8_t *value, esp_gatt_write_type_t write_type, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to write characteristic descriptor value. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID * @param[in] handle : descriptor hadle to write. * @param[in] value_len: length of the value to be written. * @param[in] value : the value to be written. * @param[in] write_type : the type of attribute write operation. * @param[in] auth_req : authentication request. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_write_char_descr (esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t handle, uint16_t value_len, uint8_t *value, esp_gatt_write_type_t write_type, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to prepare write a characteristic value. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] handle : characteristic handle to prepare write. * @param[in] offset : offset of the write value. * @param[in] value_len: length of the value to be written. * @param[in] value : the value to be written. * @param[in] auth_req : authentication request. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_prepare_write(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t handle, uint16_t offset, uint16_t value_len, uint8_t *value, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to prepare write a characteristic descriptor value. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] handle : characteristic descriptor handle to prepare write. * @param[in] offset : offset of the write value. * @param[in] value_len: length of the value to be written. * @param[in] value : the value to be written. * @param[in] auth_req : authentication request. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_prepare_write_char_descr(esp_gatt_if_t gattc_if, uint16_t conn_id, uint16_t handle, uint16_t offset, uint16_t value_len, uint8_t *value, esp_gatt_auth_req_t auth_req); /** * @brief This function is called to execute write a prepare write sequence. * * @param[in] gattc_if: Gatt client access interface. * @param[in] conn_id : connection ID. * @param[in] is_execute : execute or cancel. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_execute_write (esp_gatt_if_t gattc_if, uint16_t conn_id, bool is_execute); /** * @brief This function is called to register for notification of a service. * * @param[in] gattc_if: Gatt client access interface. * @param[in] server_bda : target GATT server. * @param[in] handle : GATT characteristic handle. * * @return * - ESP_OK: registration succeeds * - other: failed * */ esp_err_t esp_ble_gattc_register_for_notify (esp_gatt_if_t gattc_if, esp_bd_addr_t server_bda, uint16_t handle); /** * @brief This function is called to de-register for notification of a service. * * @param[in] gattc_if: Gatt client access interface. * @param[in] server_bda : target GATT server. * @param[in] handle : GATT characteristic handle. * * @return * - ESP_OK: unregister succeeds * - other: failed * */ esp_err_t esp_ble_gattc_unregister_for_notify (esp_gatt_if_t gattc_if, esp_bd_addr_t server_bda, uint16_t handle); /** * @brief Refresh the server cache store in the gattc stack of the remote device. If * the device is connected, this API will restart the discovery of service information of the remote device * * @param[in] remote_bda: remote device BD address. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_cache_refresh(esp_bd_addr_t remote_bda); /** * @brief Add or delete the associated address with the source address. * Note: The role of this API is mainly when the client side has stored a server-side database, * when it needs to connect another device, but the device's attribute database is the same * as the server database stored on the client-side, calling this API can use the database * that the device has stored used as the peer server database to reduce the attribute * database search and discovery process and speed up the connection time. * The associated address mains that device want to used the database has stored in the local cache. * The source address mains that device want to share the database to the associated address device. * * @param[in] gattc_if: Gatt client access interface. * @param[in] src_addr: the source address which provide the attribute table. * @param[in] assoc_addr: the associated device address which went to share the attribute table with the source address. * @param[in] is_assoc: true add the associated device address, false remove the associated device address. * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_cache_assoc(esp_gatt_if_t gattc_if, esp_bd_addr_t src_addr, esp_bd_addr_t assoc_addr, bool is_assoc); /** * @brief Get the address list which has store the attribute table in the gattc cache. There will * callback ESP_GATTC_GET_ADDR_LIST_EVT event when get address list complete. * * @param[in] gattc_if: Gatt client access interface. * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_cache_get_addr_list(esp_gatt_if_t gattc_if); /** * @brief Clean the service cache of this device in the gattc stack, * * @param[in] remote_bda: remote device BD address. * * @return * - ESP_OK: success * - other: failed * */ esp_err_t esp_ble_gattc_cache_clean(esp_bd_addr_t remote_bda); #ifdef __cplusplus } #endif #endif /* __ESP_GATTC_API_H__ */
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void gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gif, esp_ble_gattc_cb_param_t *param) { switch (event) { case ESP_GATTC_REG_EVT: { // 注册成功，开始扫描 esp_ble_gap_set_scan_...
//########################################################################### // // FILE: can.h // // TITLE: C28x CAN driver. // //########################################################################### // $Copyright: // Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // // Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // 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. // // Neither the name of Texas Instruments Incorporated 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. // $ //########################################################################### #ifndef CAN_H #define CAN_H //***************************************************************************** // // If building with a C++ compiler, make all of the definitions in this header // have a C binding. // //***************************************************************************** #ifdef __cplusplus extern "C" { #endif #ifdef __TMS320C28XX__ //***************************************************************************** // //! \addtogroup can_api CAN //! @{ // //***************************************************************************** #include <stdint.h> #include <stdbool.h> #include "inc/hw_memmap.h" #include "inc/hw_types.h" #include "inc/hw_can.h" #include "debug.h" #include "sysctl.h" // // The key value for RAM initialization // #define CAN_RAM_INIT_KEY (0xAU) // // RAM Initialization Register Mask // #define CAN_RAM_INIT_MASK (0x003FU) // // The Parity disable key value // #define CAN_INIT_PARITY_DISABLE (0x1400U) #ifndef DOXYGEN_PDF_IGNORE //***************************************************************************** // // Miscellaneous defines for Message ID Types // //***************************************************************************** //***************************************************************************** // // These are the flags used by the flags parameter when calling // the CAN_setupMessageObject() function. // //***************************************************************************** //! This indicates that transmit interrupts should be enabled, or are enabled. #define CAN_MSG_OBJ_TX_INT_ENABLE CAN_IF1MCTL_TXIE //! This indicates that receive interrupts should be enabled, or are //! enabled. #define CAN_MSG_OBJ_RX_INT_ENABLE CAN_IF1MCTL_RXIE //! This indicates that a message object will use or is using filtering //! based on the object's message identifier. #define CAN_MSG_OBJ_USE_ID_FILTER (0x00000001U) //! This indicates that a message object will use or is using filtering //! based on the direction of the transfer. #define CAN_MSG_OBJ_USE_DIR_FILTER CAN_IF1MSK_MDIR //! This indicates that a message object will use or is using message //! identifier filtering based on the extended identifier. #define CAN_MSG_OBJ_USE_EXT_FILTER CAN_IF1MSK_MXTD //! This indicates that this message object is part of a FIFO structure and //! not the final message object in a FIFO. #define CAN_MSG_OBJ_FIFO (0x00000002U) //! This indicates that a message object has no flags set. #define CAN_MSG_OBJ_NO_FLAGS (0x00000000U) //***************************************************************************** // // These definitions are used to specify interrupt sources to // CAN_enableInterrupt() and CAN_disableInterrupt(). // //***************************************************************************** //! This flag is used to allow a CAN controller to generate error //! interrupts. #define CAN_INT_ERROR (0x00000008UL) //! This flag is used to allow a CAN controller to generate status //! interrupts. #define CAN_INT_STATUS (0x00000004UL) //! This flag is used to allow a CAN controller to generate interrupts //! on interrupt line 0 #define CAN_INT_IE0 (0x00000002UL) //! This flag is used to allow a CAN controller to generate interrupts //! on interrupt line 1 #define CAN_INT_IE1 (0x00020000UL) //***************************************************************************** // // The following definitions contain all error or status indicators that can // be returned when calling the CAN_getStatus() function. // //***************************************************************************** //! CAN controller has detected a parity error. #define CAN_STATUS_PERR (0x00000100U) //! CAN controller has entered a Bus Off state. #define CAN_STATUS_BUS_OFF (0x00000080U) //! CAN controller error level has reached warning level. #define CAN_STATUS_EWARN (0x00000040U) //! CAN controller error level has reached error passive level. #define CAN_STATUS_EPASS (0x00000020U) //! A message was received successfully since the last read of this status. #define CAN_STATUS_RXOK (0x00000010U) //! A message was transmitted successfully since the last read of this //! status. #define CAN_STATUS_TXOK (0x00000008U) //! This is the mask for the last error code field. #define CAN_STATUS_LEC_MSK (0x00000007U) //! There was no error. #define CAN_STATUS_LEC_NONE (0x00000000U) //! A bit stuffing error has occurred. #define CAN_STATUS_LEC_STUFF (0x00000001U) //! A formatting error has occurred. #define CAN_STATUS_LEC_FORM (0x00000002U) //! An acknowledge error has occurred. #define CAN_STATUS_LEC_ACK (0x00000003U) //! The bus remained a bit level of 1 for longer than is allowed. #define CAN_STATUS_LEC_BIT1 (0x00000004U) //! The bus remained a bit level of 0 for longer than is allowed. #define CAN_STATUS_LEC_BIT0 (0x00000005U) //! A CRC error has occurred. #define CAN_STATUS_LEC_CRC (0x00000006U) //***************************************************************************** // // The following macros are added for the Global Interrupt EN/FLG/CLR // register // //***************************************************************************** //! CANINT0 global interrupt bit #define CAN_GLOBAL_INT_CANINT0 (0x00000001U) //! CANINT1 global interrupt bit #define CAN_GLOBAL_INT_CANINT1 (0x00000002U) //***************************************************************************** // // The following macros are added for accessing the interrupt register and // the standard arbitration ID in the interface registers. // //***************************************************************************** //! Status of INT0ID #define CAN_INT_INT0ID_STATUS (0x8000U) //! IF1 Arbitration Standard ID Shift Offset #define CAN_IF1ARB_STD_ID_S (18U) //! IF1 Arbitration Standard ID Mask #define CAN_IF1ARB_STD_ID_M (0x1FFC0000U) //! IF2 Arbitration Standard ID Shift Offset #define CAN_IF2ARB_STD_ID_S (18U) //! IF2 Arbitration Standard ID Mask #define CAN_IF2ARB_STD_ID_M (0x1FFC0000U) #endif // DOXYGEN_PDF_IGNORE //***************************************************************************** // //! This data type is used to decide between STD_ID or EXT_ID for a mailbox. //! This is used when calling the CAN_setupMessageObject() function. // //***************************************************************************** typedef enum { //! Set the message ID frame to standard. CAN_MSG_FRAME_STD, //! Set the message ID frame to extended. CAN_MSG_FRAME_EXT } CAN_MsgFrameType; //***************************************************************************** // //! This definition is used to determine the type of message object that will //! be set up via a call to the CAN_setupMessageObject() API. // //***************************************************************************** typedef enum { //! Transmit message object. CAN_MSG_OBJ_TYPE_TX, //! Transmit remote request message object CAN_MSG_OBJ_TYPE_TX_REMOTE, //! Receive message object. CAN_MSG_OBJ_TYPE_RX, //! Remote frame receive remote, with auto-transmit message object. CAN_MSG_OBJ_TYPE_RXTX_REMOTE } CAN_MsgObjType; //***************************************************************************** // //! This definition is used to determine the clock source that will //! be set up via a call to the CAN_selectClockSource() API. // //***************************************************************************** typedef enum { //! Peripheral System Clock Source CAN_CLOCK_SOURCE_SYS = 0x0, //! External Oscillator Clock Source CAN_CLOCK_SOURCE_XTAL = 0x1, //! Auxiliary Clock Input Source CAN_CLOCK_SOURCE_AUX = 0x2 } CAN_ClockSource; //***************************************************************************** // // Prototypes for the APIs. // //***************************************************************************** //***************************************************************************** // //! \internal //! //! Checks a CAN base address. //! //! \param base is the base address of the CAN controller. //! //! This function determines if a CAN controller base address is valid. //! //! \return Returns \b true if the base address is valid and \b false //! otherwise. // //***************************************************************************** #ifdef DEBUG static inline bool CAN_isBaseValid(uint32_t base) { return( (base == CANA_BASE) || (base == CANB_BASE) ); } #endif //***************************************************************************** // //! \internal //! //! Copies data from a buffer to the CAN Data registers. //! //! \param data is a pointer to the data to be written out to the CAN //! controller's data registers. //! \param address is a uint32_t value for the first register of the //! CAN controller's data registers. For example, in order to use the IF1 //! register set on CAN controller 0, the value would be: \b CANA_BASE \b + //! \b CAN_O_IF1DATA. //! \param size is the number of bytes to copy into the CAN controller. //! //! This function takes the steps necessary to copy data from a contiguous //! buffer in memory into the non-contiguous data registers used by the CAN //! controller. //! //! \return None. // //***************************************************************************** static inline void CAN_writeDataReg(const uint16_t *const data, uint32_t address, uint32_t size) { uint32_t idx; uint32_t dataReg = address; // // Check the dataReg. // ASSERT(dataReg != 0U); // // Loop always copies 1 byte per iteration. // for(idx = 0U; idx < size; idx++) { // // Write out the data 8 bits at a time. // HWREGB(dataReg) = data[idx]; dataReg++; } } //***************************************************************************** // //! \internal //! //! Copies data (all 16bits) from a buffer to the CAN Data registers. //! //! \param data is a pointer to the data to be written out to the CAN //! controller's data registers. //! \param address is a uint32_t value for the first register of the //! CAN controller's data registers. For example, in order to use the IF1 //! register set on CAN controller 0, the value would be: \b CANA_BASE \b + //! \b CAN_O_IF1DATA. //! \param size is the number of bytes to copy into the CAN controller. //! //! This function takes the steps necessary to copy data from a contiguous //! buffer in memory into the non-contiguous data registers used by the CAN //! controller. //! //! \return None. // //***************************************************************************** static inline void CAN_writeDataReg_16bit(const uint16_t *const data, uint32_t address, uint32_t size) { uint32_t idx; uint32_t dataReg = address; // // Check the dataReg. // ASSERT(dataReg != 0U); // // Loop always copies 1 byte per iteration. // for(idx = 0U; idx < size; idx++) { // // Write out the data 8 bits at a time. // HWREGB(dataReg) = (uint32_t)((data[idx / 2UL]) >> ((idx % 2UL) * 8UL)); dataReg++; } } //***************************************************************************** // //! \internal //! //! Copies data (all 32bits) from a buffer to the CAN Data registers. //! //! \param data is a pointer to the data to be written out to the CAN //! controller's data registers. //! \param address is a uint32_t value for the first register of the //! CAN controller's data registers. For example, in order to use the IF1 //! register set on CAN controller 0, the value would be: \b CANA_BASE \b + //! \b CAN_O_IF1DATA. //! \param size is the number of bytes to copy into the CAN controller. //! //! This function takes the steps necessary to copy data from a contiguous //! buffer in memory into the non-contiguous data registers used by the CAN //! controller. //! //! \return None. // //***************************************************************************** static inline void CAN_writeDataReg_32bit(const uint32_t *const data, uint32_t address, uint32_t size) { uint32_t idx; uint32_t dataReg = address; // // Check the dataReg. // ASSERT(dataReg != 0U); // // Loop always copies 1 byte per iteration. // for(idx = 0U; idx < size; idx++) { // // Write out the data 8 bits at a time. // HWREGB(dataReg) = ((data[idx / 4UL]) >> ((idx % 4UL) * 8UL)); dataReg++; } } //***************************************************************************** // //! \internal //! //! Copies data from the CAN Data registers to a buffer. //! //! \param data is a pointer to the location to store the data read from the //! CAN controller's data registers. //! \param address is a uint32_t value for the first register of the //! CAN controller's data registers. For example, in order to use the IF1 //! register set on CAN controller 1, the value would be: \b CANA_BASE \b + //! \b CAN_O_IF1DATA. //! \param size is the number of bytes to copy from the CAN controller. //! //! This function takes the steps necessary to copy data to a contiguous buffer //! in memory from the non-contiguous data registers used by the CAN //! controller. //! //! \return None. // //***************************************************************************** static inline void CAN_readDataReg(uint16_t *data, const uint32_t address, uint32_t size) { uint32_t idx; uint32_t dataReg = address; // // Loop always copies 1 byte per iteration. // for(idx = 0U; idx < size; idx++) { // // Read out the data // data[idx] = HWREGB(dataReg); dataReg++; } } //***************************************************************************** // //! Initializes the CAN controller's RAM. //! //! \param base is the base address of the CAN controller. //! //! Performs the initialization of the RAM used for the CAN message objects. //! //! \return None. // //***************************************************************************** static inline void CAN_initRAM(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); HWREGH(base + CAN_O_RAM_INIT) = CAN_RAM_INIT_CAN_RAM_INIT | CAN_RAM_INIT_KEY; while(!((HWREGH(base + CAN_O_RAM_INIT) & CAN_RAM_INIT_MASK) == (CAN_RAM_INIT_RAM_INIT_DONE | CAN_RAM_INIT_KEY2 | CAN_RAM_INIT_KEY0))) { // // Wait until RAM Init is complete // } } //***************************************************************************** // //! Select CAN Clock Source //! //! \param base is the base address of the CAN controller. //! \param source is the clock source to use for the CAN controller. //! //! This function selects the specified clock source for the CAN controller. //! //! The \e source parameter can be any one of the following: //! - \b CAN_CLOCK_SOURCE_SYS - Peripheral System Clock //! - \b CAN_CLOCK_SOURCE_XTAL - External Oscillator //! - \b CAN_CLOCK_SOURCE_AUX - Auxiliary Clock Input from GPIO //! //! \return None. // //***************************************************************************** static inline void CAN_selectClockSource(uint32_t base, CAN_ClockSource source) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Determine the CAN controller and set specified clock source // EALLOW; switch(base) { case CANA_BASE: HWREGH(CLKCFG_BASE + SYSCTL_O_CLKSRCCTL2) &= ~SYSCTL_CLKSRCCTL2_CANABCLKSEL_M; HWREGH(CLKCFG_BASE + SYSCTL_O_CLKSRCCTL2) |= ((uint16_t)source << SYSCTL_CLKSRCCTL2_CANABCLKSEL_S); break; case CANB_BASE: HWREGH(CLKCFG_BASE + SYSCTL_O_CLKSRCCTL2) &= ~SYSCTL_CLKSRCCTL2_CANBBCLKSEL_M; HWREGH(CLKCFG_BASE + SYSCTL_O_CLKSRCCTL2) |= ((uint16_t)source << SYSCTL_CLKSRCCTL2_CANBBCLKSEL_S); break; default: // // Do nothing. Not a valid mode value. // break; } EDIS; } //***************************************************************************** // //! Starts the CAN Module's Operations //! //! \param base is the base address of the CAN controller. //! //! This function starts the CAN module's operations after initialization, //! which includes the CAN protocol controller state machine of the CAN core //! and the message handler state machine to begin controlling the CAN's //! internal data flow. //! //! \return None. // //***************************************************************************** static inline void CAN_startModule(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Clear Init and CCE bits // HWREGH(base + CAN_O_CTL) &= ~(CAN_CTL_INIT | CAN_CTL_CCE); } //***************************************************************************** // //! Enables the CAN controller. //! //! \param base is the base address of the CAN controller to enable. //! //! Enables the CAN controller for message processing. Once enabled, the //! controller will automatically transmit any pending frames, and process any //! received frames. The controller can be stopped by calling //! CAN_disableController(). //! //! \return None. // //***************************************************************************** static inline void CAN_enableController(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Clear the init bit in the control register. // HWREGH(base + CAN_O_CTL) &= ~CAN_CTL_INIT; } //***************************************************************************** // //! Disables the CAN controller. //! //! \param base is the base address of the CAN controller to disable. //! //! Disables the CAN controller for message processing. When disabled, the //! controller will no longer automatically process data on the CAN bus. The //! controller can be restarted by calling CAN_enableController(). The state //! of the CAN controller and the message objects in the controller are left as //! they were before this call was made. //! //! \return None. // //***************************************************************************** static inline void CAN_disableController(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Set the init bit in the control register. // HWREGH(base + CAN_O_CTL) |= CAN_CTL_INIT; } //***************************************************************************** // //! Enables the test modes of the CAN controller. //! //! \param base is the base address of the CAN controller. //! \param mode are the the test modes to enable. //! //! Enables test modes within the controller. The following valid options for //! \e mode can be OR'ed together: //! - \b CAN_TEST_SILENT - Silent Mode //! - \b CAN_TEST_LBACK - Loopback Mode //! - \b CAN_TEST_EXL - External Loopback Mode //! //! \note Loopback mode and external loopback mode \b can \b not be //! enabled at the same time. //! //! \return None. // //***************************************************************************** static inline void CAN_enableTestMode(uint32_t base, uint16_t mode) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((mode & (CAN_TEST_LBACK | CAN_TEST_EXL)) != (CAN_TEST_LBACK | CAN_TEST_EXL)); // // Clear the bits in the test register. // HWREGH(base + CAN_O_TEST) &= ~((uint16_t)CAN_TEST_SILENT | (uint16_t)CAN_TEST_LBACK | (uint16_t)CAN_TEST_EXL); // // Enable test mode and set the bits in the test register. // HWREGH(base + CAN_O_CTL) |= CAN_CTL_TEST; HWREGH(base + CAN_O_TEST) |= mode; } //***************************************************************************** // //! Disables the test modes of the CAN controller. //! //! \param base is the base address of the CAN controller. //! //! Disables test modes within the controller and clears the test bits. //! //! \return None. // //***************************************************************************** static inline void CAN_disableTestMode(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Clear the bits in the test register. // HWREGH(base + CAN_O_TEST) &= ~((uint16_t)CAN_TEST_SILENT | (uint16_t)CAN_TEST_LBACK | (uint16_t)CAN_TEST_EXL); // // Clear the test mode enable bit // HWREGH(base + CAN_O_CTL) &= ~CAN_CTL_TEST; } //***************************************************************************** // //! Get the current settings for the CAN controller bit timing. //! //! \param base is the base address of the CAN controller. //! //! This function reads the current configuration of the CAN controller bit //! clock timing. //! //! \return Returns the value of the bit timing register. // //***************************************************************************** static inline uint32_t CAN_getBitTiming(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Read and return BTR register // return(HWREG_BP(base + CAN_O_BTR)); } //***************************************************************************** // //! Enables direct access to the RAM. //! //! \param base is the base address of the CAN controller. //! //! Enables direct access to the RAM while in Test mode. //! //! \note Test Mode must first be enabled to use this function. //! //! \return None. // //***************************************************************************** static inline void CAN_enableMemoryAccessMode(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Set the RAM direct access bit // HWREGH(base + CAN_O_TEST) |= CAN_TEST_RDA; } //***************************************************************************** // //! Disables direct access to the RAM. //! //! \param base is the base address of the CAN controller. //! //! Disables direct access to the RAM while in Test mode. //! //! \return None. // //***************************************************************************** static inline void CAN_disableMemoryAccessMode(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Clear the RAM direct access bit // HWREGH(base + CAN_O_TEST) &= ~CAN_TEST_RDA; } //***************************************************************************** // //! Sets the interruption debug mode of the CAN controller. //! //! \param base is the base address of the CAN controller. //! \param enable is a flag to enable or disable the interruption debug mode. //! //! This function sets the interruption debug mode of the CAN controller. When //! the \e enable parameter is \b true, CAN will be configured to interrupt any //! transmission or reception and enter debug mode immediately after it is //! requested. When \b false, CAN will wait for a started transmission or //! reception to be completed before entering debug mode. //! //! \return None. // //***************************************************************************** static inline void CAN_setInterruptionDebugMode(uint32_t base, bool enable) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); if(enable) { // // Enable interrupt debug support // HWREGH(base + CAN_O_CTL) |= CAN_CTL_IDS; } else { // // Disable interrupt debug support // HWREGH(base + CAN_O_CTL) &= ~CAN_CTL_IDS; } } //***************************************************************************** // //! Disables Auto-Bus-On. //! //! \param base is the base address of the CAN controller. //! //! Disables the Auto-Bus-On feature of the CAN controller. //! //! \return None. // //***************************************************************************** static inline void CAN_disableAutoBusOn(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Clear the ABO bit in the control register. // HWREGH(base + CAN_O_CTL) &= ~CAN_CTL_ABO; } //***************************************************************************** // //! Enables Auto-Bus-On. //! //! \param base is the base address of the CAN controller. //! //! Enables the Auto-Bus-On feature of the CAN controller. Be sure to also //! configure the Auto-Bus-On time using the CAN_setAutoBusOnTime function. //! //! \return None. // //***************************************************************************** static inline void CAN_enableAutoBusOn(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Set the ABO bit in the control register. // HWREGH(base + CAN_O_CTL) |= CAN_CTL_ABO; } //***************************************************************************** // //! Sets the time before a Bus-Off recovery sequence is started. //! //! \param base is the base address of the CAN controller. //! \param onTime is number of clock cycles before a Bus-Off recovery sequence //! is started. //! //! This function sets the number of clock cycles before a Bus-Off recovery //! sequence is started by clearing the Init bit. //! //! \note To enable this functionality, use CAN_enableAutoBusOn(). //! //! \return None. // //***************************************************************************** static inline void CAN_setAutoBusOnTime(uint32_t base, uint32_t onTime) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Set bus-off timer value // HWREG_BP(base + CAN_O_ABOTR) = onTime; } //***************************************************************************** // //! Enables individual CAN controller interrupt sources. //! //! \param base is the base address of the CAN controller. //! \param intFlags is the bit mask of the interrupt sources to be enabled. //! //! Enables specific interrupt sources of the CAN controller. Only enabled //! sources will cause a processor interrupt. //! //! The \e intFlags parameter is the logical OR of any of the following: //! - \b CAN_INT_ERROR - a controller error condition has occurred //! - \b CAN_INT_STATUS - a message transfer has completed, or a bus error has //! been detected //! - \b CAN_INT_IE0 - allow CAN controller to generate interrupts on interrupt //! line 0 //! - \b CAN_INT_IE1 - allow CAN controller to generate interrupts on interrupt //! line 1 //! //! \return None. // //***************************************************************************** static inline void CAN_enableInterrupt(uint32_t base, uint32_t intFlags) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((intFlags & ~(CAN_INT_ERROR | CAN_INT_STATUS | CAN_INT_IE0 | CAN_INT_IE1)) == 0U); // // Enable the specified interrupts. // HWREG_BP(base + CAN_O_CTL) |= intFlags; } //***************************************************************************** // //! Disables individual CAN controller interrupt sources. //! //! \param base is the base address of the CAN controller. //! \param intFlags is the bit mask of the interrupt sources to be disabled. //! //! Disables the specified CAN controller interrupt sources. Only enabled //! interrupt sources can cause a processor interrupt. //! //! The \e intFlags parameter has the same definition as in the //! CAN_enableInterrupt() function. //! //! \return None. // //***************************************************************************** static inline void CAN_disableInterrupt(uint32_t base, uint32_t intFlags) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((intFlags & ~(CAN_INT_ERROR | CAN_INT_STATUS | CAN_INT_IE0 | CAN_INT_IE1)) == 0U); // // Disable the specified interrupts. // HWREG_BP(base + CAN_O_CTL) &= ~(intFlags); } //***************************************************************************** // //! Get the CAN controller Interrupt Line set for each mailbox //! //! \param base is the base address of the CAN controller. //! //! Gets which interrupt line each message object should assert when an //! interrupt occurs. Bit 0 corresponds to message object 32 and then bits //! 1 to 31 correspond to message object 1 through 31 respectively. Bits that //! are asserted indicate the message object should generate an interrupt on //! interrupt line 1, while bits that are not asserted indicate the message //! object should generate an interrupt on line 0. //! //! \return Returns the value of the interrupt muxing register. // //***************************************************************************** static inline uint32_t CAN_getInterruptMux(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Get the interrupt muxing for the CAN peripheral // return(HWREG_BP(base + CAN_O_IP_MUX21)); } //***************************************************************************** // //! Set the CAN controller Interrupt Line for each mailbox //! //! \param base is the base address of the CAN controller. //! \param mux bit packed representation of which message objects should //! generate an interrupt on a given interrupt line. //! //! Selects which interrupt line each message object should assert when an //! interrupt occurs. Bit 0 corresponds to message object 32 and then bits //! 1 to 31 correspond to message object 1 through 31 respectively. Bits that //! are asserted indicate the message object should generate an interrupt on //! interrupt line 1, while bits that are not asserted indicate the message //! object should generate an interrupt on line 0. //! //! \return None. // //***************************************************************************** static inline void CAN_setInterruptMux(uint32_t base, uint32_t mux) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Set the interrupt muxing for the CAN peripheral // HWREG_BP(base + CAN_O_IP_MUX21) = mux; } //***************************************************************************** // //! Enables the CAN controller automatic retransmission behavior. //! //! \param base is the base address of the CAN controller. //! //! Enables the automatic retransmission of messages with detected errors. //! //! \return None. // //***************************************************************************** static inline void CAN_enableRetry(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Clearing the DAR bit tells the controller to not disable the // auto-retry of messages which were not transmitted or received // correctly. // HWREGH(base + CAN_O_CTL) &= ~CAN_CTL_DAR; } //***************************************************************************** // //! Disables the CAN controller automatic retransmission behavior. //! //! \param base is the base address of the CAN controller. //! //! Disables the automatic retransmission of messages with detected errors. //! //! \return None. // //***************************************************************************** static inline void CAN_disableRetry(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Setting the DAR bit tells the controller to disable the auto-retry // of messages which were not transmitted or received correctly. // HWREGH(base + CAN_O_CTL) |= CAN_CTL_DAR; } //***************************************************************************** // //! Returns the current setting for automatic retransmission. //! //! \param base is the base address of the CAN controller. //! //! Reads the current setting for the automatic retransmission in the CAN //! controller and returns it to the caller. //! //! \return Returns \b true if automatic retransmission is enabled, \b false //! otherwise. // //***************************************************************************** static inline bool CAN_isRetryEnabled(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Read the disable automatic retry setting from the CAN controller. // return((bool)((HWREGH(base + CAN_O_CTL) & CAN_CTL_DAR) != CAN_CTL_DAR)); } //***************************************************************************** // //! Reads the CAN controller error counter register. //! //! \param base is the base address of the CAN controller. //! \param rxCount is a pointer to storage for the receive error counter. //! \param txCount is a pointer to storage for the transmit error counter. //! //! Reads the error counter register and returns the transmit and receive error //! counts to the caller along with a flag indicating if the controller receive //! counter has reached the error passive limit. The values of the receive and //! transmit error counters are returned through the pointers provided as //! parameters. //! //! After this call, \e rxCount will hold the current receive error count //! and \e txCount will hold the current transmit error count. //! //! \return Returns \b true if the receive error count has reached the error //! passive limit, and \b false if the error count is below the error passive //! limit. // //***************************************************************************** static inline bool CAN_getErrorCount(uint32_t base, uint32_t *rxCount, uint32_t *txCount) { uint32_t canError = 0U; // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Read the current count of transmit/receive errors. // canError = HWREG_BP(base + CAN_O_ERRC); // // Extract the error numbers from the register value. // *rxCount = (canError & CAN_ERRC_REC_M) >> CAN_ERRC_REC_S; *txCount = (canError & CAN_ERRC_TEC_M) >> CAN_ERRC_TEC_S; return((bool)((canError & CAN_ERRC_RP) != 0U)); } //***************************************************************************** // //! Reads the CAN controller error and status register. //! //! \param base is the base address of the CAN controller. //! //! Reads the error and status register of the CAN controller. //! //! \return Returns the value of the register. // //***************************************************************************** static inline uint16_t CAN_getStatus(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Return error and status register value // return(HWREGH(base + CAN_O_ES)); } //***************************************************************************** // //! Reads the CAN controller TX request register. //! //! \param base is the base address of the CAN controller. //! //! Reads the TX request register of the CAN controller. //! //! \return Returns the value of the register. // //***************************************************************************** static inline uint32_t CAN_getTxRequests(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Return Tx requests register value // return(HWREG_BP(base + CAN_O_TXRQ_21)); } //***************************************************************************** // //! Reads the CAN controller new data status register. //! //! \param base is the base address of the CAN controller. //! //! Reads the new data status register of the CAN controller for all message //! objects. //! //! \return Returns the value of the register. // //***************************************************************************** static inline uint32_t CAN_getNewDataFlags(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Return new data register value // return(HWREG_BP(base + CAN_O_NDAT_21)); } //***************************************************************************** // //! Reads the CAN controller valid message object register. //! //! \param base is the base address of the CAN controller. //! //! Reads the valid message object register of the CAN controller. //! //! \return Returns the value of the register. // //***************************************************************************** static inline uint32_t CAN_getValidMessageObjects(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Return the valid message register value // return(HWREG_BP(base + CAN_O_MVAL_21)); } //***************************************************************************** // //! Get the CAN controller interrupt cause. //! //! \param base is the base address of the CAN controller. //! //! This function returns the value of the interrupt register that indicates //! the cause of the interrupt. //! //! \return Returns the value of the interrupt register. // //***************************************************************************** static inline uint32_t CAN_getInterruptCause(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Read interrupt identifier status // return(HWREG_BP(base + CAN_O_INT)); } //***************************************************************************** // //! Get the CAN controller pending interrupt message source. //! //! \param base is the base address of the CAN controller. //! //! Returns the value of the pending interrupts register that indicates //! which messages are the source of pending interrupts. //! //! \return Returns the value of the pending interrupts register. // //***************************************************************************** static inline uint32_t CAN_getInterruptMessageSource(uint32_t base) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); // // Read message object interrupt status // return(HWREG_BP(base + CAN_O_IPEN_21)); } //***************************************************************************** // //! CAN Global interrupt Enable function. //! //! \param base is the base address of the CAN controller. //! \param intFlags is the bit mask of the interrupt sources to be enabled. //! //! Enables specific CAN interrupt in the global interrupt enable register //! //! The \e intFlags parameter is the logical OR of any of the following: //! - \b CAN_GLOBAL_INT_CANINT0 - Global Interrupt Enable bit for CAN INT0 //! - \b CAN_GLOBAL_INT_CANINT1 - Global Interrupt Enable bit for CAN INT1 //! //! \return None. // //***************************************************************************** static inline void CAN_enableGlobalInterrupt(uint32_t base, uint16_t intFlags) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((intFlags & ~(CAN_GLOBAL_INT_CANINT0 | CAN_GLOBAL_INT_CANINT1)) == 0U); // // Enable the requested interrupts // HWREGH(base + CAN_O_GLB_INT_EN) |= intFlags; } //***************************************************************************** // //! CAN Global interrupt Disable function. //! //! \param base is the base address of the CAN controller. //! \param intFlags is the bit mask of the interrupt sources to be disabled. //! //! Disables the specific CAN interrupt in the global interrupt enable register //! //! The \e intFlags parameter is the logical OR of any of the following: //! - \b CAN_GLOBAL_INT_CANINT0 - Global Interrupt bit for CAN INT0 //! - \b CAN_GLOBAL_INT_CANINT1 - Global Interrupt bit for CAN INT1 //! //! \return None. // //***************************************************************************** static inline void CAN_disableGlobalInterrupt(uint32_t base, uint16_t intFlags) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((intFlags & ~(CAN_GLOBAL_INT_CANINT0 | CAN_GLOBAL_INT_CANINT1)) == 0U); // // Disable the requested interrupts // HWREGH(base + CAN_O_GLB_INT_EN) &= ~intFlags; } //***************************************************************************** // //! CAN Global interrupt Clear function. //! //! \param base is the base address of the CAN controller. //! \param intFlags is the bit mask of the interrupt sources to be cleared. //! //! Clear the specific CAN interrupt bit in the global interrupt flag register. //! //! The \e intFlags parameter is the logical OR of any of the following: //! - \b CAN_GLOBAL_INT_CANINT0 - Global Interrupt bit for CAN INT0 //! - \b CAN_GLOBAL_INT_CANINT1 - Global Interrupt bit for CAN INT1 //! //! \return None. // //***************************************************************************** static inline void CAN_clearGlobalInterruptStatus(uint32_t base, uint16_t intFlags) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((intFlags & ~(CAN_GLOBAL_INT_CANINT0 | CAN_GLOBAL_INT_CANINT1)) == 0U); // // Clear the requested interrupts // HWREGH(base + CAN_O_GLB_INT_CLR) |= intFlags; } //***************************************************************************** // //! Get the CAN Global Interrupt status. //! //! \param base is the base address of the CAN controller. //! \param intFlags is the bit mask of the interrupt sources to be enabled. //! //! Check if any interrupt bit is set in the global interrupt flag register. //! //! The \e intFlags parameter is the logical OR of any of the following: //! - \b CAN_GLOBAL_INT_CANINT0 - Global Interrupt bit for CAN INT0 //! - \b CAN_GLOBAL_INT_CANINT1 - Global Interrupt bit for CAN INT1 //! //! \return True if any of the requested interrupt bits are set. False, if //! none of the requested bits are set. // //***************************************************************************** static inline bool CAN_getGlobalInterruptStatus(uint32_t base, uint16_t intFlags) { // // Check the arguments. // ASSERT(CAN_isBaseValid(base)); ASSERT((intFlags & ~(CAN_GLOBAL_INT_CANINT0 | CAN_GLOBAL_INT_CANINT1)) == 0U); // // Read and return the global interrupt flag register // return((bool)((HWREGH(base + CAN_O_GLB_INT_FLG) & intFlags) != 0U)); } //***************************************************************************** // //! Initializes the CAN controller //! //! \param base is the base address of the CAN controller. //! //! This function initializes the message RAM, which also clears all the //! message objects, and places the CAN controller in an init state. Write //! access to the configuration registers is available as a result, allowing //! the bit timing and message objects to be setup. //! //! \note To exit the initialization mode and start the CAN module, use the //! CAN_startModule() function. //! //! \return None. // //***************************************************************************** extern void CAN_initModule(uint32_t base); //***************************************************************************** // //! Sets the CAN Bit Timing based on requested Bit Rate. //! //! \param base is the base address of the CAN controller. //! \param clockFreq is the CAN module clock frequency before the bit rate //! prescaler (Hertz) //! \param bitRate is the desired bit rate (bits/sec) //! \param bitTime is the number of time quanta per bit required for desired //! bit time (Tq) and must be in the range from 8 to 25 //! //! This function sets the CAN bit timing values for the bit rate passed in the //! \e bitRate and \e bitTime parameters based on the \e clockFreq parameter. The //! CAN bit clock is calculated to be an average timing value that should work //! for most systems. If tighter timing requirements are needed, then the //! CAN_setBitTiming() function is available for full customization of all of //! the CAN bit timing values. //! //! \note Not all bit-rate and bit-time combinations are valid. //! For combinations that would yield the correct bit-rate, //! refer to the DCAN_CANBTR_values.xlsx file in the "docs" directory. //! The CANBTR register values calculated by the function CAN_setBitRate //! may not be suitable for your network parameters. If this is the case //! and you have computed the correct values for your network, you could //! directly write those parameters in CANBTR register using the //! function CAN_setBitTiming. //! //! \return None. // //***************************************************************************** extern void CAN_setBitRate(uint32_t base, uint32_t clockFreq, uint32_t bitRate, uint16_t bitTime); //***************************************************************************** // //! Manually set the CAN controller bit timing. //! //! \param base is the base address of the CAN controller. //! \param prescaler is the baud rate prescaler //! \param prescalerExtension is the baud rate prescaler extension //! \param tSeg1 is the time segment 1 //! \param tSeg2 is the time segment 2 //! \param sjw is the synchronization jump width //! //! This function sets the various timing parameters for the CAN bus bit //! timing: baud rate prescaler, prescaler extension, time segment 1, //! time segment 2, and the Synchronization Jump Width. //! //! \return None. // //***************************************************************************** extern void CAN_setBitTiming(uint32_t base, uint16_t prescaler, uint16_t prescalerExtension, uint16_t tSeg1, uint16_t tSeg2, uint16_t sjw); //***************************************************************************** // //! Clears a CAN interrupt source. //! //! \param base is the base address of the CAN controller. //! \param intClr is a value indicating which interrupt source to clear. //! //! This function can be used to clear a specific interrupt source. The //! \e intClr parameter should be either a number from 1 to 32 to clear a //! specific message object interrupt or can be the following: //! - \b CAN_INT_INT0ID_STATUS - Clears a status interrupt. //! //! It is not necessary to use this function to clear an interrupt. This //! should only be used if the application wants to clear an interrupt source //! without taking the normal interrupt action. //! //! \return None. // //***************************************************************************** extern void CAN_clearInterruptStatus(uint32_t base, uint32_t intClr); //***************************************************************************** // //! Setup a Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the message object number to configure (1-32). //! \param msgID is the CAN message identifier used for the 11 or 29 bit //! identifiers //! \param frame is the CAN ID frame type //! \param msgType is the message object type //! \param msgIDMask is the CAN message identifier mask used when identifier //! filtering is enabled //! \param flags is the various flags and settings to be set for the message //! object //! \param msgLen is the number of bytes of data in the message object (0-8) //! //! This function sets the various values required for a message object. //! //! The \e frame parameter can be one of the following values: //! - \b CAN_MSG_FRAME_STD - Standard 11 bit identifier //! - \b CAN_MSG_FRAME_EXT - Extended 29 bit identifier //! //! The \e msgType parameter can be one of the following values: //! - \b CAN_MSG_OBJ_TYPE_TX - Transmit Message //! - \b CAN_MSG_OBJ_TYPE_TX_REMOTE - Transmit Remote Message //! - \b CAN_MSG_OBJ_TYPE_RX - Receive Message //! - \b CAN_MSG_OBJ_TYPE_RXTX_REMOTE - Receive Remote message with //! auto-transmit //! //! The \e flags parameter can be set as \b CAN_MSG_OBJ_NO_FLAGS if no flags //! are required or the parameter can be a logical OR of any of the following //! values: //! - \b CAN_MSG_OBJ_TX_INT_ENABLE - Enable Transmit Interrupts //! - \b CAN_MSG_OBJ_RX_INT_ENABLE - Enable Receive Interrupts //! - \b CAN_MSG_OBJ_USE_ID_FILTER - Use filtering based on the Message ID //! (Standard or Extended) //! - \b CAN_MSG_OBJ_USE_EXT_FILTER - Use Extended Identifier Bit for filtering //! (Only among Extended IDs will be accepted) //! - \b CAN_MSG_OBJ_USE_DIR_FILTER - Use filtering based on the direction of //! the transfer //! - \b CAN_MSG_OBJ_FIFO - Message object is part of a FIFO //! structure and isn't the final message //! object in FIFO //! //! If filtering is based on message identifier (for Standard or Extended IDs) //! specified by the \e msgIDMask parameter, the value \b CAN_MSG_OBJ_USE_ID_FILTER //! has to be logically ORed with the \e flag parameter. //! If \b CAN_MSG_OBJ_USE_EXT_FILTER is ORed with the \e flag parameter, //! only extended identifier frames are accepted which can further be masked //! by using the flag above. //! //! \note The \b msgLen Parameter for the Receive Message Object is a "don't //! care" but its value should be between 0-8 due to the assert. //! //! \return None. // //***************************************************************************** extern void CAN_setupMessageObject(uint32_t base, uint32_t objID, uint32_t msgID, CAN_MsgFrameType frame, CAN_MsgObjType msgType, uint32_t msgIDMask, uint32_t flags, uint16_t msgLen); //***************************************************************************** // //! Sends a Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to configure (1-32). //! \param msgLen is the number of bytes of data in the message object (0-8) //! \param msgData is a pointer to the message object's data //! //! This function is used to transmit a message object and the message data, //! if applicable. //! //! \note The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function. //! //! \return None. // //***************************************************************************** extern void CAN_sendMessage(uint32_t base, uint32_t objID, uint16_t msgLen, const uint16_t *msgData); //***************************************************************************** // //! Sends a Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to configure (1-32). //! \param msgLen is the number of bytes of data in the message object (0-8) //! \param msgData is a pointer to the message object's data (all 16 bits are sent) //! //! This function is used to transmit a message object and the message data, //! if applicable. //! //! \note The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function. //! //! \return None. // //***************************************************************************** extern void CAN_sendMessage_16bit(uint32_t base, uint32_t objID, uint16_t msgLen, const uint16_t *msgData); //***************************************************************************** // //! Sends a Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to configure (1-32). //! \param msgLen is the number of bytes of data in the message object (0-8) //! \param msgData is a pointer to the message object's data (all 32 bits are sent) //! //! This function is used to transmit a message object and the message data, //! if applicable. //! //! \note The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function. //! //! \return None. // //***************************************************************************** extern void CAN_sendMessage_32bit(uint32_t base, uint32_t objID, uint16_t msgLen, const uint32_t *msgData); //***************************************************************************** // //! Sends a Message Object while dynamically updating data length //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to configure (1-32). //! \param msgLen is the number of bytes of data in the message object (0-8) //! \param msgData is a pointer to the message object's data //! //! This function is used to transmit a message object and the message data, //! if applicable and can be used to dynamically update the data length //! for every subsequent call of this function. //! //! \note The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function. //! //! \return None. // //***************************************************************************** extern void CAN_sendMessage_updateDLC(uint32_t base, uint32_t objID, uint16_t msgLen, const uint16_t *msgData); //***************************************************************************** // //! Sends a Remote Request Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to configure (1-32). //! //! This function is used to transmit a remote request message object. //! //! \note The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function with CAN_MSG_OBJ_TYPE_TX_REMOTE //! as msgType flag. //! //! \return None. // //***************************************************************************** extern void CAN_sendRemoteRequestMessage(uint32_t base, uint32_t objID); //***************************************************************************** // //! Reads the data in a Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to read (1-32). //! \param msgData is a pointer to the array to store the message data //! //! This function is used to read the data contents of the specified message //! object in the CAN controller. The data returned is stored in the //! \e msgData parameter. //! //! \note //! -# The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function. //! -# If the DLC of the received message is larger than the \e msgData //! buffer provided, then it is possible for a buffer overflow to occur. //! //! \return Returns \b true if new data was retrieved, else returns //! \b false to indicate no new data was retrieved. // //***************************************************************************** extern bool CAN_readMessage(uint32_t base, uint32_t objID, uint16_t *msgData); //***************************************************************************** // //! Reads the data and Message ID in a Message Object //! //! \param base is the base address of the CAN controller. //! \param objID is the object number to read (1-32). //! \param frameType is a pointer to the CAN_MsgFrameType to store the message //! type that has been received in the mailbox //! The \e frameType parameter shall be filled as of the following values: //! - \b CAN_MSG_FRAME_STD - Standard 11 bit identifier //! - \b CAN_MSG_FRAME_EXT - Extended 29 bit identifier //! This parameter is filled when return value is true for this function. //! \param msgID is a pointer to storage for the received Message ID //! Filled when the return value is true for this function. //! \param msgData is a pointer to the array to store the message data //! Filled with read Data when the return value is true for this function. //! //! This function is used to read the data contents and the Message ID //! of the specified message object in the CAN controller.The Message ID returned //! is stored in the \e msgID parameter and its type in \e frameType parameter. //! The data returned is stored in the \e msgData parameter. //! //! \note //! -# The message object requested by the \e objID must first be setup //! using the CAN_setupMessageObject() function. //! //! \return Returns \b true if new data was retrieved, else returns //! \b false to indicate no new data was retrieved. // //***************************************************************************** extern bool CAN_readMessageWithID(uint32_t base, uint32_t objID, CAN_MsgFrameType *frameType, uint32_t *msgID, uint16_t *msgData); //***************************************************************************** // //! Transfers a CAN message between the IF registers and Message RAM. //! //! \param base is the base address of the CAN controller. //! \param interface is the interface to use for the transfer. Valid value are //! 1 or 2. //! \param objID is the object number to transfer (1-32). //! \param direction is the direction of data transfer. False is Message RAM //! to IF, True is IF to Message RAM. //! //! This function transfers the contents of the interface registers to message //! RAM or vice versa depending on the value passed to direction. //! //! \return None. // //***************************************************************************** extern void CAN_transferMessage(uint32_t base, uint16_t interface, uint32_t objID, bool direction); //***************************************************************************** // //! Clears a message object so that it is no longer used. //! //! \param base is the base address of the CAN controller. //! \param objID is the message object number to disable (1-32). //! //! This function frees(disables) the specified message object from use. Once //! a message object has been cleared, it will no longer automatically send or //! receive messages, or generate interrupts. //! //! \return None. // //***************************************************************************** extern void CAN_clearMessage(uint32_t base, uint32_t objID); //***************************************************************************** // //! Disables specific message object //! //! \param base is the base address of the CAN controller. //! \param objID is the message object number to disable (1-32). //! //! This function disables the specific message object. Once the message object //! has been disabled it will be ignored by the message handler until it //! is configured again. //! //! \return None. // //***************************************************************************** extern void CAN_disableMessageObject(uint32_t base, uint32_t objID); //***************************************************************************** // //! Disables all message objects //! //! \param base is the base address of the CAN controller. //! //! This function disables all message objects. Once a message object //! has been disabled it will be ignored by the message handler until it //! is configured again. All message objects are disabled automatically on //! reset, however this function can be used to restart CAN operations //! without an external reset. //! //! \return None. // //***************************************************************************** extern void CAN_disableAllMessageObjects(uint32_t base); //***************************************************************************** // // Close the Doxygen group. //! @} // //***************************************************************************** #endif // #ifdef __TMS320C28XX__ //***************************************************************************** // // Mark the end of the C bindings section for C++ compilers. // //***************************************************************************** #ifdef __cplusplus } #endif #endif // CAN_H 这个是can.h文件
最新发布
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