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CANopenLinux/CO_driver_target.h

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/**
* Linux socketCAN specific definitions for CANopenNode.
*
* @file CO_driver_target.h
* @ingroup CO_socketCAN_driver_target
* @author Janez Paternoster
* @author Martin Wagner
* @copyright 2004 - 2020 Janez Paternoster
* @copyright 2018 - 2020 Neuberger Gebaeudeautomation GmbH
*
* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
*
* 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 CO_DRIVER_TARGET_H
#define CO_DRIVER_TARGET_H
/* This file contains device and application specific definitions.
* It is included from CO_driver.h, which contains documentation
* for common definitions below. */
#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <endian.h>
#ifndef CO_SINGLE_THREAD
#include <pthread.h>
#endif
#include <linux/can.h>
#include <net/if.h>
#include <sys/epoll.h>
#ifdef CO_DRIVER_CUSTOM
#include "CO_driver_custom.h"
#endif
#include "CO_error.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Stack configuration override default values.
* For more information see file CO_config.h. */
#ifdef CO_SINGLE_THREAD
#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE 0
#else
#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE CO_CONFIG_FLAG_CALLBACK_PRE
#endif
#define CO_CONFIG_GLOBAL_FLAG_TIMERNEXT CO_CONFIG_FLAG_TIMERNEXT
#ifndef CO_CONFIG_NMT
#define CO_CONFIG_NMT (CO_CONFIG_NMT_CALLBACK_CHANGE | \
CO_CONFIG_NMT_MASTER | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#ifndef CO_CONFIG_HB_CONS
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | \
CO_CONFIG_HB_CONS_CALLBACK_CHANGE | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#ifndef CO_CONFIG_EM
#define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | \
CO_CONFIG_EM_PROD_CONFIGURABLE | \
CO_CONFIG_EM_PROD_INHIBIT | \
CO_CONFIG_EM_HISTORY | \
CO_CONFIG_EM_STATUS_BITS | \
CO_CONFIG_EM_CONSUMER | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#ifndef CO_CONFIG_SDO_SRV
#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | \
CO_CONFIG_SDO_SRV_BLOCK | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 900
#endif
#ifndef CO_CONFIG_SDO_CLI
#define CO_CONFIG_SDO_CLI (CO_CONFIG_SDO_CLI_ENABLE | \
CO_CONFIG_SDO_CLI_SEGMENTED | \
CO_CONFIG_SDO_CLI_BLOCK | \
CO_CONFIG_SDO_CLI_LOCAL | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#ifndef CO_CONFIG_TIME
#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | \
CO_CONFIG_TIME_PRODUCER | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#ifndef CO_CONFIG_LSS
#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | \
CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND | \
CO_CONFIG_LSS_MASTER | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
#endif
#define CO_CONFIG_GFC (CO_CONFIG_GFC_ENABLE | \
CO_CONFIG_GFC_CONSUMER | \
CO_CONFIG_GFC_PRODUCER)
#define CO_CONFIG_SRDO (CO_CONFIG_SRDO_ENABLE | \
CO_CONFIG_SRDO_CHECK_TX | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#ifndef CO_CONFIG_GTW
#define CO_CONFIG_GTW (CO_CONFIG_GTW_ASCII | \
CO_CONFIG_GTW_ASCII_SDO | \
CO_CONFIG_GTW_ASCII_NMT | \
CO_CONFIG_GTW_ASCII_LSS | \
CO_CONFIG_GTW_ASCII_LOG | \
CO_CONFIG_GTW_ASCII_ERROR_DESC | \
CO_CONFIG_GTW_ASCII_PRINT_HELP | \
CO_CONFIG_GTW_ASCII_PRINT_LEDS)
#define CO_CONFIG_GTW_BLOCK_DL_LOOP 3
#define CO_CONFIG_GTWA_COMM_BUF_SIZE 2000
#define CO_CONFIG_GTWA_LOG_BUF_SIZE 10000
#endif
#ifndef CO_CONFIG_CRC16
#define CO_CONFIG_CRC16 (CO_CONFIG_CRC16_ENABLE)
#endif
#ifndef CO_CONFIG_FIFO
#define CO_CONFIG_FIFO (CO_CONFIG_FIFO_ENABLE | \
CO_CONFIG_FIFO_ALT_READ | \
CO_CONFIG_FIFO_CRC16_CCITT | \
CO_CONFIG_FIFO_ASCII_COMMANDS | \
CO_CONFIG_FIFO_ASCII_DATATYPES)
#endif
/* Print debug info from some internal parts of the stack */
#if (CO_CONFIG_DEBUG) & CO_CONFIG_DEBUG_COMMON
#include <stdio.h>
#include <syslog.h>
#define CO_DEBUG_COMMON(msg) log_printf(LOG_DEBUG, DBG_CO_DEBUG, msg);
#endif
/**
* @defgroup CO_socketCAN_driver_target CO_driver_target.h
* Linux socketCAN specific @ref CO_driver definitions for CANopenNode.
*
* @ingroup CO_socketCAN
* @{
*/
/**
* Multi interface support
*
* Enable this to use interface combining at driver level. This
* adds functions to broadcast/selective transmit messages on the
* given interfaces as well as combining all received message into
* one queue.
*
* If CO_DRIVER_MULTI_INTERFACE is set to 0, then CO_CANmodule_init()
* adds single socketCAN interface specified by CANptr argument. In case of
* failure, CO_CANmodule_init() returns CO_ERROR_SYSCALL.
*
* If CO_DRIVER_MULTI_INTERFACE is set to 1, then CO_CANmodule_init()
* ignores CANptr argument. Interfaces must be added by
* CO_CANmodule_addInterface() function after CO_CANmodule_init().
*
* Macro is set to 0 (disabled) by default. It can be overridden.
*
* This is not intended to realize interface redundancy!!!
*/
#ifndef CO_DRIVER_MULTI_INTERFACE
#define CO_DRIVER_MULTI_INTERFACE 0
#endif
/**
* CAN bus error reporting
*
* CO_DRIVER_ERROR_REPORTING enabled adds support for socketCAN error detection
* and handling functions inside the driver. This is needed when you have
* CANopen with "0" connected nodes as a use case, as this is normally
* forbidden in CAN.
*
* Macro is set to 1 (enabled) by default. It can be overridden.
*
* you need to enable error reporting in your kernel driver using:
* @code{.sh}
* ip link set canX type can berr-reporting on
* @endcode
* Of course, the kernel driver for your hardware needs this functionality to be
* implemented...
*/
#ifndef CO_DRIVER_ERROR_REPORTING
#define CO_DRIVER_ERROR_REPORTING 1
#endif
/* skip this section for Doxygen, because it is documented in CO_driver.h */
#ifndef CO_DOXYGEN
/* Basic definitions */
#ifdef __BYTE_ORDER
#if __BYTE_ORDER == __LITTLE_ENDIAN
#define CO_LITTLE_ENDIAN
#define CO_SWAP_16(x) x
#define CO_SWAP_32(x) x
#define CO_SWAP_64(x) x
#else
#define CO_BIG_ENDIAN
#include <byteswap.h>
#define CO_SWAP_16(x) bswap_16(x)
#define CO_SWAP_32(x) bswap_32(x)
#define CO_SWAP_64(x) bswap_64(x)
#endif
#endif
/* NULL is defined in stddef.h */
/* true and false are defined in stdbool.h */
/* int8_t to uint64_t are defined in stdint.h */
typedef uint_fast8_t bool_t;
typedef float float32_t;
typedef double float64_t;
/* CAN receive message structure as aligned in socketCAN. */
typedef struct {
uint32_t ident;
uint8_t DLC;
uint8_t padding[3];
uint8_t data[8];
} CO_CANrxMsg_t;
/* Access to received CAN message */
static inline uint16_t CO_CANrxMsg_readIdent(void *rxMsg) {
CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
return (uint16_t) (rxMsgCasted->ident & CAN_SFF_MASK);
}
static inline uint8_t CO_CANrxMsg_readDLC(void *rxMsg) {
CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
return (uint8_t) (rxMsgCasted->DLC);
}
static inline uint8_t *CO_CANrxMsg_readData(void *rxMsg) {
CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
return (uint8_t *) (rxMsgCasted->data);
}
/* Received message object */
typedef struct {
uint32_t ident;
uint32_t mask;
void *object;
void (*CANrx_callback)(void *object, void *message);
int can_ifindex; /* CAN Interface index from last message */
struct timespec timestamp; /* time of reception of last message */
} CO_CANrx_t;
/* Transmit message object as aligned in socketCAN. */
typedef struct {
uint32_t ident;
uint8_t DLC;
uint8_t padding[3]; /* ensure alignment */
uint8_t data[8];
volatile bool_t bufferFull;
volatile bool_t syncFlag; /* info about transmit message */
int can_ifindex; /* CAN Interface index to use */
} CO_CANtx_t;
/* Max COB ID for standard frame format */
#define CO_CAN_MSG_SFF_MAX_COB_ID (1 << CAN_SFF_ID_BITS)
/* CAN interface object (CANptr), passed to CO_CANinit() */
typedef struct {
int can_ifindex; /* CAN Interface index */
int epoll_fd; /* File descriptor for epoll, which waits for
CAN receive event */
} CO_CANptrSocketCan_t;
/* socketCAN interface object */
typedef struct {
int can_ifindex; /* CAN Interface index */
char ifName[IFNAMSIZ]; /* CAN Interface name */
int fd; /* socketCAN file descriptor */
#if CO_DRIVER_ERROR_REPORTING > 0 || defined CO_DOXYGEN
CO_CANinterfaceErrorhandler_t errorhandler;
#endif
} CO_CANinterface_t;
/* CAN module object */
typedef struct {
/* List of can interfaces. From CO_CANmodule_init() or one per
* CO_CANmodule_addInterface() call */
CO_CANinterface_t *CANinterfaces;
uint32_t CANinterfaceCount; /* interface count */
CO_CANrx_t *rxArray;
uint16_t rxSize;
struct can_filter *rxFilter;/* socketCAN filter list, one per rx buffer */
uint32_t rxDropCount; /* messages dropped on rx socket queue */
CO_CANtx_t *txArray;
uint16_t txSize;
uint16_t CANerrorStatus;
volatile bool_t CANnormal;
volatile uint16_t CANtxCount;
int epoll_fd; /* File descriptor for epoll, which waits for
CAN receive event */
#if CO_DRIVER_MULTI_INTERFACE > 0 || defined CO_DOXYGEN
/* Lookup tables Cob ID to rx/tx array index.
* Only feasible for SFF Messages. */
uint32_t rxIdentToIndex[CO_CAN_MSG_SFF_MAX_COB_ID];
uint32_t txIdentToIndex[CO_CAN_MSG_SFF_MAX_COB_ID];
#endif
} CO_CANmodule_t;
/* Data storage: Maximum file name length including path */
#ifndef CO_STORAGE_PATH_MAX
#define CO_STORAGE_PATH_MAX 255
#endif
/* Data storage object for one entry */
typedef struct {
void *addr;
size_t len;
uint8_t subIndexOD;
uint8_t attr;
/* Name of the file, where data block is stored */
char filename[CO_STORAGE_PATH_MAX];
/* CRC checksum of the data stored previously, for auto storage */
uint16_t crc;
/* Pointer to opened file, for auto storage */
FILE *fp;
} CO_storage_entry_t;
#ifdef CO_SINGLE_THREAD
#define CO_LOCK_CAN_SEND(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_UNLOCK_CAN_SEND(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_LOCK_EMCY(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_UNLOCK_EMCY(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_LOCK_OD(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_UNLOCK_OD(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_MemoryBarrier()
#else
/* (un)lock critical section in CO_CANsend() - unused */
#define CO_LOCK_CAN_SEND(CAN_MODULE)
#define CO_UNLOCK_CAN_SEND(CAN_MODULE)
/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
extern pthread_mutex_t CO_EMCY_mutex;
static inline int CO_LOCK_EMCY(CO_CANmodule_t *CANmodule) {
(void)CANmodule;
return pthread_mutex_lock(&CO_EMCY_mutex);
}
static inline void CO_UNLOCK_EMCY(CO_CANmodule_t *CANmodule) {
(void)CANmodule;
(void)pthread_mutex_unlock(&CO_EMCY_mutex);
}
/* (un)lock critical section when accessing Object Dictionary */
extern pthread_mutex_t CO_OD_mutex;
static inline int CO_LOCK_OD(CO_CANmodule_t *CANmodule) {
(void)CANmodule;
return pthread_mutex_lock(&CO_OD_mutex);
}
static inline void CO_UNLOCK_OD(CO_CANmodule_t *CANmodule) {
(void)CANmodule;
(void)pthread_mutex_unlock(&CO_OD_mutex);
}
/* Synchronization between CAN receive and message processing threads. */
#define CO_MemoryBarrier() {__sync_synchronize();}
#endif /* CO_SINGLE_THREAD */
#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
#define CO_FLAG_SET(rxNew) {CO_MemoryBarrier(); rxNew = (void*)1L;}
#define CO_FLAG_CLEAR(rxNew) {CO_MemoryBarrier(); rxNew = NULL;}
#endif /* #ifndef CO_DOXYGEN */
#if CO_DRIVER_MULTI_INTERFACE > 0 || defined CO_DOXYGEN
/**
* Add socketCAN interface to can driver
*
* Function must be called after CO_CANmodule_init.
*
* @param CANmodule This object will be initialized.
* @param can_ifindex CAN Interface index
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
* CO_ERROR_SYSCALL or CO_ERROR_INVALID_STATE.
*/
CO_ReturnError_t CO_CANmodule_addInterface(CO_CANmodule_t *CANmodule,
int can_ifindex);
/**
* Check on which interface the last message for one message buffer was received
*
* It is in the responsibility of the user to check that this information is
* useful as some messages can be received at any time on any bus.
*
* @param CANmodule This object.
* @param ident 11-bit standard CAN Identifier.
* @param [out] CANptrRx message was received on this interface
* @param [out] timestamp message was received at this time (system clock)
*
* @retval false message has never been received, therefore no base address
* and timestamp are available
* @retval true base address and timestamp are valid
*/
bool_t CO_CANrxBuffer_getInterface(CO_CANmodule_t *CANmodule,
uint16_t ident,
const void **const CANptrRx,
struct timespec *timestamp);
/**
* Set which interface should be used for message buffer transmission
*
* It is in the responsibility of the user to ensure that the correct interface
* is used. Some messages need to be transmitted on all interfaces.
*
* If given interface is unknown or NULL is used, a message is transmitted on
* all available interfaces.
*
* @param CANmodule This object.
* @param ident 11-bit standard CAN Identifier.
* @param CANptrTx use this interface. NULL = not specified
*
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_CANtxBuffer_setInterface(CO_CANmodule_t *CANmodule,
uint16_t ident,
const void *CANptrTx);
#endif /* CO_DRIVER_MULTI_INTERFACE */
/**
* Receives CAN messages from matching epoll event
*
* This function verifies, if epoll event matches event from any CANinterface.
* In case of match, message is read from CAN and pre-processed for CANopenNode
* objects. CAN error frames are also processed.
*
* In case of CAN message function searches _rxArray_ from CO_CANmodule_t and
* if matched it calls the corresponding CANrx_callback, optionally copies
* received CAN message to _buffer_ and returns index of matched _rxArray_.
*
* This function can be used in two ways, which can be combined:
* - automatic mode: If CANrx_callback is specified for matched _rxArray_, then
* calls its callback.
* - manual mode: evaluate message filters, return received message
*
* @param CANmodule This object.
* @param ev Epoll event, which vill be verified for matches.
* @param [out] buffer Storage for received message or _NULL_ if not used.
* @param [out] msgIndex Index of received message in array from CO_CANmodule_t
* _rxArray_, copy of CAN message is available in _buffer_.
*
* @return True, if epoll event matches any CAN interface.
*/
bool_t CO_CANrxFromEpoll(CO_CANmodule_t *CANmodule,
struct epoll_event *ev,
CO_CANrxMsg_t *buffer,
int32_t *msgIndex);
/** @} */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* CO_DRIVER_TARGET_H */
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