/* * CAN module object for Microchip dsPIC30F microcontroller. * * @file CO_driver.h * @author Janez Paternoster * @copyright 2004 - 2013 Janez Paternoster * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * CANopenNode is free and open source software: you can redistribute * it and/or modify it under the terms of the GNU General Public License * as published by the Free Software Foundation, either version 2 of the * License, or (at your option) any later version. * * 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, see . * * Following clarification and special exception to the GNU General Public * License is included to the distribution terms of CANopenNode: * * Linking this library statically or dynamically with other modules is * making a combined work based on this library. Thus, the terms and * conditions of the GNU General Public License cover the whole combination. * * As a special exception, the copyright holders of this library give * you permission to link this library with independent modules to * produce an executable, regardless of the license terms of these * independent modules, and to copy and distribute the resulting * executable under terms of your choice, provided that you also meet, * for each linked independent module, the terms and conditions of the * license of that module. An independent module is a module which is * not derived from or based on this library. If you modify this * library, you may extend this exception to your version of the * library, but you are not obliged to do so. If you do not wish * to do so, delete this exception statement from your version. */ #ifndef CO_DRIVER_H #define CO_DRIVER_H /* For documentation see file drvTemplate/CO_driver.h */ #include /* processor header file */ #include /* for 'NULL' */ #include /* for 'int8_t' to 'uint64_t' */ #include /* for true and false */ /* CAN module base address */ #define ADDR_CAN1 0x300 #define ADDR_CAN2 0x3C0 /* Critical sections */ #define CO_LOCK_CAN_SEND() asm volatile ("disi #0x3FFF") #define CO_UNLOCK_CAN_SEND() asm volatile ("disi #0x0000") #define CO_LOCK_EMCY() asm volatile ("disi #0x3FFF") #define CO_UNLOCK_EMCY() asm volatile ("disi #0x0000") #define CO_LOCK_OD() asm volatile ("disi #0x3FFF") #define CO_UNLOCK_OD() asm volatile ("disi #0x0000") /* Data types */ /* int8_t to uint64_t are defined in stdint.h */ typedef unsigned char bool_t; typedef float float32_t; typedef long double float64_t; typedef char char_t; typedef unsigned char oChar_t; typedef unsigned char domain_t; /* CAN bit rates * * CAN bit rates are initializers for array of eight CO_CANbitRateData_t * objects. * * Macros are not used by driver itself, they may be used by application with * combination with object CO_CANbitRateData_t. * Application must declare following global variable depending on CO_FCY used: * const CO_CANbitRateData_t CO_CANbitRateData[8] = {CO_CANbitRateDataInitializers}; * * There are initializers for eight objects, which corresponds to following * CAN bit rates (in kbps): 10, 20, 50, 125, 250, 500, 800, 1000. * * CO_FCY is internal instruction cycle clock frequency in kHz units. It is * calculated from oscillator frequency (FOSC [in kHz]) and PLL mode: * - If PLL is not used -> FCY = FOSC / 4, * - If PLL x 4 is used -> FCY = FOSC, * - If PLL x 16 is used -> FCY = FOSC * 4 * * Possible values for FCY are (in three groups): * - Optimal CAN bit timing on all Baud Rates: 4000, 6000, 16000, 24000. * - Not so optimal CAN bit timing on all Baud Rates: 2000, 8000. * - not all CANopen Baud Rates possible: 1000, 1500, 2500, 3000, 5000, * 10000, 12000, 20000, 28000, 30000, 1843 (internal FRC, no PLL), * 7372 (internal FRC + 4*PLL). */ #ifdef CO_FCY /* Macros, which divides K into (SJW + PROP + PhSeg1 + PhSeg2) */ #define TQ_x_4 1, 1, 1, 1 #define TQ_x_5 1, 1, 2, 1 #define TQ_x_6 1, 1, 3, 1 #define TQ_x_8 1, 2, 3, 2 #define TQ_x_9 1, 2, 4, 2 #define TQ_x_10 1, 3, 4, 2 #define TQ_x_12 1, 3, 6, 2 #define TQ_x_14 1, 4, 7, 2 #define TQ_x_15 1, 4, 8, 2 /* good timing */ #define TQ_x_16 1, 5, 8, 2 /* good timing */ #define TQ_x_17 1, 6, 8, 2 /* good timing */ #define TQ_x_18 1, 7, 8, 2 /* good timing */ #define TQ_x_19 1, 8, 8, 2 /* good timing */ #define TQ_x_20 1, 8, 8, 3 /* good timing */ #define TQ_x_21 1, 8, 8, 4 #define TQ_x_25 1, 8, 8, 8 #if CO_FCY == 1000 #define CO_CANbitRateDataInitializers \ {4, 10, TQ_x_20}, /*CAN=10kbps*/ \ {4, 5, TQ_x_20}, /*CAN=20kbps*/ \ {4, 2, TQ_x_20}, /*CAN=50kbps*/ \ {4, 1, TQ_x_16}, /*CAN=125kbps*/ \ {4, 1, TQ_x_8 }, /*CAN=250kbps*/ \ {4, 1, TQ_x_4 }, /*CAN=500kbps*/ \ {4, 1, TQ_x_4 }, /*Not possible*/ \ {4, 1, TQ_x_4 } /*Not possible*/ #elif CO_FCY == 1500 #define CO_CANbitRateDataInitializers \ {4, 15, TQ_x_20}, /*CAN=10kbps*/ \ {4, 10, TQ_x_15}, /*CAN=20kbps*/ \ {4, 4, TQ_x_15}, /*CAN=50kbps*/ \ {4, 2, TQ_x_12}, /*CAN=125kbps*/ \ {4, 1, TQ_x_12}, /*CAN=250kbps*/ \ {4, 1, TQ_x_6 }, /*CAN=500kbps*/ \ {4, 1, TQ_x_6 }, /*Not possible*/ \ {4, 1, TQ_x_6 } /*Not possible*/ #elif CO_FCY == 1843 /* internal FRC, no PLL */ #define CO_CANbitRateDataInitializers \ {4, 23, TQ_x_16}, /*CAN=10kbps*/ \ {4, 23, TQ_x_8 }, /*CAN=20kbps*/ \ {4, 23, TQ_x_8 }, /*Not possible*/ \ {4, 23, TQ_x_8 }, /*Not possible*/ \ {4, 23, TQ_x_8 }, /*Not possible*/ \ {4, 23, TQ_x_8 }, /*Not possible*/ \ {4, 23, TQ_x_8 }, /*Not possible*/ \ {4, 23, TQ_x_8 } /*Not possible*/ #elif CO_FCY == 2000 #define CO_CANbitRateDataInitializers \ {4, 25, TQ_x_16}, /*CAN=10kbps*/ \ {4, 10, TQ_x_20}, /*CAN=20kbps*/ \ {4, 5, TQ_x_16}, /*CAN=50kbps*/ \ {4, 2, TQ_x_16}, /*CAN=125kbps*/ \ {4, 1, TQ_x_16}, /*CAN=250kbps*/ \ {4, 1, TQ_x_8 }, /*CAN=500kbps*/ \ {4, 1, TQ_x_5 }, /*CAN=800kbps*/ \ {4, 1, TQ_x_4 } /*CAN=1000kbps*/ #elif CO_FCY == 2500 #define CO_CANbitRateDataInitializers \ {4, 25, TQ_x_20}, /*CAN=10kbps*/ \ {4, 10, TQ_x_25}, /*CAN=20kbps*/ \ {4, 5, TQ_x_20}, /*CAN=50kbps*/ \ {4, 2, TQ_x_20}, /*CAN=125kbps*/ \ {4, 1, TQ_x_20}, /*CAN=250kbps*/ \ {4, 1, TQ_x_10}, /*CAN=500kbps*/ \ {4, 1, TQ_x_10}, /*Not possible*/ \ {4, 1, TQ_x_5 } /*CAN=1000kbps*/ #elif CO_FCY == 3000 #define CO_CANbitRateDataInitializers \ {4, 40, TQ_x_15}, /*CAN=10kbps*/ \ {4, 20, TQ_x_15}, /*CAN=20kbps*/ \ {4, 8, TQ_x_15}, /*CAN=50kbps*/ \ {4, 3, TQ_x_16}, /*CAN=125kbps*/ \ {4, 2, TQ_x_12}, /*CAN=250kbps*/ \ {4, 1, TQ_x_12}, /*CAN=500kbps*/ \ {4, 1, TQ_x_12}, /*Not possible*/ \ {4, 1, TQ_x_6 } /*CAN=1000kbps*/ #elif CO_FCY == 4000 #define CO_CANbitRateDataInitializers \ {4, 50, TQ_x_16}, /*CAN=10kbps*/ \ {4, 25, TQ_x_16}, /*CAN=20kbps*/ \ {4, 10, TQ_x_16}, /*CAN=50kbps*/ \ {4, 4, TQ_x_16}, /*CAN=125kbps*/ \ {4, 2, TQ_x_16}, /*CAN=250kbps*/ \ {4, 1, TQ_x_16}, /*CAN=500kbps*/ \ {4, 1, TQ_x_10}, /*CAN=800kbps*/ \ {4, 1, TQ_x_8 } /*CAN=1000kbps*/ #elif CO_FCY == 5000 #define CO_CANbitRateDataInitializers \ {4, 50, TQ_x_20}, /*CAN=10kbps*/ \ {4, 25, TQ_x_20}, /*CAN=20kbps*/ \ {4, 10, TQ_x_20}, /*CAN=50kbps*/ \ {4, 5, TQ_x_16}, /*CAN=125kbps*/ \ {4, 2, TQ_x_20}, /*CAN=250kbps*/ \ {4, 1, TQ_x_20}, /*CAN=500kbps*/ \ {4, 1, TQ_x_20}, /*Not possible*/ \ {4, 1, TQ_x_10} /*CAN=1000kbps*/ #elif CO_FCY == 6000 #define CO_CANbitRateDataInitializers \ {4, 63, TQ_x_19}, /*CAN=10kbps*/ \ {4, 40, TQ_x_15}, /*CAN=20kbps*/ \ {4, 15, TQ_x_16}, /*CAN=50kbps*/ \ {4, 6, TQ_x_16}, /*CAN=125kbps*/ \ {4, 3, TQ_x_16}, /*CAN=250kbps*/ \ {4, 2, TQ_x_12}, /*CAN=500kbps*/ \ {4, 1, TQ_x_15}, /*CAN=800kbps*/ \ {4, 1, TQ_x_12} /*CAN=1000kbps*/ #elif CO_FCY == 7372 /* internal FRC + 4*PLL */ #define CO_CANbitRateDataInitializers \ {1, 23, TQ_x_16}, /*CAN=10kbps*/ \ {4, 46, TQ_x_16}, /*CAN=20kbps*/ \ {4, 14, TQ_x_21}, /*CAN=50kbps*/ \ {4, 13, TQ_x_9 }, /*CAN=125kbps*/ \ {4, 13, TQ_x_9 }, /*Not possible*/ \ {4, 13, TQ_x_9 }, /*Not possible*/ \ {4, 13, TQ_x_9 }, /*Not possible*/ \ {4, 13, TQ_x_9 } /*Not possible*/ #elif CO_FCY == 8000 #define CO_CANbitRateDataInitializers \ {1, 25, TQ_x_16}, /*CAN=10kbps*/ \ {1, 10, TQ_x_20}, /*CAN=20kbps*/ \ {1, 5, TQ_x_16}, /*CAN=50kbps*/ \ {1, 2, TQ_x_16}, /*CAN=125kbps*/ \ {1, 1, TQ_x_16}, /*CAN=250kbps*/ \ {1, 1, TQ_x_8 }, /*CAN=500kbps*/ \ {1, 1, TQ_x_5 }, /*CAN=800kbps*/ \ {1, 1, TQ_x_4 } /*CAN=1000kbps*/ #elif CO_FCY == 10000 #define CO_CANbitRateDataInitializers \ {1, 25, TQ_x_20}, /*CAN=10kbps*/ \ {1, 10, TQ_x_25}, /*CAN=20kbps*/ \ {1, 5, TQ_x_20}, /*CAN=50kbps*/ \ {1, 2, TQ_x_20}, /*CAN=125kbps*/ \ {1, 1, TQ_x_20}, /*CAN=250kbps*/ \ {1, 1, TQ_x_10}, /*CAN=500kbps*/ \ {1, 1, TQ_x_10}, /*Not possible*/ \ {1, 1, TQ_x_5 } /*CAN=1000kbps*/ #elif CO_FCY == 12000 #define CO_CANbitRateDataInitializers \ {1, 40, TQ_x_15}, /*CAN=10kbps*/ \ {1, 20, TQ_x_15}, /*CAN=20kbps*/ \ {1, 8, TQ_x_15}, /*CAN=50kbps*/ \ {1, 3, TQ_x_16}, /*CAN=125kbps*/ \ {1, 2, TQ_x_12}, /*CAN=250kbps*/ \ {1, 1, TQ_x_12}, /*CAN=500kbps*/ \ {1, 1, TQ_x_12}, /*Not possible*/ \ {1, 1, TQ_x_6 } /*CAN=1000kbps*/ #elif CO_FCY == 16000 #define CO_CANbitRateDataInitializers \ {1, 50, TQ_x_16}, /*CAN=10kbps*/ \ {1, 25, TQ_x_16}, /*CAN=20kbps*/ \ {1, 10, TQ_x_16}, /*CAN=50kbps*/ \ {1, 4, TQ_x_16}, /*CAN=125kbps*/ \ {1, 2, TQ_x_16}, /*CAN=250kbps*/ \ {1, 1, TQ_x_16}, /*CAN=500kbps*/ \ {1, 1, TQ_x_10}, /*CAN=800kbps*/ \ {1, 1, TQ_x_8 } /*CAN=1000kbps*/ #elif CO_FCY == 20000 #define CO_CANbitRateDataInitializers \ {1, 50, TQ_x_20}, /*CAN=10kbps*/ \ {1, 25, TQ_x_20}, /*CAN=20kbps*/ \ {1, 10, TQ_x_20}, /*CAN=50kbps*/ \ {1, 5, TQ_x_16}, /*CAN=125kbps*/ \ {1, 2, TQ_x_20}, /*CAN=250kbps*/ \ {1, 1, TQ_x_20}, /*CAN=500kbps*/ \ {1, 1, TQ_x_20}, /*Not possible*/ \ {1, 1, TQ_x_10} /*CAN=1000kbps*/ #elif CO_FCY == 24000 #define CO_CANbitRateDataInitializers \ {1, 63, TQ_x_19}, /*CAN=10kbps*/ \ {1, 40, TQ_x_15}, /*CAN=20kbps*/ \ {1, 15, TQ_x_16}, /*CAN=50kbps*/ \ {1, 6, TQ_x_16}, /*CAN=125kbps*/ \ {1, 3, TQ_x_16}, /*CAN=250kbps*/ \ {1, 2, TQ_x_12}, /*CAN=500kbps*/ \ {1, 1, TQ_x_15}, /*CAN=800kbps*/ \ {1, 1, TQ_x_12} /*CAN=1000kbps*/ #elif CO_FCY == 28000 #define CO_CANbitRateDataInitializers \ {1, 56, TQ_x_25}, /*CAN=10kbps*/ \ {1, 35, TQ_x_20}, /*CAN=20kbps*/ \ {1, 14, TQ_x_20}, /*CAN=50kbps*/ \ {1, 7, TQ_x_16}, /*CAN=125kbps*/ \ {1, 4, TQ_x_14}, /*CAN=250kbps*/ \ {1, 2, TQ_x_14}, /*CAN=500kbps*/ \ {1, 2, TQ_x_14}, /*Not possible*/ \ {1, 1, TQ_x_14} /*CAN=1000kbps*/ #elif CO_FCY == 30000 #define CO_CANbitRateDataInitializers \ {1, 60, TQ_x_25}, /*CAN=10kbps*/ \ {1, 50, TQ_x_15}, /*CAN=20kbps*/ \ {1, 20, TQ_x_15}, /*CAN=50kbps*/ \ {1, 8, TQ_x_15}, /*CAN=125kbps*/ \ {1, 4, TQ_x_15}, /*CAN=250kbps*/ \ {1, 2, TQ_x_15}, /*CAN=500kbps*/ \ {1, 2, TQ_x_15}, /*Not possible*/ \ {1, 1, TQ_x_15} /*CAN=1000kbps*/ #else #error define_CO_FCY CO_FCY not supported #endif #endif /* Structure contains timing coefficients for CAN module. * * CAN baud rate is calculated from following equations: * FCAN = FCY * Scale - Input frequency to CAN module (MAX 30MHz for dsPIC30F) * TQ = 2 * BRP / FCAN - Time Quanta * BaudRate = 1 / (TQ * K) - Can bus Baud Rate * K = SJW + PROP + PhSeg1 + PhSeg2 - Number of Time Quantas */ typedef struct{ uint8_t scale; /* (1 or 4) Scales FCY clock - dsPIC30F specific */ uint8_t BRP; /* (1...64) Baud Rate Prescaler */ uint8_t SJW; /* (1...4) SJW time */ uint8_t PROP; /* (1...8) PROP time */ uint8_t phSeg1; /* (1...8) Phase Segment 1 time */ uint8_t phSeg2; /* (1...8) Phase Segment 2 time */ }CO_CANbitRateData_t; /* Return values */ typedef enum{ CO_ERROR_NO = 0, CO_ERROR_ILLEGAL_ARGUMENT = -1, CO_ERROR_OUT_OF_MEMORY = -2, CO_ERROR_TIMEOUT = -3, CO_ERROR_ILLEGAL_BAUDRATE = -4, CO_ERROR_RX_OVERFLOW = -5, CO_ERROR_RX_PDO_OVERFLOW = -6, CO_ERROR_RX_MSG_LENGTH = -7, CO_ERROR_RX_PDO_LENGTH = -8, CO_ERROR_TX_OVERFLOW = -9, CO_ERROR_TX_PDO_WINDOW = -10, CO_ERROR_TX_UNCONFIGURED = -11, CO_ERROR_PARAMETERS = -12, CO_ERROR_DATA_CORRUPT = -13, CO_ERROR_CRC = -14 }CO_ReturnError_t; /* CAN receive message structure as aligned in CAN module. */ typedef struct{ uint16_t ident; /* Standard Identifier as aligned in CAN module. 16 bits: 'UUUSSSSS SSSSSSRE' (U: unused; S: SID; R=SRR; E=IDE). */ uint16_t extIdent; /* Extended identifier, not used here */ uint16_t DLC :4; /* Data length code (bits 0...3) */ uint16_t DLCrest :12; /* Not used here (bits 4..15) */ uint8_t data[8]; /* 8 data bytes */ uint16_t CON; /* Control word */ }CO_CANrxMsg_t; /* Received message object */ typedef struct{ uint16_t ident; uint16_t mask; void *object; void (*pFunct)(void *object, const CO_CANrxMsg_t *message); }CO_CANrx_t; /* Transmit message object. */ typedef struct{ uint16_t ident; /* Standard Identifier as aligned in CAN module. 16 bits: 'SSSSSUUU SSSSSSRE' (U: unused; S: SID; R=SRR; E=IDE). */ uint8_t DLC; uint8_t data[8]; volatile bool_t bufferFull; volatile bool_t syncFlag; }CO_CANtx_t; /* CAN module object. */ typedef struct{ void *CANdriverState; CO_CANrx_t *rxArray; uint16_t rxSize; CO_CANtx_t *txArray; uint16_t txSize; volatile bool_t CANnormal; volatile bool_t useCANrxFilters; volatile bool_t bufferInhibitFlag; volatile bool_t firstCANtxMessage; volatile uint16_t CANtxCount; uint32_t errOld; void *em; }CO_CANmodule_t; /* Endianes */ #define CO_LITTLE_ENDIAN /* Request CAN configuration or normal mode */ void CO_CANsetConfigurationMode(void *CANdriverState); void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule); /* Initialize CAN module object. */ CO_ReturnError_t CO_CANmodule_init( CO_CANmodule_t *CANmodule, void *CANdriverState, CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[], uint16_t txSize, uint16_t CANbitRate); /* Switch off CANmodule. */ void CO_CANmodule_disable(CO_CANmodule_t *CANmodule); /* Read CAN identifier */ uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg); /* Configure CAN message receive buffer. */ CO_ReturnError_t CO_CANrxBufferInit( CO_CANmodule_t *CANmodule, uint16_t index, uint16_t ident, uint16_t mask, bool_t rtr, void *object, void (*pFunct)(void *object, const CO_CANrxMsg_t *message)); /* Configure CAN message transmit buffer. */ CO_CANtx_t *CO_CANtxBufferInit( CO_CANmodule_t *CANmodule, uint16_t index, uint16_t ident, bool_t rtr, uint8_t noOfBytes, bool_t syncFlag); /* Send CAN message. */ CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer); /* Clear all synchronous TPDOs from CAN module transmit buffers. */ void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule); /* Verify all errors of CAN module. */ void CO_CANverifyErrors(CO_CANmodule_t *CANmodule); /* CAN interrupt receives and transmits CAN messages. * * Function must be called directly from _C1Interrupt or _C2Interrupt with * high priority. dsPIC30F uses two receive buffers and one transmit buffer. */ void CO_CANinterrupt(CO_CANmodule_t *CANmodule); #endif