/* * CAN module object for ST STM32F103 microcontroller. * * @file CO_driver.h * @author Janez Paternoster * @author Ondrej Netik * @author Vijayendra * @author Jan van Lienden * @copyright 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 */ /* Includes ------------------------------------------------------------------*/ #include "common.h" #include "stm32f10x_conf.h" /* Exported define -----------------------------------------------------------*/ #define PACKED_STRUCT __attribute__((packed)) #define ALIGN_STRUCT_DWORD __attribute__((aligned(4))) #define CO_USE_LEDS /* Peripheral addresses */ #define ADDR_CAN1 CAN1 #define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */ /* Critical sections */ #define CO_LOCK_CAN_SEND() __set_PRIMASK(1); #define CO_UNLOCK_CAN_SEND() __set_PRIMASK(0); #define CO_LOCK_EMCY() __set_PRIMASK(1); #define CO_UNLOCK_EMCY() __set_PRIMASK(0); #define CO_LOCK_OD() __set_PRIMASK(1); #define CO_UNLOCK_OD() __set_PRIMASK(0); #define CLOCK_CAN RCC_APB1Periph_CAN1 #define CAN_REMAP_2 /* Select CAN1 remap 2 */ #ifdef CAN1_NO_REMAP /* CAN1 not remapped */ #define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOA #define GPIO_Remapping_CAN (0) #define GPIO_CAN GPIOA #define GPIO_Pin_CAN_RX GPIO_Pin_11 #define GPIO_Pin_CAN_TX GPIO_Pin_12 #define GPIO_CAN_Remap_State DISABLE #endif #ifdef CAN_REMAP1 /* CAN1 remap 1 */ #define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOB #define GPIO_Remapping_CAN GPIO_Remap1_CAN1 #define GPIO_CAN GPIOB #define GPIO_Pin_CAN_RX GPIO_Pin_8 #define GPIO_Pin_CAN_TX GPIO_Pin_9 #define GPIO_CAN_Remap_State ENABLE #endif #ifdef CAN_REMAP_2 /* CAN1 remap 2 */ #define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOD #define GPIO_Remapping_CAN GPIO_Remap2_CAN1 #define GPIO_CAN GPIOD #define GPIO_Pin_CAN_RX GPIO_Pin_0 #define GPIO_Pin_CAN_TX GPIO_Pin_1 #define GPIO_CAN_Remap_State ENABLE #endif #ifdef STM32F10X_CL #define CAN1_TX_INTERRUPTS CAN1_TX_IRQn #define CAN1_RX0_INTERRUPTS CAN1_RX0_IRQn #else #define CAN1_TX_INTERRUPTS USB_HP_CAN1_TX_IRQn #define CAN1_RX0_INTERRUPTS USB_LP_CAN1_RX0_IRQn #endif #define CAN_TXMAILBOX_0 ((uint8_t)0x00) #define CAN_TXMAILBOX_1 ((uint8_t)0x01) #define CAN_TXMAILBOX_2 ((uint8_t)0x02) /* Timeout for initialization */ #define INAK_TIMEOUT ((uint32_t)0x0000FFFF) /* Data types */ typedef float float32_t; typedef long double float64_t; typedef char char_t; typedef unsigned char oChar_t; typedef unsigned char domain_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. * prevzato z stm32f10_can.h - velikostne polozky a poradi odpovidaji. */ typedef struct{ uint32_t ident; /* Standard Identifier */ uint32_t ExtId; /* Specifies the extended identifier */ uint8_t IDE; /* Specifies the type of identifier for the message that will be received */ uint8_t RTR; /* Remote Transmission Request bit */ uint8_t DLC; /* Data length code (bits 0...3) */ uint8_t data[8]; /* 8 data bytes */ uint8_t FMI; /* Specifies the index of the filter the message stored in the mailbox passes through */ }CO_CANrxMsg_t; /* Received message object */ typedef struct{ uint16_t ident; uint16_t mask; void *object; void (*pFunct)(void *object, CanRxMsg *message); // Changed by VJ }CO_CANrx_t; /* Transmit message object. */ typedef struct{ uint32_t ident; uint8_t DLC; uint8_t data[8]; volatile uint8_t bufferFull; volatile uint8_t syncFlag; }CO_CANtx_t;/* ALIGN_STRUCT_DWORD; */ /* CAN module object. */ typedef struct{ CAN_TypeDef *CANdriverState; /* STM32F4xx specific */ CO_CANrx_t *rxArray; uint16_t rxSize; CO_CANtx_t *txArray; uint16_t txSize; volatile bool_t CANnormal; volatile bool_t useCANrxFilters; volatile uint8_t useCANrxFilters; volatile uint8_t bufferInhibitFlag; volatile uint8_t firstCANtxMessage; volatile uint16_t CANtxCount; uint32_t errOld; void *em; }CO_CANmodule_t; /* Init CAN Led Interface */ typedef enum { eCoLed_None = 0, eCoLed_Green = 1, eCoLed_Red = 2, } eCoLeds; /* Exported variables -----------------------------------------------------------*/ /* Exported functions -----------------------------------------------------------*/ void InitCanLeds(void); void CanLedsOn(eCoLeds led); void CanLedsOff(eCoLeds led); void CanLedsSet(eCoLeds led); /* Request CAN configuration or normal mode */ //void CO_CANsetConfigurationMode(CAN_TypeDef *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, int8_t rtr, void *object, void (*pFunct)(void *object, CO_CANrxMsg_t *message)); /* Configure CAN message transmit buffer. */ CO_CANtx_t *CO_CANtxBufferInit( CO_CANmodule_t *CANmodule, uint16_t index, uint16_t ident, int8_t rtr, uint8_t noOfBytes, int8_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 interrupts receives and transmits CAN messages. */ void CO_CANinterrupt_Rx(CO_CANmodule_t *CANmodule); void CO_CANinterrupt_Tx(CO_CANmodule_t *CANmodule); void CO_CANinterrupt_Status(CO_CANmodule_t *CANmodule); #endif