/* * CAN module object for the Atmel SAM3X microcontroller. * * @file CO_driver.h * @author Janez Paternoster * @author Olof Larsson * @copyright 2014 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 /* for 'NULL' */ #include /* for 'int8_t' to 'uint64_t' */ #include "asf.h" #include #include /* CAN module base address */ #define ADDR_CAN1 CAN0 #define ADDR_CAN2 CAN1 /* Remember to set: #define CONF_BOARD_CAN0 #define CONF_BOARD_CAN1 in conf_board.h */ /* Critical sections */ #define CO_LOCK_CAN_SEND() //taskENTER_CRITICAL() #define CO_UNLOCK_CAN_SEND() //taskEXIT_CRITICAL() #define CO_LOCK_EMCY() //taskENTER_CRITICAL() #define CO_UNLOCK_EMCY() //taskEXIT_CRITICAL() #define CO_LOCK_OD() //taskENTER_CRITICAL() #define CO_UNLOCK_OD() //taskEXIT_CRITICAL() /* 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; /* 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{ /** CAN identifier. It must be read through CO_CANrxMsg_readIdent() function. */ uint32_t ident; uint8_t DLC ; uint8_t data[8]; can_mb_conf_t mbConf; /* Reference to controller's mailboxes */ }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{ uint32_t ident; uint8_t DLC; uint8_t data[8]; volatile bool_t bufferFull; volatile bool_t syncFlag; bool_t rtr; }CO_CANtx_t; /* CAN module object. */ typedef struct{ Can *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; can_mb_conf_t rxMbConf[CANMB_NUMBER-1]; /* Reference to controller's mailboxes */ can_mb_conf_t txMbConf; }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. */ void CO_CANinterrupt(CO_CANmodule_t *CANmodule); #endif