/* * CAN module object for eCos RTOS CAN layer * * @file CO_driver.h * @author Uwe Kindler * @copyright 2013 Uwe Kindler * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * CANopenNode is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as published by * the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public License * along with this program. If not, see . */ #ifndef CO_DRIVER_H #define CO_DRIVER_H /* For documentation see file drvTemplate/CO_driver.h */ //=========================================================================== // INCLUDES //=========================================================================== #include #include #include #include //=========================================================================== // CONFIGURATION //=========================================================================== #define CYGDBG_IO_CANOPEN_DEBUG 1 // define this if you want debug output via diagnostic channel //=========================================================================== // DEFINES //=========================================================================== #if (CYG_BYTEORDER == CYG_MSBFIRST) #define CO_BIG_ENDIAN 1 #else #define CO_LITTLE_ENDIAN 1 #endif // // Support debug output if this option is enabled in CDL file // #ifdef CYGDBG_IO_CANOPEN_DEBUG #define CO_DBG_PRINT diag_printf #else #define CO_DBG_PRINT( fmt, ... ) #endif /* CAN module base address */ // we don't really care about the addresses here because the eCos port // uses I/O handles for accessing its CAN devices #define ADDR_CAN1 0 #define ADDR_CAN2 1 /* Disabling interrupts */ // shared data is accessed only from thread level code (not from ISR or DSR) // so we simply do a scheduler lock here to prevent access from different // threads #define CO_DISABLE_INTERRUPTS() cyg_scheduler_lock() #define CO_ENABLE_INTERRUPTS() cyg_scheduler_unlock() /* Data types */ typedef unsigned char bool_t; typedef cyg_uint8 uint8_t; typedef cyg_uint16 uint16_t; typedef cyg_uint32 uint32_t; typedef cyg_uint64 uint64_t; typedef cyg_int8 int8_t; typedef cyg_int16 int16_t; typedef cyg_int32 int32_t; typedef cyg_int64 int64_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{ uint32_t ID; uint8_t DLC; /* Length of CAN message */ uint8_t RTR; uint8_t data[8]; /* 8 data bytes */ }CO_CANrxMsg_t; /* Received message object */ typedef struct{ uint16_t ident; void *object; void (*pFunct)(void *object, const CO_CANrxMsg_t *message); }CO_CANrx_t; /* Transmit message object. */ typedef struct{ uint16_t ID; uint8_t DLC; uint8_t RTR; uint8_t data[8]; volatile uint8_t bufferFull; volatile uint8_t syncFlag; }CO_CANtx_t; /* CAN module object. */ typedef struct{ CO_CANrx_t *rxArray; uint16_t rxSize; CO_CANtx_t *txArray; uint16_t txSize; volatile uint8_t *curentSyncTimeIsInsideWindow; volatile uint8_t useCANrxFilters; volatile uint8_t bufferInhibitFlag; volatile uint8_t firstCANtxMessage; volatile uint16_t CANtxCount; uint32_t errOld; void *em; void *driverPrivate; uint16_t rxBufferIndexArray[0x800]; ///< Array of pointers to rx buffers cyg_io_handle_t ioHandle; }CO_CANmodule_t; #ifdef __cplusplus extern "C" { #endif /* Request CAN configuration or normal mode */ void CO_CANsetConfigurationMode(uint16_t CANbaseAddress); void CO_CANsetNormalMode(uint16_t CANbaseAddress); /* Initialize CAN module object. */ int16_t CO_CANmodule_init( CO_CANmodule_t *CANmodule, uint16_t CANbaseAddress, 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(CO_CANrxMsg_t *rxMsg); /* Configure CAN message receive buffer. */ int16_t CO_CANrxBufferInit( CO_CANmodule_t *CANmodule, uint16_t index, uint16_t ident, uint16_t mask, uint8_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, uint8_t rtr, uint8_t noOfBytes, uint8_t syncFlag); /* Send CAN message. */ int16_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); #ifdef __cplusplus } //extern "C" #endif #endif