/*
 * CAN module object for the Atmel SAM3X microcontroller.
 *
 * @file        CO_Flash.c
 * @author      Olof Larsson
 * @copyright   2014 Olof Larsson
 *
 * This file is part of CANopenNode, an opensource CANopen Stack.
 * Project home page is <http://canopennode.sourceforge.net>.
 * For more information on CANopen see <http://www.can-cia.org/>.
 *
 * 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 <http://www.gnu.org/licenses/>.
 *
 * This piece of software is using The Atmel Software Framework (ASF).
 *
 * http://www.atmel.com/asf
 *
 */


#ifndef CO_DRIVER_H
#define CO_DRIVER_H


/* For documentation see file drvTemplate/CO_driver.h */


#include <stddef.h>         /* for 'NULL' */
#include <stdint.h>         /* for 'int8_t' to 'uint64_t' */

#include "asf.h"
#include <sam3x_ek.h>
#include <can.h>



/* 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                *CANbaseAddress;
    CO_CANrx_t         *rxArray;
    uint16_t            rxSize;
    CO_CANtx_t         *txArray;
    uint16_t            txSize;
    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(Can *CANbaseAddress);
void CO_CANsetNormalMode(Can *CANbaseAddress);


/* Initialize CAN module object. */
CO_ReturnError_t CO_CANmodule_init(
        CO_CANmodule_t         *CANmodule,
        Can                    *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(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