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CANopenNode/stack/LPC1768/CO_driver.cpp
Olivier Desenfans 02fd8ee9da Renaming CANdevicePtr to CANdriverState
2019-11-13 08:34:42 +01:00

485 lines
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/*
* CAN module object for LPC1768 microcontroller using Mbed SDK.
*
* @file CO_driver.cpp
* @author Benoit Rapidel
* @copyright 2016 Benoit Rapidel
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* 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 <http://www.gnu.org/licenses/>.
*
* 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.
*/
#include "mbed.h"
#include "LPC17xx.h"
#include "CAN.h"
extern "C" {
#include "CO_driver.h"
#include "CO_Emergency.h"
#include "CO_CAN.h"
}
CAN CANport0(MBED_CAN_RX, MBED_CAN_TX);
CAN *CANport = NULL;
/* helper functions */
CANMessage toCANMessage(CO_CANtx_t *CO_msg) {
CANMessage msg;
msg.id = (uint32_t) CO_msg->ident & 0x07FFU;
msg.len = (uint32_t) CO_msg->DLC;
msg.type =
((uint32_t) CO_msg->ident & 0x8000U) == 0x8000 ?
CANRemote : CANData;
memcpy(msg.data, CO_msg->data, CO_msg->DLC);
return msg;
}
void fromCANMessage(CANMessage *msg, CO_CANrxMsg_t *CO_msg) {
CO_msg->ident = (uint32_t) msg->id & 0x07FFU;
CO_msg->DLC = (uint32_t) msg->len;
CO_msg->ident =
(msg->type == CANRemote) ? CO_msg->ident | 0x8000 : CO_msg->ident;
memcpy(CO_msg->data, msg->data, CO_msg->DLC);
}
/******************************************************************************/
void CO_CANsetConfigurationMode(void *CANdriverState){
/* Put CAN module in configuration mode */
}
/******************************************************************************/
void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule){
/* Put CAN module in normal mode */
// CANport->mode(CAN::Reset);
// can_mode(LPC_CAN2->, CAN::Normal);
// LPC_IOCON->PIO0_4 = PIN_INPUT P
CANmodule->CANnormal = true;
}
/******************************************************************************/
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)
{
uint16_t i;
uint16_t freq_err = 0;
/* verify arguments */
if(CANmodule==NULL || rxArray==NULL || txArray==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
CANmodule->CANdriverState = CANdriverState;
CANmodule->rxArray = rxArray;
CANmodule->rxSize = rxSize;
CANmodule->txArray = txArray;
CANmodule->txSize = txSize;
CANmodule->CANnormal = false;
CANmodule->useCANrxFilters = false; //(rxSize <= 32U) ? true : false;/* microcontroller dependent */
CANmodule->bufferInhibitFlag = false;
CANmodule->firstCANtxMessage = true;
CANmodule->CANtxCount = 0U;
CANmodule->errOld = 0U;
CANmodule->em = NULL;
for(i=0U; i<rxSize; i++){
rxArray[i].ident = 0U;
rxArray[i].pFunct = NULL;
}
for(i=0U; i<txSize; i++){
txArray[i].bufferFull = false;
}
/* Configure CAN module registers */
CANport = &CANport0;
// CANport->reset();
/* Configure CAN timing */
int CANbaudRate = CANbitRate * 1000;
freq_err = CANport->frequency(CANbaudRate);
if(freq_err != 1) {
return CO_ERROR_PARAMETERS;
}
/* Configure CAN module hardware filters */
if(CANmodule->useCANrxFilters){
/* CAN module filters are used, they will be configured with */
/* CO_CANrxBufferInit() functions, called by separate CANopen */
/* init functions. */
/* Configure all masks so, that received message must match filter */
// TODO
}
else{
/* CAN module filters are not used, all messages with standard 11-bit */
/* identifier will be received */
/* Configure mask 0 so, that all messages with standard identifier are accepted */
// CANport->filter(0, 0, CANAny);
}
/* configure CAN interrupt registers */
return CO_ERROR_NO;
}
/******************************************************************************/
void CO_CANmodule_disable(CO_CANmodule_t *CANmodule){
/* turn off the module */
}
/******************************************************************************/
uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg){
return (uint16_t) rxMsg->ident;
}
/******************************************************************************/
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))
{
CO_ReturnError_t ret = CO_ERROR_NO;
if((CANmodule!=NULL) && (object!=NULL) && (pFunct!=NULL) && (index < CANmodule->rxSize)){
/* buffer, which will be configured */
CO_CANrx_t *buffer = &CANmodule->rxArray[index];
/* Configure object variables */
buffer->object = object;
buffer->pFunct = pFunct;
/* CAN identifier and CAN mask, bit aligned with CAN module. Different on different microcontrollers. */
buffer->ident = ident & 0x07FFU;
if(rtr){
buffer->ident |= 0x0800U;
}
buffer->mask = (mask & 0x07FFU) | 0x0800U;
/* Set CAN hardware module filter and mask. */
if(CANmodule->useCANrxFilters){
// TODO
}
}
else{
ret = CO_ERROR_ILLEGAL_ARGUMENT;
}
return ret;
}
/******************************************************************************/
CO_CANtx_t *CO_CANtxBufferInit(
CO_CANmodule_t *CANmodule,
uint16_t index,
uint16_t ident,
bool_t rtr,
uint8_t noOfBytes,
bool_t syncFlag)
{
CO_CANtx_t *buffer = NULL;
if((CANmodule != NULL) && (index < CANmodule->txSize)){
/* get specific buffer */
buffer = &CANmodule->txArray[index];
/* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer.
* Microcontroller specific. */
buffer->ident = ((uint32_t) ident & 0x07FFU);
buffer->DLC = ((uint32_t) noOfBytes & 0xFU);
/* toggle RTR bit if CAN message is remote type */
if (rtr) buffer->ident |= 0x8000U;
buffer->bufferFull = false;
buffer->syncFlag = syncFlag;
}
return buffer;
}
/******************************************************************************/
CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer){
CO_ReturnError_t err = CO_ERROR_NO;
CANMessage msg;
/* Verify overflow */
if(buffer->bufferFull){
if(!CANmodule->firstCANtxMessage){
/* don't set error, if bootup message is still on buffers */
CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, buffer->ident);
}
err = CO_ERROR_TX_OVERFLOW;
// USBport.printf("BUFF_FULL OVERFLOW\r\n");
}
CO_LOCK_CAN_SEND();
/* if CAN TX buffer is free, copy message to it */
if ((MBED_CHECK_TX_BUFFERS) && CANmodule->CANtxCount == 0){
CANmodule->bufferInhibitFlag = buffer->syncFlag;
/* copy message and txRequest */
// USBport.printf("SEND\r\n");
CANport->write(toCANMessage(buffer));
}
/* if no buffer is free, message will be sent by interrupt */
else{
// USBport.printf("BUFF_FULL\r\n");
buffer->bufferFull = true;
CANmodule->CANtxCount++;
}
CO_UNLOCK_CAN_SEND();
return err;
}
/******************************************************************************/
void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule){
uint32_t tpdoDeleted = 0U;
CO_LOCK_CAN_SEND();
/* Abort message from CAN module, if there is synchronous TPDO.
* Take special care with this functionality. */
if (((MBED_CAN_REG->GSR & (1 << 2)) == 0) && CANmodule->bufferInhibitFlag){
/* clear TXREQ */
MBED_CAN_REG->CMR = (1 << 5) | (1 << 1); // Select TX buffer 1 and run AT command (abort)
MBED_CAN_REG->CMR = (1 << 6) | (1 << 1); // Select TX buffer 2 and run AT command (abort)
MBED_CAN_REG->CMR = (1 << 7) | (1 << 1); // Select TX buffer 3 and run AT command (abort)
CANmodule->bufferInhibitFlag = false;
tpdoDeleted = 1U;
}
/* delete also pending synchronous TPDOs in TX buffers */
if(CANmodule->CANtxCount != 0U){
uint16_t i;
CO_CANtx_t *buffer = &CANmodule->txArray[0];
for(i = CANmodule->txSize; i > 0U; i--){
if(buffer->bufferFull){
if(buffer->syncFlag){
buffer->bufferFull = false;
CANmodule->CANtxCount--;
tpdoDeleted = 2U;
}
}
buffer++;
}
}
CO_UNLOCK_CAN_SEND();
if(tpdoDeleted != 0U){
CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_TPDO_OUTSIDE_WINDOW, CO_EMC_COMMUNICATION, tpdoDeleted);
}
}
/******************************************************************************/
void CO_CANverifyErrors(CO_CANmodule_t *CANmodule){
uint16_t rxErrors, txErrors, overflow;
CO_EM_t* em = (CO_EM_t*)CANmodule->em;
uint32_t err;
/* get error counters from module. Id possible, function may use different way to
* determine errors. */
rxErrors = CANport->rderror();
txErrors = CANport->tderror();
overflow = (MBED_CAN_REG->GSR & 0x2);
err = ((uint32_t)txErrors << 16) | ((uint32_t)rxErrors << 8) | overflow;
if(CANmodule->errOld != err){
CANmodule->errOld = err;
if(txErrors >= 256U){ /* bus off */
CO_errorReport(em, CO_EM_CAN_TX_BUS_OFF, CO_EMC_BUS_OFF_RECOVERED, err);
}
else{ /* not bus off */
CO_errorReset(em, CO_EM_CAN_TX_BUS_OFF, err);
if((rxErrors >= 96U) || (txErrors >= 96U)){ /* bus warning */
CO_errorReport(em, CO_EM_CAN_BUS_WARNING, CO_EMC_NO_ERROR, err);
}
if(rxErrors >= 128U){ /* RX bus passive */
CO_errorReport(em, CO_EM_CAN_RX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, err);
}
else{
CO_errorReset(em, CO_EM_CAN_RX_BUS_PASSIVE, err);
}
if(txErrors >= 128U){ /* TX bus passive */
if(!CANmodule->firstCANtxMessage){
CO_errorReport(em, CO_EM_CAN_TX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, err);
}
}
else{
bool_t isError = CO_isError(em, CO_EM_CAN_TX_BUS_PASSIVE);
if(isError){
CO_errorReset(em, CO_EM_CAN_TX_BUS_PASSIVE, err);
CO_errorReset(em, CO_EM_CAN_TX_OVERFLOW, err);
}
}
if((rxErrors < 96U) && (txErrors < 96U)){ /* no error */
CO_errorReset(em, CO_EM_CAN_BUS_WARNING, err);
}
}
if(overflow != 0U){ /* CAN RX bus overflow */
CO_errorReport(em, CO_EM_CAN_RXB_OVERFLOW, CO_EMC_CAN_OVERRUN, err);
}
}
}
/******************************************************************************/
void CO_CANinterrupt(CO_CANmodule_t *CANmodule){
uint16_t intStatus;
intStatus = MBED_CAN_REG->ICR;
/* receive interrupt */
if (intStatus & 0x1) {
CO_CANrxMsg_t rcvMsgBuf; /* buffer for the received message in CAN module */
CO_CANrxMsg_t *rcvMsg; /* pointer to received message in CAN module */
uint16_t index; /* index of received message */
uint32_t rcvMsgIdent; /* identifier of the received message */
CO_CANrx_t *buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */
bool_t msgMatched = false;
CANMessage msg;
CANport->read(msg);
fromCANMessage(&msg, &rcvMsgBuf); /* get message from module here */
rcvMsg = &rcvMsgBuf;
rcvMsgIdent = rcvMsg->ident;
if(CANmodule->useCANrxFilters){
/* CAN module filters are used. Message with known 11-bit identifier has */
/* been received */
index = 0; /* get index of the received message here. Or something similar */
if(index < CANmodule->rxSize){
buffer = &CANmodule->rxArray[index];
/* verify also RTR */
if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U){
msgMatched = true;
}
}
}
else{
/* CAN module filters are not used, message with any standard 11-bit identifier */
/* has been received. Search rxArray form CANmodule for the same CAN-ID. */
buffer = &CANmodule->rxArray[0];
for(index = CANmodule->rxSize; index > 0U; index--){
if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U){
msgMatched = true;
break;
}
buffer++;
}
}
/* Call specific function, which will process the message */
if(msgMatched && (buffer != NULL) && (buffer->pFunct != NULL)){
buffer->pFunct(buffer->object, rcvMsg);
}
/* Clear interrupt flag */
/* The interrupt flag is cleaned by CANport.read() function call */
}
/* transmit interrupt */
else if ((intStatus & 0x2) || (intStatus & 0x200) || (intStatus & 0x400)) {
/* Clear interrupt flag */
/* First CAN message (bootup) was sent successfully */
CANmodule->firstCANtxMessage = false;
/* clear flag from previous message */
CANmodule->bufferInhibitFlag = false;
/* Are there any new messages waiting to be send */
if(CANmodule->CANtxCount > 0U){
uint16_t i; /* index of transmitting message */
/* first buffer */
CO_CANtx_t *buffer = &CANmodule->txArray[0];
/* search through whole array of pointers to transmit message buffers. */
for(i = CANmodule->txSize; i > 0U; i--){
/* if message buffer is full, send it. */
if(buffer->bufferFull){
buffer->bufferFull = false;
CANmodule->CANtxCount--;
/* Copy message to CAN buffer */
CANmodule->bufferInhibitFlag = buffer->syncFlag;
/* canSend... */
CANport->write(toCANMessage(buffer));
break; /* exit for loop */
}
buffer++;
}/* end of for loop */
/* Clear counter if no more messages */
if(i == 0U){
CANmodule->CANtxCount = 0U;
}
}
}
}
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