135 lines
3.7 KiB
C
135 lines
3.7 KiB
C
/*
|
|
* Device and application specific definitions for CANopenNode.
|
|
*
|
|
* @file CO_driver_target.h
|
|
* @author Janez Paternoster
|
|
* @copyright 2021 Janez Paternoster
|
|
*
|
|
* 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/>.
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
|
|
#ifndef CO_DRIVER_TARGET_H
|
|
#define CO_DRIVER_TARGET_H
|
|
|
|
/* This file contains device and application specific definitions.
|
|
* It is included from CO_driver.h, which contains documentation
|
|
* for common definitions below. */
|
|
|
|
#include <stddef.h>
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
#ifdef CO_DRIVER_CUSTOM
|
|
#include "CO_driver_custom.h"
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/* Stack configuration override default values.
|
|
* For more information see file CO_config.h. */
|
|
|
|
|
|
/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
|
|
#define CO_LITTLE_ENDIAN
|
|
#define CO_SWAP_16(x) x
|
|
#define CO_SWAP_32(x) x
|
|
#define CO_SWAP_64(x) x
|
|
/* NULL is defined in stddef.h */
|
|
/* true and false are defined in stdbool.h */
|
|
/* int8_t to uint64_t are defined in stdint.h */
|
|
typedef uint_fast8_t bool_t;
|
|
typedef float float32_t;
|
|
typedef double float64_t;
|
|
|
|
|
|
/* Access to received CAN message */
|
|
#define CO_CANrxMsg_readIdent(msg) ((uint16_t)0)
|
|
#define CO_CANrxMsg_readDLC(msg) ((uint8_t)0)
|
|
#define CO_CANrxMsg_readData(msg) ((const uint8_t *)NULL)
|
|
|
|
/* Received message object */
|
|
typedef struct {
|
|
uint16_t ident;
|
|
uint16_t mask;
|
|
void *object;
|
|
void (*CANrx_callback)(void *object, void *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;
|
|
} CO_CANtx_t;
|
|
|
|
/* CAN module object */
|
|
typedef struct {
|
|
void *CANptr;
|
|
CO_CANrx_t *rxArray;
|
|
uint16_t rxSize;
|
|
CO_CANtx_t *txArray;
|
|
uint16_t txSize;
|
|
uint16_t CANerrorStatus;
|
|
volatile bool_t CANnormal;
|
|
volatile bool_t useCANrxFilters;
|
|
volatile bool_t bufferInhibitFlag;
|
|
volatile bool_t firstCANtxMessage;
|
|
volatile uint16_t CANtxCount;
|
|
uint32_t errOld;
|
|
} CO_CANmodule_t;
|
|
|
|
|
|
/* Data storage object for one entry */
|
|
typedef struct {
|
|
void *addr;
|
|
size_t len;
|
|
uint8_t subIndexOD;
|
|
uint8_t attr;
|
|
/* Additional variables (target specific) */
|
|
void *addrNV;
|
|
} CO_storage_entry_t;
|
|
|
|
|
|
/* (un)lock critical section in CO_CANsend() */
|
|
#define CO_LOCK_CAN_SEND(CAN_MODULE)
|
|
#define CO_UNLOCK_CAN_SEND(CAN_MODULE)
|
|
|
|
/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
|
|
#define CO_LOCK_EMCY(CAN_MODULE)
|
|
#define CO_UNLOCK_EMCY(CAN_MODULE)
|
|
|
|
/* (un)lock critical section when accessing Object Dictionary */
|
|
#define CO_LOCK_OD(CAN_MODULE)
|
|
#define CO_UNLOCK_OD(CAN_MODULE)
|
|
|
|
/* Synchronization between CAN receive and message processing threads. */
|
|
#define CO_MemoryBarrier()
|
|
#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
|
|
#define CO_FLAG_SET(rxNew) {CO_MemoryBarrier(); rxNew = (void*)1L;}
|
|
#define CO_FLAG_CLEAR(rxNew) {CO_MemoryBarrier(); rxNew = NULL;}
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif /* __cplusplus */
|
|
|
|
#endif /* CO_DRIVER_TARGET_H */
|