07c61316b3
Created a single header file (`CO_driver.h`) to declare the functions of the drivers API. This forces drivers to use a common API. Previously, each driver declared these functions in its specific `CO_driver.h` file. This causes two issues: 1. while these functions are used in target-independent code, the declarations could be target specific, leading to API/ABI compatibility issues. 2. the declarations were duplicated for each driver. The `CO_driver.h` files for each driver were renamed to `CO_driver_target.h`. This file is included from `CO_driver.h`. Added a new header for types: `CO_types.h`. This file currently holds the definition of `CO_ReturnError_t` that was previously duplicated for all drivers. Added a few enum values to support the `neuberger-socketCAN` code.
135 lines
4.2 KiB
C
135 lines
4.2 KiB
C
/*
|
|
* CAN module object for LPC1768 microcontroller using Mbed SDK.
|
|
*
|
|
* @file CO_driver_target.h
|
|
* @ingroup CO_driver
|
|
* @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.
|
|
*/
|
|
|
|
|
|
#ifndef CO_DRIVER_TARGET_H
|
|
#define CO_DRIVER_TARGET_H
|
|
|
|
|
|
/* For documentation see file drvTemplate/CO_driver.h */
|
|
|
|
|
|
#include <stddef.h> /* for 'NULL' */
|
|
#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
|
|
#include <stdbool.h> /* for 'true', 'false' */
|
|
|
|
|
|
/* Endianness */
|
|
#define CO_LITTLE_ENDIAN
|
|
|
|
/* CAN module base address */
|
|
#define MBED_CAN 1
|
|
|
|
|
|
/* Critical sections */
|
|
#define CO_LOCK_CAN_SEND()
|
|
#define CO_UNLOCK_CAN_SEND()
|
|
|
|
#define CO_LOCK_EMCY()
|
|
#define CO_UNLOCK_EMCY()
|
|
|
|
#define CO_LOCK_OD()
|
|
#define CO_UNLOCK_OD()
|
|
|
|
|
|
/* 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;
|
|
|
|
|
|
/* CAN receive message structure as aligned in CAN module. */
|
|
typedef struct{
|
|
uint32_t ident;
|
|
uint8_t DLC ;
|
|
uint8_t data[8];
|
|
}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;
|
|
}CO_CANtx_t;
|
|
|
|
|
|
/* CAN module object. */
|
|
typedef struct{
|
|
void *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;
|
|
}CO_CANmodule_t;
|
|
|
|
|
|
/* Receives and transmits CAN messages. */
|
|
void CO_CANinterrupt(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
#endif /* CO_DRIVER_TARGET_H */
|