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.
154 lines
5.3 KiB
C
154 lines
5.3 KiB
C
/*
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* CAN module object for NXP LPC177x (Cortex M3) and FreeRTOS.
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*
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* This file is a template for other microcontrollers.
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*
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* @file CO_driver_target.h
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* @author Janez Paternoster
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* @author Amit H
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* @copyright 2004 - 2014 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free and open source software: you can redistribute
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* it and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 2 of the
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* License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Following clarification and special exception to the GNU General Public
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* License is included to the distribution terms of CANopenNode:
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*
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* Linking this library statically or dynamically with other modules is
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* making a combined work based on this library. Thus, the terms and
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* conditions of the GNU General Public License cover the whole combination.
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*
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* As a special exception, the copyright holders of this library give
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* you permission to link this library with independent modules to
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* produce an executable, regardless of the license terms of these
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* independent modules, and to copy and distribute the resulting
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* executable under terms of your choice, provided that you also meet,
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* for each linked independent module, the terms and conditions of the
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* license of that module. An independent module is a module which is
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* not derived from or based on this library. If you modify this
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* library, you may extend this exception to your version of the
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* library, but you are not obliged to do so. If you do not wish
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* to do so, delete this exception statement from your version.
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*/
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#ifndef CO_DRIVER_TARGET_H
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#define CO_DRIVER_TARGET_H
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#include "FreeRTOS.h"
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#include "task.h"
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#include "board.h"
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#include <stddef.h> /* for 'NULL' */
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#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
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/* Endianness */
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#define CO_LITTLE_ENDIAN
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/* CAN module base address */
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#define ADDR_CAN1 0
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#define ADDR_CAN2 1
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#define CAN_NODE_ID_0_PORT 1
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#define CAN_NODE_ID_0_PIN 23
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#define CAN_NODE_ID_1_PORT 1
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#define CAN_NODE_ID_1_PIN 24
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#define CAN_NODE_ID_2_PORT 1
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#define CAN_NODE_ID_2_PIN 25
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#define CAN_NODE_ID_3_PORT 1
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#define CAN_NODE_ID_3_PIN 26
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#define CAN_NODE_ID_4_PORT 1
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#define CAN_NODE_ID_4_PIN 28
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#define CAN_RUN_LED_PORT 1
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#define CAN_RUN_LED_PIN 20
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/* Critical sections */
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#define CO_LOCK_CAN_SEND() taskENTER_CRITICAL()
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#define CO_UNLOCK_CAN_SEND() taskEXIT_CRITICAL()
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#define CO_LOCK_EMCY() taskENTER_CRITICAL()
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#define CO_UNLOCK_EMCY() taskEXIT_CRITICAL()
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#define CO_LOCK_OD() taskENTER_CRITICAL()
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#define CO_UNLOCK_OD() taskEXIT_CRITICAL()
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/* Data types */
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/* int8_t to uint64_t are defined in stdint.h */
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typedef unsigned char bool_t;
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typedef float float32_t;
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typedef long double float64_t;
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typedef char char_t;
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typedef unsigned char oChar_t;
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typedef unsigned char domain_t;
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/* CAN receive message structure as aligned in CAN module. */
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typedef struct{
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/** CAN identifier. It must be read through CO_CANrxMsg_readIdent() function. */
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uint32_t ident; /*!< Message Identifier. If 30th-bit is set, this is 29-bit ID, othewise 11-bit ID */
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uint32_t Type; /*!< Message Type. which can include: - CAN_REMOTE_MSG type*/
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uint32_t DLC; /*!< Message Data Length: 0~8 */
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uint8_t data[CAN_MSG_MAX_DATA_LEN];/*!< Message Data */
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}CO_CANrxMsg_t;
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/* Received message object */
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typedef struct{
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uint16_t ident;
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uint16_t mask;
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void *object;
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void (*pFunct)(void *object, const CO_CANrxMsg_t *message);
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}CO_CANrx_t;
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/* Transmit message object. */
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typedef struct{
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uint32_t ident; /*!< Message Identifier. If 30th-bit is set, this is 29-bit ID, othewise 11-bit ID */
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uint32_t Type; /*!< Message Type. which can include: - CAN_REMOTE_MSG type*/
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uint32_t DLC; /*!< Message Data Length: 0~8 */
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uint8_t data[CAN_MSG_MAX_DATA_LEN];/*!< Message Data */
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volatile bool_t bufferFull;
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volatile bool_t syncFlag;
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}CO_CANtx_t;
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/* CAN module object. */
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typedef struct{
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void *CANdriverState;
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CO_CANrx_t *rxArray;
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uint16_t rxSize;
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CO_CANtx_t *txArray;
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uint16_t txSize;
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volatile bool_t CANnormal;
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volatile bool_t useCANrxFilters;
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volatile bool_t bufferInhibitFlag;
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volatile bool_t firstCANtxMessage;
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volatile uint16_t CANtxCount;
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uint32_t errOld;
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void *em;
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}CO_CANmodule_t;
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/* CAN interrupt receives and transmits CAN messages. */
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void CO_CANinterrupt(CO_CANmodule_t *CANmodule);
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#endif /* CO_DRIVER_TARGET_H */
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