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.
168 lines
5.3 KiB
C
168 lines
5.3 KiB
C
/*
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* CAN module object for Linux SocketCAN.
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*
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* @file CO_driver.h
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* @author Janez Paternoster
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* @copyright 2015 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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#ifndef CO_DRIVER_TARGET_H
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#define CO_DRIVER_TARGET_H
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/* For documentation see file drvTemplate/CO_driver.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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#include <stdbool.h> /* for 'true', 'false' */
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#include <unistd.h>
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#include <endian.h>
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#ifndef CO_SINGLE_THREAD
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#include <pthread.h>
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#endif
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <linux/can/error.h>
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/* Endianness */
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#ifdef BYTE_ORDER
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#if BYTE_ORDER == LITTLE_ENDIAN
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#define CO_LITTLE_ENDIAN
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#else
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#define CO_BIG_ENDIAN
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#endif /* BYTE_ORDER == LITTLE_ENDIAN */
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#endif /* BYTE_ORDER */
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/* general configuration */
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// #define CO_LOG_CAN_MESSAGES /* Call external function for each received or transmitted CAN message. */
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#define CO_SDO_BUFFER_SIZE 889 /* Override default SDO buffer size. */
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/* Critical sections */
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#ifdef CO_SINGLE_THREAD
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#define CO_LOCK_CAN_SEND()
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#define CO_UNLOCK_CAN_SEND()
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#define CO_LOCK_EMCY()
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#define CO_UNLOCK_EMCY()
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#define CO_LOCK_OD()
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#define CO_UNLOCK_OD()
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#define CANrxMemoryBarrier()
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#else
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#define CO_LOCK_CAN_SEND() /* not needed */
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#define CO_UNLOCK_CAN_SEND()
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extern pthread_mutex_t CO_EMCY_mtx;
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#define CO_LOCK_EMCY() {if(pthread_mutex_lock(&CO_EMCY_mtx) != 0) CO_errExit("Mutex lock CO_EMCY_mtx failed");}
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#define CO_UNLOCK_EMCY() {if(pthread_mutex_unlock(&CO_EMCY_mtx) != 0) CO_errExit("Mutex unlock CO_EMCY_mtx failed");}
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extern pthread_mutex_t CO_OD_mtx;
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#define CO_LOCK_OD() {if(pthread_mutex_lock(&CO_OD_mtx) != 0) CO_errExit("Mutex lock CO_OD_mtx failed");}
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#define CO_UNLOCK_OD() {if(pthread_mutex_unlock(&CO_OD_mtx) != 0) CO_errExit("Mutex unlock CO_OD_mtx failed");}
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#define CANrxMemoryBarrier() {__sync_synchronize();}
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#endif /* CO_SINGLE_THREAD */
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/* Syncronisation functions */
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#define IS_CANrxNew(rxNew) ((uintptr_t)rxNew)
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#define SET_CANrxNew(rxNew) {CANrxMemoryBarrier(); rxNew = (void*)1L;}
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#define CLEAR_CANrxNew(rxNew) {CANrxMemoryBarrier(); rxNew = (void*)0L;}
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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 _Bool bool_t;
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typedef float float32_t;
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typedef 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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uint32_t ident;
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uint8_t DLC;
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uint8_t data[8] __attribute__((aligned(8)));
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}CO_CANrxMsg_t;
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/* Received message object */
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typedef struct{
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uint32_t ident;
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uint32_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 as aligned in CAN module. */
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typedef struct{
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uint32_t ident;
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uint8_t DLC;
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uint8_t data[8] __attribute__((aligned(8)));
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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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#ifdef CO_LOG_CAN_MESSAGES
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CO_CANtx_t txRecord;
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#endif
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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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uint16_t wasConfigured;/* Zero only on first run of CO_CANmodule_init */
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int fd; /* CAN_RAW socket file descriptor */
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struct can_filter *filter; /* array of CAN filters of size rxSize */
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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 uint8_t error;
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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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/* Helper function, must be defined externally. */
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void CO_errExit(char* msg);
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/* Functions receives CAN messages. It is blocking.
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*
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* @param CANmodule This object.
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*/
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void CO_CANrxWait(CO_CANmodule_t *CANmodule);
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#endif /* CO_DRIVER_TARGET_H */
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