248 lines
8.3 KiB
C
248 lines
8.3 KiB
C
/*
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* CAN module object for ST STM32F103 microcontroller.
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*
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* @file CO_driver.h
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* @author Janez Paternoster
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* @author Ondrej Netik
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* @author Vijayendra
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* @author Jan van Lienden
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* @copyright 2013 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 <http://canopennode.sourceforge.net>.
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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 software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (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 Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser 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_H
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#define CO_DRIVER_H
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/* For documentation see file drvTemplate/CO_driver.h */
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/* Includes ------------------------------------------------------------------*/
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#include "common.h"
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#include "stm32f10x_conf.h"
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/* Exported define -----------------------------------------------------------*/
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#define PACKED_STRUCT __attribute__((packed))
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#define ALIGN_STRUCT_DWORD __attribute__((aligned(4)))
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/* Peripheral addresses */
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#define ADDR_CAN1 CAN1
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#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */
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/* Disabling interrupts */
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#define CO_DISABLE_INTERRUPTS() __set_PRIMASK(1);
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#define CO_ENABLE_INTERRUPTS() __set_PRIMASK(0);
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#define CLOCK_CAN RCC_APB1Periph_CAN1
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#define CAN_REMAP_2 /* Select CAN1 remap 2 */
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#ifdef CAN1_NO_REMAP /* CAN1 not remapped */
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#define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOA
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#define GPIO_Remapping_CAN (0)
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#define GPIO_CAN GPIOA
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#define GPIO_Pin_CAN_RX GPIO_Pin_11
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#define GPIO_Pin_CAN_TX GPIO_Pin_12
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#define GPIO_CAN_Remap_State DISABLE
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#endif
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#ifdef CAN_REMAP1 /* CAN1 remap 1 */
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#define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOB
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#define GPIO_Remapping_CAN GPIO_Remap1_CAN1
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#define GPIO_CAN GPIOB
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#define GPIO_Pin_CAN_RX GPIO_Pin_8
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#define GPIO_Pin_CAN_TX GPIO_Pin_9
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#define GPIO_CAN_Remap_State ENABLE
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#endif
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#ifdef CAN_REMAP_2 /* CAN1 remap 2 */
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#define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOD
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#define GPIO_Remapping_CAN GPIO_Remap2_CAN1
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#define GPIO_CAN GPIOD
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#define GPIO_Pin_CAN_RX GPIO_Pin_0
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#define GPIO_Pin_CAN_TX GPIO_Pin_1
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#define GPIO_CAN_Remap_State ENABLE
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#endif
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#ifdef STM32F10X_CL
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#define CAN1_TX_INTERRUPTS CAN1_TX_IRQn
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#define CAN1_RX0_INTERRUPTS CAN1_RX0_IRQn
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#else
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#define CAN1_TX_INTERRUPTS USB_HP_CAN1_TX_IRQn
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#define CAN1_RX0_INTERRUPTS USB_LP_CAN1_RX0_IRQn
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#endif
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#define CAN_TXMAILBOX_0 ((uint8_t)0x00)
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#define CAN_TXMAILBOX_1 ((uint8_t)0x01)
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#define CAN_TXMAILBOX_2 ((uint8_t)0x02)
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/* Timeout for initialization */
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#define INAK_TIMEOUT ((uint32_t)0x0000FFFF)
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/* Data types */
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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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/* Return values */
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typedef enum{
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CO_ERROR_NO = 0,
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CO_ERROR_ILLEGAL_ARGUMENT = -1,
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CO_ERROR_OUT_OF_MEMORY = -2,
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CO_ERROR_TIMEOUT = -3,
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CO_ERROR_ILLEGAL_BAUDRATE = -4,
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CO_ERROR_RX_OVERFLOW = -5,
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CO_ERROR_RX_PDO_OVERFLOW = -6,
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CO_ERROR_RX_MSG_LENGTH = -7,
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CO_ERROR_RX_PDO_LENGTH = -8,
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CO_ERROR_TX_OVERFLOW = -9,
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CO_ERROR_TX_PDO_WINDOW = -10,
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CO_ERROR_TX_UNCONFIGURED = -11,
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CO_ERROR_PARAMETERS = -12,
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CO_ERROR_DATA_CORRUPT = -13,
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CO_ERROR_CRC = -14
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}CO_ReturnError_t;
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/* CAN receive message structure as aligned in CAN module.
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* prevzato z stm32f10_can.h - velikostne polozky a poradi odpovidaji. */
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typedef struct{
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uint32_t ident; /* Standard Identifier */
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uint32_t ExtId; /* Specifies the extended identifier */
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uint8_t IDE; /* Specifies the type of identifier for the
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message that will be received */
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uint8_t RTR; /* Remote Transmission Request bit */
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uint8_t DLC; /* Data length code (bits 0...3) */
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uint8_t data[8]; /* 8 data bytes */
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uint8_t FMI; /* Specifies the index of the filter the message
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stored in the mailbox passes through */
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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, CanRxMsg *message); // Changed by VJ
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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;
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uint8_t DLC;
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uint8_t data[8];
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volatile uint8_t bufferFull;
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volatile uint8_t syncFlag;
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}CO_CANtx_t;/* ALIGN_STRUCT_DWORD; */
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/* CAN module object. */
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typedef struct{
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CAN_TypeDef *CANbaseAddress; /* STM32F4xx specific */
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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 uint8_t useCANrxFilters;
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volatile uint8_t bufferInhibitFlag;
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volatile uint8_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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/* Init CAN Led Interface */
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typedef enum {
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eCoLed_None = 0,
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eCoLed_Green = 1,
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eCoLed_Red = 2,
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} eCoLeds;
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/* Exported variables -----------------------------------------------------------*/
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/* Exported functions -----------------------------------------------------------*/
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void InitCanLeds(void);
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void CanLedsOn(eCoLeds led);
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void CanLedsOff(eCoLeds led);
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void CanLedsSet(eCoLeds led);
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/* Request CAN configuration or normal mode */
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//void CO_CANsetConfigurationMode(CAN_TypeDef *CANbaseAddress);
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//void CO_CANsetNormalMode(CAN_TypeDef *CANbaseAddress);
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/* Initialize CAN module object. */
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CO_ReturnError_t CO_CANmodule_init(
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CO_CANmodule_t *CANmodule,
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CAN_TypeDef *CANbaseAddress,
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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 CANbitRate);
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/* Switch off CANmodule. */
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void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
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/* Read CAN identifier */
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//uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg);
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/* Configure CAN message receive buffer. */
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CO_ReturnError_t CO_CANrxBufferInit(
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CO_CANmodule_t *CANmodule,
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uint16_t index,
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uint16_t ident,
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uint16_t mask,
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int8_t rtr,
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void *object,
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void (*pFunct)(void *object, CO_CANrxMsg_t *message));
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/* Configure CAN message transmit buffer. */
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CO_CANtx_t *CO_CANtxBufferInit(
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CO_CANmodule_t *CANmodule,
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uint16_t index,
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uint16_t ident,
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int8_t rtr,
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uint8_t noOfBytes,
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int8_t syncFlag);
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/* Send CAN message. */
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CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
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/* Clear all synchronous TPDOs from CAN module transmit buffers. */
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void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule);
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/* Verify all errors of CAN module. */
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void CO_CANverifyErrors(CO_CANmodule_t *CANmodule);
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/* CAN interrupts receives and transmits CAN messages. */
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void CO_CANinterrupt_Rx(CO_CANmodule_t *CANmodule);
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void CO_CANinterrupt_Tx(CO_CANmodule_t *CANmodule);
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void CO_CANinterrupt_Status(CO_CANmodule_t *CANmodule);
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#endif
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