257 lines
8.3 KiB
C
257 lines
8.3 KiB
C
/*
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* CAN module object for eCos RTOS CAN layer
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*
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* @file CO_driver.h
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* @author Uwe Kindler
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* @copyright 2013 Uwe Kindler
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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_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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//===========================================================================
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// INCLUDES
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//===========================================================================
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#include <cyg/infra/cyg_type.h>
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#include <cyg/io/canio.h>
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#include <cyg/io/io.h>
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#include <cyg/kernel/kapi.h>
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//===========================================================================
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// CONFIGURATION
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//===========================================================================
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#define CYGDBG_IO_CANOPEN_DEBUG 1 // define this if you want debug output via diagnostic channel
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//===========================================================================
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// DEFINES
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//===========================================================================
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#if (CYG_BYTEORDER == CYG_MSBFIRST)
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#define CO_BIG_ENDIAN 1
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#else
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#define CO_LITTLE_ENDIAN 1
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#endif
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//
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// Support debug output if this option is enabled in CDL file
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//
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#ifdef CYGDBG_IO_CANOPEN_DEBUG
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#define CO_DBG_PRINT diag_printf
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#else
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#define CO_DBG_PRINT( fmt, ... )
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#endif
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/* CAN module base address */
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// we don't really care about the addresses here because the eCos port
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// uses I/O handles for accessing its CAN devices
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#define ADDR_CAN1 0
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#define ADDR_CAN2 1
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/* Critical sections */
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// shared data is accessed only from thread level code (not from ISR or DSR)
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// so we simply do a scheduler lock here to prevent access from different
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// threads
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#define CO_LOCK_CAN_SEND() cyg_scheduler_lock()
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#define CO_UNLOCK_CAN_SEND() cyg_scheduler_unlock()
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#define CO_LOCK_EMCY() cyg_scheduler_lock()
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#define CO_UNLOCK_EMCY() cyg_scheduler_unlock()
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#define CO_LOCK_OD() cyg_scheduler_lock()
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#define CO_UNLOCK_OD() cyg_scheduler_unlock()
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/* Data types */
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typedef unsigned char bool_t;
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typedef cyg_uint8 uint8_t;
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typedef cyg_uint16 uint16_t;
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typedef cyg_uint32 uint32_t;
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typedef cyg_uint64 uint64_t;
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typedef cyg_int8 int8_t;
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typedef cyg_int16 int16_t;
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typedef cyg_int32 int32_t;
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typedef cyg_int64 int64_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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/* 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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typedef struct{
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uint32_t ID;
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uint8_t DLC; /* Length of CAN message */
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uint8_t RTR;
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uint8_t data[8]; /* 8 data bytes */
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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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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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uint16_t ID;
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uint8_t DLC;
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uint8_t RTR;
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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;
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/* CAN module object. */
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typedef struct{
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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 uint8_t *curentSyncTimeIsInsideWindow;
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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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void *driverPrivate;
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uint16_t rxBufferIndexArray[0x800]; ///< Array of pointers to rx buffers
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cyg_io_handle_t ioHandle;
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}CO_CANmodule_t;
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/* Request CAN configuration or normal mode */
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void CO_CANsetConfigurationMode(void *CANdriverState);
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void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
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/* Initialize CAN module object. */
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int16_t CO_CANmodule_init(
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CO_CANmodule_t *CANmodule,
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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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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(CO_CANrxMsg_t *rxMsg);
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/* Configure CAN message receive buffer. */
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int16_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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uint8_t rtr,
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void *object,
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void (*pFunct)(void *object, const 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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uint8_t rtr,
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uint8_t noOfBytes,
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uint8_t syncFlag);
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/* Send CAN message. */
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int16_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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#ifdef __cplusplus
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} //extern "C"
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#endif
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#endif
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