130 lines
4.4 KiB
C
130 lines
4.4 KiB
C
/*
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* Device and application specific definitions for CANopenNode.
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*
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* @file CO_driver_target.h
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* @author Janez Paternoster
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* @copyright 2021 Janez Paternoster
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*
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* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software distributed under the License is
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* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and limitations under the License.
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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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/* This file contains device and application specific definitions. It is included from CO_driver.h, which contains
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* documentation for common definitions below. */
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#include <stddef.h>
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef CO_DRIVER_CUSTOM
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#include "CO_driver_custom.h"
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Stack configuration override default values. For more information see file CO_config.h. */
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/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
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#define CO_LITTLE_ENDIAN
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#define CO_SWAP_16(x) x
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#define CO_SWAP_32(x) x
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#define CO_SWAP_64(x) x
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/* NULL is defined in stddef.h */
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/* true and false are defined in stdbool.h */
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/* int8_t to uint64_t are defined in stdint.h */
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typedef uint_fast8_t bool_t;
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typedef float float32_t;
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typedef double float64_t;
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/* Access to received CAN message */
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#define CO_CANrxMsg_readIdent(msg) ((uint16_t)0)
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#define CO_CANrxMsg_readDLC(msg) ((uint8_t)0)
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#define CO_CANrxMsg_readData(msg) ((const uint8_t*)NULL)
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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 (*CANrx_callback)(void* object, void* 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;
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uint8_t DLC;
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uint8_t data[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* CANptr;
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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 CANerrorStatus;
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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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} CO_CANmodule_t;
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/* Data storage object for one entry */
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typedef struct {
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void* addr;
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size_t len;
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uint8_t subIndexOD;
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uint8_t attr;
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/* Additional variables (target specific) */
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void* addrNV;
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} CO_storage_entry_t;
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/* (un)lock critical section in CO_CANsend() */
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#define CO_LOCK_CAN_SEND(CAN_MODULE)
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#define CO_UNLOCK_CAN_SEND(CAN_MODULE)
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/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
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#define CO_LOCK_EMCY(CAN_MODULE)
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#define CO_UNLOCK_EMCY(CAN_MODULE)
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/* (un)lock critical section when accessing Object Dictionary */
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#define CO_LOCK_OD(CAN_MODULE)
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#define CO_UNLOCK_OD(CAN_MODULE)
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/* Synchronization between CAN receive and message processing threads. */
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#define CO_MemoryBarrier()
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#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
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#define CO_FLAG_SET(rxNew) \
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{ \
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CO_MemoryBarrier(); \
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rxNew = (void*)1L; \
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}
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#define CO_FLAG_CLEAR(rxNew) \
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{ \
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CO_MemoryBarrier(); \
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rxNew = NULL; \
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}
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* CO_DRIVER_TARGET_H */
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