250 lines
9 KiB
C
250 lines
9 KiB
C
/*
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* CAN module object for ST STM32F334 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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* @author Petteri Mustonen
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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 <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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/* Includes ------------------------------------------------------------------*/
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#include <stdbool.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 "stm32f30x.h"
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#define bool_t bool
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#define CO_LITTLE_ENDIAN
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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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/* Critical sections */
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#define CO_LOCK_CAN_SEND() __set_PRIMASK(1);
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#define CO_UNLOCK_CAN_SEND() __set_PRIMASK(0);
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#define CO_LOCK_EMCY() __set_PRIMASK(1);
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#define CO_UNLOCK_EMCY() __set_PRIMASK(0);
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#define CO_LOCK_OD() __set_PRIMASK(1);
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#define CO_UNLOCK_OD() __set_PRIMASK(0);
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#define CLOCK_CAN RCC_APB1Periph_CAN1
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#define CAN_REMAP_1 /* Select CAN1 remap 1 */
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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_PinSource_CAN_RX GPIO_PinSource11
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#define GPIO_PinSource_CAN_TX GPIO_PinSource12
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#define GPIO_CAN_Remap_State DISABLE
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#endif
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#ifdef CAN_REMAP_1 /* CAN1 remap 1 */
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#define CLOCK_GPIO_CAN RCC_AHBPeriph_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_PinSource_CAN_RX GPIO_PinSource8
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#define GPIO_PinSource_CAN_TX GPIO_PinSource9
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#define GPIO_CAN_Remap_State ENABLE
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#endif
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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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#define CO_CAN_TXMAILBOX ((uint8_t)0x00)
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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, const CO_CANrxMsg_t *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 *CANdriverState; /* 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 bool CANnormal;
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volatile bool useCANrxFilters;
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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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/* Exported variables -----------------------------------------------------------*/
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/* Exported functions -----------------------------------------------------------*/
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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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CO_ReturnError_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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/* 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, 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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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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#endif
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