307 lines
10 KiB
C
307 lines
10 KiB
C
/*
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* Linux socketCAN 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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* @author Martin Wagner
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* @copyright 2004 - 2020 Janez Paternoster
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* @copyright 2018 - 2020 Neuberger Gebaeudeautomation GmbH
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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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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* 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
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* distributed under the License is distributed on an "AS IS" BASIS,
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* 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
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* limitations under the License.
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*/
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#ifndef CO_DRIVER_TARGET
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#define CO_DRIVER_TARGET
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/* This file contains device and application specific definitions.
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* It is included from CO_driver.h, which contains documentation
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* for definitions below. */
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/*
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* @name multi interface support
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*
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* Enable this to use interface combining at driver level. This
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* adds functions to broadcast/selective transmit messages on the
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* given interfaces as well as combining all received message into
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* one queue.
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*
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* If CO_DRIVER_MULTI_INTERFACE is disabled, then CO_CANmodule_init()
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* adds single socketCAN interface specified by CANptr argument. In case of
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* failure, CO_CANmodule_init() returns CO_ERROR_SYSCALL.
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*
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* If CO_DRIVER_MULTI_INTERFACE is enabled, then CO_CANmodule_init()
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* ignores CANptr argument. Interfaces must be added by
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* CO_CANmodule_addInterface() function after CO_CANmodule_init().
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*
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* This is not intended to realize interface redundancy!!!
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*/
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/* #define CO_DRIVER_MULTI_INTERFACE */
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/*
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* @name CAN bus error reporting
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*
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* CO_DRIVER_ERROR_REPORTING enabled adds support for socketCAN error detection
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* and handling functions inside the driver. This is needed when you have
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* CANopen with "0" connected nodes as a use case, as this is normally
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* forbidden in CAN.
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*
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* you need to enable error reporting in your kernel driver using
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* "ip link set canX type can berr-reporting on". Of course, the kernel
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* driver for your hardware needs this functionality to be implemented...
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*/
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#ifndef CO_DRIVER_ERROR_REPORTING_DISABLE
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#define CO_DRIVER_ERROR_REPORTING
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#endif
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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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#include <sys/time.h>
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#include <endian.h>
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#include <pthread.h>
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#include <linux/can.h>
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#include <net/if.h>
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#include "CO_notify_pipe.h"
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#ifdef CO_DRIVER_ERROR_REPORTING
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#include "CO_error.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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/* Basic definitions */
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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
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#endif
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/* #define CO_USE_LEDS */
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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 unsigned char bool_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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/* CAN receive message structure as aligned in socketCAN. */
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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 padding[3];
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uint8_t data[8];
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} CO_CANrxMsg_t;
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/* Access to received CAN message */
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static inline uint16_t CO_CANrxMsg_readIdent(void *rxMsg) {
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CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
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return (uint16_t) (rxMsgCasted->ident & CAN_SFF_MASK);
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}
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static inline uint8_t CO_CANrxMsg_readDLC(void *rxMsg) {
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CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
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return (uint8_t) (rxMsgCasted->DLC);
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}
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static inline uint8_t *CO_CANrxMsg_readData(void *rxMsg) {
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CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
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return (uint8_t *) (rxMsgCasted->data);
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}
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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 (*CANrx_callback)(void *object, void *message);
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#ifdef CO_DRIVER_MULTI_INTERFACE
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/* info about last received message */
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int32_t CANbaseAddress; /* CAN Interface identifier */
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struct timespec timestamp; /* time of reception */
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#endif
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} CO_CANrx_t;
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/* Transmit message object as aligned in socketCAN. */
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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 padding[3]; /* ensure alignment */
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uint8_t data[8];
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volatile bool_t bufferFull; /* not used */
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volatile bool_t syncFlag;
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/* info about transmit message */
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int32_t CANbaseAddress; /* CAN Interface identifier to use */
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} CO_CANtx_t;
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/* Max COB ID for standard frame format */
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#define CO_CAN_MSG_SFF_MAX_COB_ID (1 << CAN_SFF_ID_BITS)
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/* socketCAN interface object */
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typedef struct {
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int32_t CANbaseAddress; /* CAN Interface identifier */
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char ifName[IFNAMSIZ]; /* CAN Interface name */
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int fd; /* socketCAN file descriptor */
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#ifdef CO_DRIVER_ERROR_REPORTING
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CO_CANinterfaceErrorhandler_t errorhandler;
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#endif
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} CO_CANinterface_t;
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/* CAN module object */
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typedef struct {
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/* List of can interfaces. From CO_CANmodule_init() or one per
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* CO_CANmodule_addInterface() call */
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CO_CANinterface_t *CANinterfaces;
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uint32_t CANinterfaceCount; /* interface count */
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CO_CANrx_t *rxArray;
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uint16_t rxSize;
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struct can_filter *rxFilter;/* socketCAN filter list, one per rx buffer */
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uint32_t rxDropCount; /* messages dropped on rx socket queue */
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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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void *em;
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CO_NotifyPipe_t *pipe; /* Notification Pipe */
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int fdEpoll; /* epoll FD */
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int fdTimerRead; /* timer handle from CANrxWait() */
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#ifdef CO_DRIVER_MULTI_INTERFACE
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/* Lookup tables Cob ID to rx/tx array index.
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* Only feasible for SFF Messages. */
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uint32_t rxIdentToIndex[CO_CAN_MSG_SFF_MAX_COB_ID];
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uint32_t txIdentToIndex[CO_CAN_MSG_SFF_MAX_COB_ID];
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#endif
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} CO_CANmodule_t;
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/* (un)lock critical section in CO_CANsend() - unused */
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#define CO_LOCK_CAN_SEND()
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#define CO_UNLOCK_CAN_SEND()
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/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
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extern pthread_mutex_t CO_EMCY_mutex;
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static inline int CO_LOCK_EMCY() {
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return pthread_mutex_lock(&CO_EMCY_mutex);
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}
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static inline void CO_UNLOCK_EMCY() {
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(void)pthread_mutex_unlock(&CO_EMCY_mutex);
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}
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/* (un)lock critical section when accessing Object Dictionary */
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extern pthread_mutex_t CO_OD_mutex;
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static inline int CO_LOCK_OD() {
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return pthread_mutex_lock(&CO_OD_mutex);
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}
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static inline void CO_UNLOCK_OD() {
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(void)pthread_mutex_unlock(&CO_OD_mutex);
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}
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/* Synchronization between CAN receive and message processing threads. */
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#define CO_MemoryBarrier() {__sync_synchronize();}
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#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
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#define CO_FLAG_SET(rxNew) {CO_MemoryBarrier(); rxNew = (void*)1L;}
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#define CO_FLAG_CLEAR(rxNew) {CO_MemoryBarrier(); rxNew = NULL;}
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#ifdef CO_DRIVER_MULTI_INTERFACE
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/*
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* Add socketCAN interface to can driver
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*
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* Function must be called after CO_CANmodule_init.
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*
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* @param CANmodule This object will be initialized.
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* @param CANbaseAddress CAN module base address.
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
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* CO_ERROR_SYSCALL or CO_ERROR_INVALID_STATE.
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*/
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CO_ReturnError_t CO_CANmodule_addInterface(CO_CANmodule_t *CANmodule,
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int32_t CANbaseAddress);
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/*
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* Check on which interface the last message for one message buffer was received
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*
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* It is in the responsibility of the user to check that this information is
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* useful as some messages can be received at any time on any bus.
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*
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* @param CANmodule This object.
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* @param ident 11-bit standard CAN Identifier.
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* @param [out] CANbaseAddressRx message was received on this interface
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* @param [out] timestamp message was received at this time (system clock)
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*
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* @retval false message has never been received, therefore no base address
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* and timestamp are available
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* @retval true base address and timestamp are valid
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*/
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bool_t CO_CANrxBuffer_getInterface(CO_CANmodule_t *CANmodule,
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uint32_t ident,
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int32_t *CANbaseAddressRx,
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struct timespec *timestamp);
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/*
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* Set which interface should be used for message buffer transmission
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*
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* It is in the responsibility of the user to ensure that the correct interface
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* is used. Some messages need to be transmitted on all interfaces.
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*
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* If given interface is unknown or "-1" is used, a message is transmitted on
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* all available interfaces.
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*
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* @param CANmodule This object.
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* @param ident 11-bit standard CAN Identifier.
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* @param CANbaseAddressTx use this interface. -1 = not specified
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
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*/
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CO_ReturnError_t CO_CANtxBuffer_setInterface(CO_CANmodule_t *CANmodule,
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uint32_t ident,
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int32_t CANbaseAddressTx);
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#endif
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/*
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* Functions receives CAN messages. It is blocking.
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*
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* This function can be used in two ways
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* - automatic mode (call callback that is set by CO_CANrxBufferInit() function)
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* - manual mode (evaluate message filters, return received message)
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*
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* Both modes can be combined.
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*
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* @param CANmodule This object.
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* @param fdTimer file descriptor with activated timeout. fd is not read after
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* expiring! -1 if not used.
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* @param buffer [out] storage for received message or _NULL_
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* @retval >= 0 index of received message in array set by #CO_CANmodule_init()
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* _rxArray_, copy available in _buffer_
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* @retval -1 no message received
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*/
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int32_t CO_CANrxWait(CO_CANmodule_t *CANmodule,
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int fdTimer,
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CO_CANrxMsg_t *buffer);
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* CO_DRIVER_TARGET */
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