07c61316b3
Created a single header file (`CO_driver.h`) to declare the functions of the drivers API. This forces drivers to use a common API. Previously, each driver declared these functions in its specific `CO_driver.h` file. This causes two issues: 1. while these functions are used in target-independent code, the declarations could be target specific, leading to API/ABI compatibility issues. 2. the declarations were duplicated for each driver. The `CO_driver.h` files for each driver were renamed to `CO_driver_target.h`. This file is included from `CO_driver.h`. Added a new header for types: `CO_types.h`. This file currently holds the definition of `CO_ReturnError_t` that was previously duplicated for all drivers. Added a few enum values to support the `neuberger-socketCAN` code.
363 lines
15 KiB
C
363 lines
15 KiB
C
/*
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* CAN module object for Freescale MCF5282 ColdFire V2 microcontroller.
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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 Laurent Grosbois
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* @copyright 2004 - 2014 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_TARGET_H
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#define CO_DRIVER_TARGET_H
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#include "mcf5282.h" /* processor header file */
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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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/* Endianness */
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#define CO_LITTLE_ENDIAN
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/* CAN module base address */
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#define ADDR_CAN1 0
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#define ADDR_CAN2 (_CAN2_BASE_ADDRESS - _CAN1_BASE_ADDRESS)
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/* Critical sections */
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#define CO_LOCK_CAN_SEND() asm{ move.w #0x2700,sr};
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#define CO_UNLOCK_CAN_SEND() asm{ move.w #0x2000,sr};
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#define CO_LOCK_EMCY() asm{ move.w #0x2700,sr};
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#define CO_UNLOCK_EMCY() asm{ move.w #0x2000,sr};
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#define CO_LOCK_OD() asm{ move.w #0x2700,sr};
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#define CO_UNLOCK_OD() asm{ move.w #0x2000,sr};
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/* MACRO : get information from Rx buffer */
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#define MCF_CANMB_MSG(x) (*(CO_CANrxMsg_t *)(&__IPSBAR[0x1C0080 + ((x)*0x10)]))
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/* Data types */
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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 bit rates
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*
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* CAN bit rates are initializers for array of eight CO_CANbitRateData_t
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* objects.
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*
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* Macros are not used by driver itself, they may be used by application with
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* combination with object CO_CANbitRateData_t.
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* Application must declare following global variable depending on CO_FSYS used:
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* const CO_CANbitRateData_t CO_CANbitRateData[8] = {CO_CANbitRateDataInitializers};
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*
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* There are initializers for eight objects, which corresponds to following
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* CAN bit rates (in kbps): 10, 20, 50, 125, 250, 500, 800, 1000.
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*
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* CO_FSYS is internal instruction cycle clock frequency in kHz units. See
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* PIC32MX documentation for more information on FSYS.
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*
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* Available values for FSYS:
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* kbps = | 10 | 20 | 50 | 125 | 250 | 500 | 800 | 1000
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* -------+----+----+----+-----+-----+-----+-----+-----
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* 4 Mhz | O | O | O | O | p | - | - | -
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* 8 Mhz | O | O | O | O | O | p | - | -
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* 12 Mhz | O | O | O | O | p | p | - | -
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* 16 Mhz | O | O | O | O | O | O | p | p
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* 20 Mhz | O | O | O | O | O | O | - | p
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* 24 Mhz | O | O | O | O | O | p | O | p
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* 32 Mhz | p | O | O | O | O | O | p | O
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* 36 Mhz | - | O | O | O | O | O | - | O
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* 40 Mhz | - | O | O | O | O | O | p | O
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* 48 Mhz | - | O | O | O | O | O | O | p
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* 56 Mhz | - | p | O | O | O | p | (p) | p
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* 64 Mhz | - | p | O | O | O | O | O | O
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* 72 Mhz | - | - | O | O | O | O | O | O
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* 80 Mhz | - | - | O | O | O | O | p | O
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* ----------------------------------------------------
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* (O=optimal; p=possible; -=not possible)
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*/
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#ifdef CO_FSYS
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/* Macros, which divides K into (SJW + PROP + PhSeg1 + PhSeg2) */
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#define TQ_x_7 1, 2, 3, 1
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#define TQ_x_8 1, 2, 3, 2
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#define TQ_x_9 1, 2, 4, 2
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#define TQ_x_10 1, 3, 4, 2
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#define TQ_x_12 1, 3, 6, 2
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#define TQ_x_14 1, 4, 7, 2
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#define TQ_x_15 1, 4, 8, 2 /* good timing */
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#define TQ_x_16 1, 5, 8, 2 /* good timing */
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#define TQ_x_17 1, 6, 8, 2 /* good timing */
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#define TQ_x_18 1, 7, 8, 2 /* good timing */
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#define TQ_x_19 1, 8, 8, 2 /* good timing */
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#define TQ_x_20 1, 8, 8, 3 /* good timing */
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#define TQ_x_21 1, 8, 8, 4
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#define TQ_x_22 1, 8, 8, 5
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#define TQ_x_23 1, 8, 8, 6
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#define TQ_x_24 1, 8, 8, 7
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#define TQ_x_25 1, 8, 8, 8
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#if CO_FSYS == 4000
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#define CO_CANbitRateDataInitializers \
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{10, TQ_x_20}, /*CAN=10kbps*/ \
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{5, TQ_x_20}, /*CAN=20kbps*/ \
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{2, TQ_x_20}, /*CAN=50kbps*/ \
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{1, TQ_x_16}, /*CAN=125kbps*/ \
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{1, TQ_x_8 }, /*CAN=250kbps*/ \
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{1, TQ_x_8 }, /*Not possible*/ \
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{1, TQ_x_8 }, /*Not possible*/ \
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{1, TQ_x_8 } /*Not possible*/
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#elif CO_FSYS == 8000
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#define CO_CANbitRateDataInitializers \
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{25, TQ_x_16}, /*CAN=10kbps*/ \
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{10, TQ_x_20}, /*CAN=20kbps*/ \
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{5, TQ_x_16}, /*CAN=50kbps*/ \
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{2, TQ_x_16}, /*CAN=125kbps*/ \
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{1, TQ_x_16}, /*CAN=250kbps*/ \
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{1, TQ_x_8 }, /*CAN=500kbps*/ \
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{1, TQ_x_8 }, /*Not possible*/ \
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{1, TQ_x_8 } /*Not possible*/
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#elif CO_FSYS == 12000
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#define CO_CANbitRateDataInitializers \
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{40, TQ_x_15}, /*CAN=10kbps*/ \
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{20, TQ_x_15}, /*CAN=20kbps*/ \
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{8, TQ_x_15}, /*CAN=50kbps*/ \
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{3, TQ_x_16}, /*CAN=125kbps*/ \
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{2, TQ_x_12}, /*CAN=250kbps*/ \
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{1, TQ_x_12}, /*CAN=500kbps*/ \
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{1, TQ_x_12}, /*Not possible*/ \
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{1, TQ_x_12} /*Not possible*/
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#elif CO_FSYS == 16000
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#define CO_CANbitRateDataInitializers \
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{50, TQ_x_16}, /*CAN=10kbps*/ \
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{25, TQ_x_16}, /*CAN=20kbps*/ \
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{10, TQ_x_16}, /*CAN=50kbps*/ \
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{4, TQ_x_16}, /*CAN=125kbps*/ \
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{2, TQ_x_16}, /*CAN=250kbps*/ \
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{1, TQ_x_16}, /*CAN=500kbps*/ \
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{1, TQ_x_10}, /*CAN=800kbps*/ \
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{1, TQ_x_8 } /*CAN=1000kbps*/
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#elif CO_FSYS == 20000
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#define CO_CANbitRateDataInitializers \
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{50, TQ_x_20}, /*CAN=10kbps*/ \
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{25, TQ_x_20}, /*CAN=20kbps*/ \
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{10, TQ_x_20}, /*CAN=50kbps*/ \
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{5, TQ_x_16}, /*CAN=125kbps*/ \
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{2, TQ_x_20}, /*CAN=250kbps*/ \
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{1, TQ_x_20}, /*CAN=500kbps*/ \
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{1, TQ_x_20}, /*Not possible*/ \
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{1, TQ_x_10} /*CAN=1000kbps*/
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#elif CO_FSYS == 24000
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#define CO_CANbitRateDataInitializers \
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{63, TQ_x_19}, /*CAN=10kbps*/ \
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{40, TQ_x_15}, /*CAN=20kbps*/ \
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{15, TQ_x_16}, /*CAN=50kbps*/ \
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{6, TQ_x_16}, /*CAN=125kbps*/ \
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{3, TQ_x_16}, /*CAN=250kbps*/ \
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{2, TQ_x_12}, /*CAN=500kbps*/ \
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{1, TQ_x_15}, /*CAN=800kbps*/ \
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{1, TQ_x_12} /*CAN=1000kbps*/
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#elif CO_FSYS == 32000
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#define CO_CANbitRateDataInitializers \
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{64, TQ_x_25}, /*CAN=10kbps*/ \
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{50, TQ_x_16}, /*CAN=20kbps*/ \
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{20, TQ_x_16}, /*CAN=50kbps*/ \
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{8, TQ_x_16}, /*CAN=125kbps*/ \
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{4, TQ_x_16}, /*CAN=250kbps*/ \
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{2, TQ_x_16}, /*CAN=500kbps*/ \
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{2, TQ_x_10}, /*CAN=800kbps*/ \
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{1, TQ_x_16} /*CAN=1000kbps*/
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#elif CO_FSYS == 36000
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#define CO_CANbitRateDataInitializers \
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{50, TQ_x_18}, /*CAN=10kbps*/ \
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{50, TQ_x_18}, /*CAN=20kbps*/ \
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{20, TQ_x_18}, /*CAN=50kbps*/ \
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{8, TQ_x_18}, /*CAN=125kbps*/ \
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{4, TQ_x_18}, /*CAN=250kbps*/ \
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{2, TQ_x_18}, /*CAN=500kbps*/ \
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{2, TQ_x_18}, /*Not possible*/ \
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{1, TQ_x_18} /*CAN=1000kbps*/
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#elif CO_FSYS == 40000
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#define CO_CANbitRateDataInitializers \
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{50, TQ_x_20}, /*Not possible*/ \
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{50, TQ_x_20}, /*CAN=20kbps*/ \
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{25, TQ_x_16}, /*CAN=50kbps*/ \
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{10, TQ_x_16}, /*CAN=125kbps*/ \
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{5, TQ_x_16}, /*CAN=250kbps*/ \
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{2, TQ_x_20}, /*CAN=500kbps*/ \
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{1, TQ_x_25}, /*CAN=800kbps*/ \
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{1, TQ_x_20} /*CAN=1000kbps*/
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#elif CO_FSYS == 48000
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#define CO_CANbitRateDataInitializers \
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{63, TQ_x_19}, /*Not possible*/ \
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{63, TQ_x_19}, /*CAN=20kbps*/ \
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{30, TQ_x_16}, /*CAN=50kbps*/ \
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{12, TQ_x_16}, /*CAN=125kbps*/ \
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{6, TQ_x_16}, /*CAN=250kbps*/ \
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{3, TQ_x_16}, /*CAN=500kbps*/ \
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{2, TQ_x_15}, /*CAN=800kbps*/ \
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{2, TQ_x_12} /*CAN=1000kbps*/
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#elif CO_FSYS == 56000
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#define CO_CANbitRateDataInitializers \
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{61, TQ_x_23}, /*Not possible*/ \
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{61, TQ_x_23}, /*CAN=20kbps*/ \
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{35, TQ_x_16}, /*CAN=50kbps*/ \
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{14, TQ_x_16}, /*CAN=125kbps*/ \
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{7, TQ_x_16}, /*CAN=250kbps*/ \
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{4, TQ_x_14}, /*CAN=500kbps*/ \
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{5, TQ_x_7 }, /*CAN=800kbps*/ \
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{2, TQ_x_14} /*CAN=1000kbps*/
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#elif CO_FSYS == 64000
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#define CO_CANbitRateDataInitializers \
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{64, TQ_x_25}, /*Not possible*/ \
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{64, TQ_x_25}, /*CAN=20kbps*/ \
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{40, TQ_x_16}, /*CAN=50kbps*/ \
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{16, TQ_x_16}, /*CAN=125kbps*/ \
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{8, TQ_x_16}, /*CAN=250kbps*/ \
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{4, TQ_x_16}, /*CAN=500kbps*/ \
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{2, TQ_x_20}, /*CAN=800kbps*/ \
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{2, TQ_x_16} /*CAN=1000kbps*/
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#elif CO_FSYS == 72000
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#define CO_CANbitRateDataInitializers \
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{40, TQ_x_18}, /*Not possible*/ \
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{40, TQ_x_18}, /*Not possible*/ \
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{40, TQ_x_18}, /*CAN=50kbps*/ \
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{16, TQ_x_18}, /*CAN=125kbps*/ \
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{8, TQ_x_18}, /*CAN=250kbps*/ \
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{4, TQ_x_18}, /*CAN=500kbps*/ \
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{3, TQ_x_15}, /*CAN=800kbps*/ \
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{2, TQ_x_18} /*CAN=1000kbps*/
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#elif CO_FSYS == 80000
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#define CO_CANbitRateDataInitializers \
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{40, TQ_x_20}, /*Not possible*/ \
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{40, TQ_x_20}, /*Not possible*/ \
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{40, TQ_x_20}, /*CAN=50kbps*/ \
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{16, TQ_x_20}, /*CAN=125kbps*/ \
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{8, TQ_x_20}, /*CAN=250kbps*/ \
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{4, TQ_x_20}, /*CAN=500kbps*/ \
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{2, TQ_x_25}, /*CAN=800kbps*/ \
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{2, TQ_x_20} /*CAN=1000kbps*/
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#else
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#error define_CO_FSYS CO_FSYS not supported
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#endif
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#endif
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/* Structure contains timing coefficients for CAN module.
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*
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* CAN baud rate is calculated from following equations:
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* Fsys - System clock (MAX 80MHz for PIC32MX)
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* TQ = 2 * BRP / Fsys - Time Quanta
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* BaudRate = 1 / (TQ * K) - Can bus Baud Rate
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* K = SJW + PROP + PhSeg1 + PhSeg2 - Number of Time Quantas
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*/
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typedef struct{
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uint8_t BRP; /* (1...64) Baud Rate Prescaler */
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uint8_t SJW; /* (1...4) SJW time */
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uint8_t PROP; /* (1...8) PROP time */
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uint8_t phSeg1; /* (1...8) Phase Segment 1 time */
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uint8_t phSeg2; /* (1...8) Phase Segment 2 time */
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}CO_CANbitRateData_t;
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/* CAN receive message structure as aligned in CAN module. */
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typedef struct{
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unsigned timestamp :8; /* 8 bits timestamp, see MCF5282 documentation */
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unsigned code :4; /* Message Buffer code. see MCF52825 documentation */
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unsigned DLC :4; /* Data length code */
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unsigned sid :11;/* Standard Identifier - 11bits */
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unsigned RTR :1; /* Remote Transmission Request bit */
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unsigned :4;
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unsigned timestamp16 :16;/* See MCF5282 documentation */
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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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uint16_t mask;
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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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uint8_t DLC;
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uint16_t ident;
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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 *CANdriverState;
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CO_CANrxMsg_t *CANmsgBuff;
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uint8_t CANmsgBuffSize;
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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 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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void *em;
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}CO_CANmodule_t;
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/* CAN interrupt receives and transmits CAN messages. */
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void CO_CANinterrupt(CO_CANmodule_t *CANmodule, uint16_t ICODE);
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#endif /* CO_DRIVER_TARGET_H */
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