216 lines
6.7 KiB
C
216 lines
6.7 KiB
C
/*
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* CAN module object for NXP LPC177x (Cortex M3) and FreeRTOS.
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*
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* This file is a template for other microcontrollers.
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*
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* @file CO_driver.h
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* @author Janez Paternoster
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* @author Amit H
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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 <http://canopennode.sourceforge.net>.
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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 software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (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 Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser 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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#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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#include "FreeRTOS.h"
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#include "task.h"
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#include "board.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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/* CAN module base address */
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#define ADDR_CAN1 0
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#define ADDR_CAN2 1
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#define CAN_NODE_ID_0_PORT 1
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#define CAN_NODE_ID_0_PIN 23
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#define CAN_NODE_ID_1_PORT 1
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#define CAN_NODE_ID_1_PIN 24
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#define CAN_NODE_ID_2_PORT 1
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#define CAN_NODE_ID_2_PIN 25
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#define CAN_NODE_ID_3_PORT 1
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#define CAN_NODE_ID_3_PIN 26
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#define CAN_NODE_ID_4_PORT 1
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#define CAN_NODE_ID_4_PIN 28
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#define CAN_RUN_LED_PORT 1
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#define CAN_RUN_LED_PIN 20
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/* Critical sections */
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#define CO_LOCK_CAN_SEND() taskENTER_CRITICAL()
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#define CO_UNLOCK_CAN_SEND() taskEXIT_CRITICAL()
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#define CO_LOCK_EMCY() taskENTER_CRITICAL()
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#define CO_UNLOCK_EMCY() taskEXIT_CRITICAL()
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#define CO_LOCK_OD() taskENTER_CRITICAL()
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#define CO_UNLOCK_OD() taskEXIT_CRITICAL()
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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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/* 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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/** CAN identifier. It must be read through CO_CANrxMsg_readIdent() function. */
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uint32_t ident; /*!< Message Identifier. If 30th-bit is set, this is 29-bit ID, othewise 11-bit ID */
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uint32_t Type; /*!< Message Type. which can include: - CAN_REMOTE_MSG type*/
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uint32_t DLC; /*!< Message Data Length: 0~8 */
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uint8_t data[CAN_MSG_MAX_DATA_LEN];/*!< Message Data */
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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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uint32_t ident; /*!< Message Identifier. If 30th-bit is set, this is 29-bit ID, othewise 11-bit ID */
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uint32_t Type; /*!< Message Type. which can include: - CAN_REMOTE_MSG type*/
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uint32_t DLC; /*!< Message Data Length: 0~8 */
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uint8_t data[CAN_MSG_MAX_DATA_LEN];/*!< Message Data */
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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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uint16_t CANbaseAddress;
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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 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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/* Endianes */
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#define CO_LITTLE_ENDIAN
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/* Request CAN configuration or normal mode */
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void CO_CANsetConfigurationMode(uint16_t CANbaseAddress);
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void CO_CANsetNormalMode(uint16_t CANbaseAddress);
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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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uint16_t CANbaseAddress,
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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(const CO_CANrxMsg_t *rxMsg);
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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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bool_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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bool_t rtr,
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uint8_t noOfBytes,
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bool_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 interrupt receives and transmits CAN messages. */
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void CO_CANinterrupt(CO_CANmodule_t *CANmodule);
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#endif
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