103 lines
3.2 KiB
C
103 lines
3.2 KiB
C
/**
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* Helper functions for implementing CANopen threads in Linux.
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*
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* @file CO_Linux_threads.h
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* @ingroup CO_driver
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* @author Janez Paternoster, Martin Wagner
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* @copyright 2004 - 2015 Janez Paternoster, 2018 - 2020 Neuberger Gebaeudeautomation GmbH
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*
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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_LINUX_TASKS_H
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#define CO_LINUX_TASKS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* This driver is loosely based upon the CO socketCAN driver
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* The "threads" inside this driver do not fork threads themselve, but require
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* that two threads are provided by the calling application.
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*
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* Like the CO socketCAN driver implementation, this driver uses the global CO
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* object and has one thread-local struct for variables. */
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/**
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* Initialize mainline thread.
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*
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* threadMain is non-realtime thread for CANopenNode processing. It is nonblocking
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* and should be called cyclically in 50 ms intervals or less if necessary. This
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* is indicated by the callback function.
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* This thread processes CO_process() function from CANopen.c file.
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*
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* @param callback this function is called to indicate #threadMain_process() has
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* work to do
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* @param object this pointer is given to _callback()_
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*/
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extern void threadMain_init(void (*callback)(void*), void *object);
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/**
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* Cleanup mainline thread.
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*/
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extern void threadMain_close(void);
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/**
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* Process mainline thread.
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*
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* Function must be called cyclically and after callback
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*
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* @param reset return value from CO_process() function.
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*/
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extern void threadMain_process(CO_NMT_reset_cmd_t *reset);
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/**
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* Initialize realtime thread.
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*
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* CANrx_threadTmr is realtime thread for CANopenNode processing. It is nonblocking
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* and must be executed at CAN message receive or periodically in 1ms (or something)
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* intervals. Inside interval is processed CANopen SYNC message, RPDOs(inputs)
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* and TPDOs(outputs).
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* CANrx_threadTmr uses CAN socket from CO_driver.c
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*
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* @remark If realtime is required, this thread must be registred as such in the Linux
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* kernel.
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*
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* @param interval Interval of periodic timer in ms, recommended value for
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* realtime response: 1ms
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*/
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extern void CANrx_threadTmr_init(uint16_t interval);
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/**
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* Terminate realtime thread.
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*/
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extern void CANrx_threadTmr_close(void);
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/**
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* Process realtime thread.
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*
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* This function must be called inside an infinite loop. It blocks until either
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* some event happens or a timer runs out.
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*/
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extern void CANrx_threadTmr_process();
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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#endif
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