353 lines
12 KiB
C
353 lines
12 KiB
C
/*
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* CAN module object for generic microcontroller.
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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.c
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* @ingroup CO_driver
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* @author Janez Paternoster
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* @copyright 2004 - 2020 Janez Paternoster
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*
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* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. 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 distributed under the License is
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* distributed on an "AS IS" BASIS, 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 limitations under the License.
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*/
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#include "301/CO_driver.h"
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void
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CO_CANsetConfigurationMode(void* CANptr) {
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/* Put CAN module in configuration mode */
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}
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void
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CO_CANsetNormalMode(CO_CANmodule_t* CANmodule) {
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/* Put CAN module in normal mode */
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CANmodule->CANnormal = true;
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}
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CO_ReturnError_t
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CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[],
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uint16_t txSize, uint16_t CANbitRate) {
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uint16_t i;
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/* verify arguments */
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if (CANmodule == NULL || rxArray == NULL || txArray == NULL) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* Configure object variables */
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CANmodule->CANptr = CANptr;
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CANmodule->rxArray = rxArray;
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CANmodule->rxSize = rxSize;
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CANmodule->txArray = txArray;
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CANmodule->txSize = txSize;
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CANmodule->CANerrorStatus = 0;
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CANmodule->CANnormal = false;
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CANmodule->useCANrxFilters = (rxSize <= 32U) ? true : false; /* microcontroller dependent */
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CANmodule->bufferInhibitFlag = false;
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CANmodule->firstCANtxMessage = true;
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CANmodule->CANtxCount = 0U;
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CANmodule->errOld = 0U;
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for (i = 0U; i < rxSize; i++) {
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rxArray[i].ident = 0U;
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rxArray[i].mask = 0xFFFFU;
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rxArray[i].object = NULL;
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rxArray[i].CANrx_callback = NULL;
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}
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for (i = 0U; i < txSize; i++) {
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txArray[i].bufferFull = false;
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}
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/* Configure CAN module registers */
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/* Configure CAN timing */
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/* Configure CAN module hardware filters */
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if (CANmodule->useCANrxFilters) {
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/* CAN module filters are used, they will be configured with */
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/* CO_CANrxBufferInit() functions, called by separate CANopen */
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/* init functions. */
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/* Configure all masks so, that received message must match filter */
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} else {
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/* CAN module filters are not used, all messages with standard 11-bit */
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/* identifier will be received */
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/* Configure mask 0 so, that all messages with standard identifier are accepted */
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}
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/* configure CAN interrupt registers */
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return CO_ERROR_NO;
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}
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void
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CO_CANmodule_disable(CO_CANmodule_t* CANmodule) {
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if (CANmodule != NULL) {
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/* turn off the module */
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}
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}
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CO_ReturnError_t
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CO_CANrxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, uint16_t mask, bool_t rtr, void* object,
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void (*CANrx_callback)(void* object, void* message)) {
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CO_ReturnError_t ret = CO_ERROR_NO;
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if ((CANmodule != NULL) && (object != NULL) && (CANrx_callback != NULL) && (index < CANmodule->rxSize)) {
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/* buffer, which will be configured */
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CO_CANrx_t* buffer = &CANmodule->rxArray[index];
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/* Configure object variables */
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buffer->object = object;
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buffer->CANrx_callback = CANrx_callback;
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/* CAN identifier and CAN mask, bit aligned with CAN module. Different on different microcontrollers. */
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buffer->ident = ident & 0x07FFU;
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if (rtr) {
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buffer->ident |= 0x0800U;
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}
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buffer->mask = (mask & 0x07FFU) | 0x0800U;
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/* Set CAN hardware module filter and mask. */
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if (CANmodule->useCANrxFilters) {}
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} else {
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ret = CO_ERROR_ILLEGAL_ARGUMENT;
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}
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return ret;
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}
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CO_CANtx_t*
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CO_CANtxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, bool_t rtr, uint8_t noOfBytes,
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bool_t syncFlag) {
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CO_CANtx_t* buffer = NULL;
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if ((CANmodule != NULL) && (index < CANmodule->txSize)) {
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/* get specific buffer */
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buffer = &CANmodule->txArray[index];
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/* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer, microcontroller specific. */
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buffer->ident = ((uint32_t)ident & 0x07FFU) | ((uint32_t)(((uint32_t)noOfBytes & 0xFU) << 11U))
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| ((uint32_t)(rtr ? 0x8000U : 0U));
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buffer->bufferFull = false;
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buffer->syncFlag = syncFlag;
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}
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return buffer;
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}
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CO_ReturnError_t
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CO_CANsend(CO_CANmodule_t* CANmodule, CO_CANtx_t* buffer) {
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CO_ReturnError_t err = CO_ERROR_NO;
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/* Verify overflow */
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if (buffer->bufferFull) {
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if (!CANmodule->firstCANtxMessage) {
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/* don't set error, if bootup message is still on buffers */
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CANmodule->CANerrorStatus |= CO_CAN_ERRTX_OVERFLOW;
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}
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err = CO_ERROR_TX_OVERFLOW;
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}
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CO_LOCK_CAN_SEND(CANmodule);
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/* if CAN TX buffer is free, copy message to it */
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if (1 && CANmodule->CANtxCount == 0) {
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CANmodule->bufferInhibitFlag = buffer->syncFlag;
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/* copy message and txRequest */
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}
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/* if no buffer is free, message will be sent by interrupt */
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else {
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/* Only increment count if buffer wasn't already full */
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if (!buffer->bufferFull) {
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buffer->bufferFull = true;
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CANmodule->CANtxCount++;
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}
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}
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CO_UNLOCK_CAN_SEND(CANmodule);
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return err;
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}
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void
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CO_CANclearPendingSyncPDOs(CO_CANmodule_t* CANmodule) {
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uint32_t tpdoDeleted = 0U;
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CO_LOCK_CAN_SEND(CANmodule);
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/* Abort message from CAN module, if there is synchronous TPDO.
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* Take special care with this functionality. */
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if (/* messageIsOnCanBuffer && */ CANmodule->bufferInhibitFlag) {
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/* clear TXREQ */
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CANmodule->bufferInhibitFlag = false;
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tpdoDeleted = 1U;
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}
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/* delete also pending synchronous TPDOs in TX buffers */
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if (CANmodule->CANtxCount != 0U) {
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uint16_t i;
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CO_CANtx_t* buffer = &CANmodule->txArray[0];
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for (i = CANmodule->txSize; i > 0U; i--) {
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if (buffer->bufferFull) {
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if (buffer->syncFlag) {
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buffer->bufferFull = false;
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CANmodule->CANtxCount--;
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tpdoDeleted = 2U;
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}
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}
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buffer++;
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}
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}
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CO_UNLOCK_CAN_SEND(CANmodule);
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if (tpdoDeleted != 0U) {
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CANmodule->CANerrorStatus |= CO_CAN_ERRTX_PDO_LATE;
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}
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}
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/* Get error counters from the module. If necessary, function may use different way to determine errors. */
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static uint16_t rxErrors = 0, txErrors = 0, overflow = 0;
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void
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CO_CANmodule_process(CO_CANmodule_t* CANmodule) {
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uint32_t err;
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err = ((uint32_t)txErrors << 16) | ((uint32_t)rxErrors << 8) | overflow;
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if (CANmodule->errOld != err) {
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uint16_t status = CANmodule->CANerrorStatus;
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CANmodule->errOld = err;
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if (txErrors >= 256U) {
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/* bus off */
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status |= CO_CAN_ERRTX_BUS_OFF;
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} else {
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/* recalculate CANerrorStatus, first clear some flags */
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status &= 0xFFFF
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^ (CO_CAN_ERRTX_BUS_OFF | CO_CAN_ERRRX_WARNING | CO_CAN_ERRRX_PASSIVE | CO_CAN_ERRTX_WARNING
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| CO_CAN_ERRTX_PASSIVE);
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/* rx bus warning or passive */
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if (rxErrors >= 128) {
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status |= CO_CAN_ERRRX_WARNING | CO_CAN_ERRRX_PASSIVE;
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} else if (rxErrors >= 96) {
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status |= CO_CAN_ERRRX_WARNING;
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}
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/* tx bus warning or passive */
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if (txErrors >= 128) {
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status |= CO_CAN_ERRTX_WARNING | CO_CAN_ERRTX_PASSIVE;
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} else if (txErrors >= 96) {
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status |= CO_CAN_ERRTX_WARNING;
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}
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/* if not tx passive clear also overflow */
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if ((status & CO_CAN_ERRTX_PASSIVE) == 0) {
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status &= 0xFFFF ^ CO_CAN_ERRTX_OVERFLOW;
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}
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}
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if (overflow != 0) {
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/* CAN RX bus overflow */
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status |= CO_CAN_ERRRX_OVERFLOW;
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}
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CANmodule->CANerrorStatus = status;
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}
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}
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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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} CO_CANrxMsg_t;
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void
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CO_CANinterrupt(CO_CANmodule_t* CANmodule) {
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/* receive interrupt */
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if (1) {
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CO_CANrxMsg_t* rcvMsg; /* pointer to received message in CAN module */
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uint16_t index; /* index of received message */
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uint32_t rcvMsgIdent; /* identifier of the received message */
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CO_CANrx_t* buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */
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bool_t msgMatched = false;
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rcvMsg = 0; /* get message from module here */
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rcvMsgIdent = rcvMsg->ident;
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if (CANmodule->useCANrxFilters) {
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/* CAN module filters are used. Message with known 11-bit identifier has been received */
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index = 0; /* get index of the received message here. Or something similar */
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if (index < CANmodule->rxSize) {
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buffer = &CANmodule->rxArray[index];
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/* verify also RTR */
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if (((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U) {
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msgMatched = true;
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}
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}
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} else {
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/* CAN module filters are not used, message with any standard 11-bit identifier */
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/* has been received. Search rxArray form CANmodule for the same CAN-ID. */
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buffer = &CANmodule->rxArray[0];
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for (index = CANmodule->rxSize; index > 0U; index--) {
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if (((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U) {
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msgMatched = true;
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break;
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}
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buffer++;
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}
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}
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/* Call specific function, which will process the message */
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if (msgMatched && (buffer != NULL) && (buffer->CANrx_callback != NULL)) {
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buffer->CANrx_callback(buffer->object, (void*)rcvMsg);
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}
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/* Clear interrupt flag */
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}
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/* transmit interrupt */
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else if (0) {
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/* Clear interrupt flag */
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/* First CAN message (bootup) was sent successfully */
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CANmodule->firstCANtxMessage = false;
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/* clear flag from previous message */
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CANmodule->bufferInhibitFlag = false;
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/* Are there any new messages waiting to be send */
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if (CANmodule->CANtxCount > 0U) {
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uint16_t i; /* index of transmitting message */
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/* first buffer */
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CO_CANtx_t* buffer = &CANmodule->txArray[0];
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/* search through whole array of pointers to transmit message buffers. */
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for (i = CANmodule->txSize; i > 0U; i--) {
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/* if message buffer is full, send it. */
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if (buffer->bufferFull) {
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buffer->bufferFull = false;
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CANmodule->CANtxCount--;
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/* Copy message to CAN buffer */
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CANmodule->bufferInhibitFlag = buffer->syncFlag;
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/* canSend... */
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break; /* exit for loop */
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}
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buffer++;
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} /* end of for loop */
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/* Clear counter if no more messages */
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if (i == 0U) {
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CANmodule->CANtxCount = 0U;
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}
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}
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} else {
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/* some other interrupt reason */
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}
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}
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