256 lines
8 KiB
C
256 lines
8 KiB
C
/*
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* Device and application 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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* @copyright 2020 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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* 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_H
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#define CO_DRIVER_TARGET_H
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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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#include <stddef.h>
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef CO_DRIVER_CUSTOM
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#include "CO_driver_custom.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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/* Stack configuration override default values.
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* For more information see file CO_config.h. */
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#ifndef CO_CONFIG_NMT
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#define CO_CONFIG_NMT (CO_CONFIG_NMT_CALLBACK_CHANGE | \
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CO_CONFIG_NMT_MASTER | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_HB_CONS
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#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | \
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CO_CONFIG_HB_CONS_CALLBACK_MULTI | \
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CO_CONFIG_HB_CONS_QUERY_FUNCT | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_EM
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#define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | \
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CO_CONFIG_EM_PROD_CONFIGURABLE | \
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CO_CONFIG_EM_PROD_INHIBIT | \
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CO_CONFIG_EM_HISTORY | \
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CO_CONFIG_EM_STATUS_BITS | \
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CO_CONFIG_EM_CONSUMER | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_SDO_SRV
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#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | \
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CO_CONFIG_SDO_SRV_BLOCK | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT | \
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CO_CONFIG_FLAG_OD_DYNAMIC)
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#endif
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#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
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#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 900
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#endif
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#ifndef CO_CONFIG_SDO_CLI
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#define CO_CONFIG_SDO_CLI (CO_CONFIG_SDO_CLI_ENABLE | \
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CO_CONFIG_SDO_CLI_SEGMENTED | \
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CO_CONFIG_SDO_CLI_BLOCK | \
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CO_CONFIG_SDO_CLI_LOCAL | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT | \
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CO_CONFIG_FLAG_OD_DYNAMIC)
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#endif
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#ifndef CO_CONFIG_TIME
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#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | \
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CO_CONFIG_TIME_PRODUCER | \
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CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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#ifndef CO_CONFIG_SYNC
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#define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | \
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CO_CONFIG_SYNC_PRODUCER | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_PDO
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#define CO_CONFIG_PDO (CO_CONFIG_RPDO_ENABLE | \
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CO_CONFIG_TPDO_ENABLE | \
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CO_CONFIG_PDO_SYNC_ENABLE | \
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CO_CONFIG_RPDO_CALLS_EXTENSION | \
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CO_CONFIG_TPDO_CALLS_EXTENSION | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_LEDS
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#define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_GFC
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#define CO_CONFIG_GFC (CO_CONFIG_GFC_ENABLE | \
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CO_CONFIG_GFC_CONSUMER | \
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CO_CONFIG_GFC_PRODUCER)
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#endif
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#ifndef CO_CONFIG_SRDO
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#define CO_CONFIG_SRDO (CO_CONFIG_SRDO_ENABLE | \
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CO_CONFIG_SRDO_CHECK_TX | \
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CO_CONFIG_RSRDO_CALLS_EXTENSION | \
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CO_CONFIG_TSRDO_CALLS_EXTENSION | \
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CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT)
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#endif
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#ifndef CO_CONFIG_SRDO_MINIMUM_DELAY
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#define CO_CONFIG_SRDO_MINIMUM_DELAY 0
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#endif
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#ifndef CO_CONFIG_LSS
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#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | \
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CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND | \
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CO_CONFIG_LSS_MASTER | \
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CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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#ifndef CO_CONFIG_GTW
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#define CO_CONFIG_GTW (CO_CONFIG_GTW_ASCII | \
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CO_CONFIG_GTW_ASCII_SDO | \
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CO_CONFIG_GTW_ASCII_NMT | \
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CO_CONFIG_GTW_ASCII_LSS | \
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CO_CONFIG_GTW_ASCII_LOG | \
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CO_CONFIG_GTW_ASCII_ERROR_DESC | \
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CO_CONFIG_GTW_ASCII_PRINT_HELP | \
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CO_CONFIG_GTW_ASCII_PRINT_LEDS)
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#define CO_CONFIG_GTW_BLOCK_DL_LOOP 1
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#define CO_CONFIG_GTWA_COMM_BUF_SIZE 2000
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#define CO_CONFIG_GTWA_LOG_BUF_SIZE 2000
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#endif
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#ifndef CO_CONFIG_CRC16
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#define CO_CONFIG_CRC16 (CO_CONFIG_CRC16_ENABLE)
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#endif
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#ifndef CO_CONFIG_FIFO
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#define CO_CONFIG_FIFO (CO_CONFIG_FIFO_ENABLE | \
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CO_CONFIG_FIFO_ALT_READ | \
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CO_CONFIG_FIFO_CRC16_CCITT | \
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CO_CONFIG_FIFO_ASCII_COMMANDS | \
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CO_CONFIG_FIFO_ASCII_DATATYPES)
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#endif
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#ifndef CO_CONFIG_TRACE
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#define CO_CONFIG_TRACE (CO_CONFIG_TRACE_ENABLE)
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#endif
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/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
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#define CO_LITTLE_ENDIAN
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#define CO_SWAP_16(x) x
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#define CO_SWAP_32(x) x
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#define CO_SWAP_64(x) x
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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 uint_fast8_t bool_t;
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typedef float float32_t;
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typedef double float64_t;
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/* Access to received CAN message */
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#define CO_CANrxMsg_readIdent(msg) ((uint16_t)0)
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#define CO_CANrxMsg_readDLC(msg) ((uint8_t)0)
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#define CO_CANrxMsg_readData(msg) ((uint8_t *)NULL)
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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 (*CANrx_callback)(void *object, void *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;
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uint8_t DLC;
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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 *CANptr;
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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 CANerrorStatus;
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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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int32_t errinfo;
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} CO_CANmodule_t;
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/* (un)lock critical section in CO_CANsend() */
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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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#define CO_LOCK_EMCY()
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#define CO_UNLOCK_EMCY()
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/* (un)lock critical section when accessing Object Dictionary */
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#define CO_LOCK_OD()
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#define CO_UNLOCK_OD()
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/* Synchronization between CAN receive and message processing threads. */
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#define CO_MemoryBarrier()
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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 __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* CO_DRIVER_TARGET_H */
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