c46a2edd57
This driver is more sophisticated than the normal socketCAN driver. Compared to the normal socketCAN driver, this one contains the linking exception license. Changes compared to normal socketCAN driver: - Re-implementation based on driver template - Error detection works - Setting up filters works properly - Optional Support for socketCAN error frames. This currently handles bus-off and no-ack condition by setting driver into listen-only mode. If you decide to use this feature have a close look at your own requirements and fit error handling functions to that. - Optional support for CAN interface combining (not redundancy!). With this feature enabled you can have multiple CAN interface represented as one within CANopenNode stack. By default, all TX messages are sent on all used CAN interfaces, but the user can change this behaviour inside own app (e.g. check on wich bus rx-sdo is received and set-up tx-sdo accordingly). Be aware that no bridging between the interfaces is done!
122 lines
4.4 KiB
C
122 lines
4.4 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 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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* 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_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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