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CANopenNode/stack/socketCAN/CO_driver.c
JanezXD bbc165c218 First run of socketCan.
2015-08-29 01:13:54 +02:00

346 lines
12 KiB
C
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/*
* CAN module object for Linux SocketCAN.
*
* @file CO_driver.c
* @author Janez Paternoster
* @copyright 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <http://canopennode.sourceforge.net>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* CANopenNode is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 2.1 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "CO_driver.h"
#include "CO_Emergency.h"
#include <string.h> /* for memcpy */
#include <stdlib.h> /* for malloc, free */
#include <sys/socket.h>
/******************************************************************************/
#ifndef CO_SINGLE_THREAD
pthread_mutex_t CO_EMCY_mtx = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t CO_OD_mtx = PTHREAD_MUTEX_INITIALIZER;
#endif
/******************************************************************************/
void CO_CANsetConfigurationMode(int32_t fdSocket){
/* close CAN filters */
if(setsockopt(fdSocket, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0) != 0)
CO_errExit("CO_CANsetConfigurationMode failed");
}
/******************************************************************************/
void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule){
/* set CAN filters */
if(CANmodule == NULL || setsockopt(CANmodule->fdSocket, SOL_CAN_RAW,
CAN_RAW_FILTER, &CANmodule->filter[0], CANmodule->filterSize) != 0)
{
CO_errExit("CO_CANsetNormalMode failed");
}
CANmodule->CANnormal = true;
}
/******************************************************************************/
CO_ReturnError_t CO_CANmodule_init(
CO_CANmodule_t *CANmodule,
int32_t fdSocket,
CO_CANrx_t rxArray[],
uint16_t rxSize,
CO_CANtx_t txArray[],
uint16_t txSize,
uint16_t CANbitRate)
{
uint16_t i;
/* verify arguments */
if(CANmodule==NULL || fdSocket<0 || rxArray==NULL || txArray==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* allocate memory for filter array */
if(CANmodule->filter == NULL){
CANmodule->filter = (struct can_filter *) calloc(rxSize, sizeof(struct can_filter));
}
if(CANmodule->filter == NULL){
return CO_ERROR_OUT_OF_MEMORY;
}
/* Configure object variables */
CANmodule->fdSocket = fdSocket;
CANmodule->rxArray = rxArray;
CANmodule->rxSize = rxSize;
CANmodule->txArray = txArray;
CANmodule->txSize = txSize;
CANmodule->useCANrxFilters = true;
CANmodule->bufferInhibitFlag = false;
CANmodule->firstCANtxMessage = true;
CANmodule->error = 0;
CANmodule->CANtxCount = 0U;
CANmodule->errOld = 0U;
CANmodule->em = NULL;
CANmodule->CANnormal = false;
#ifdef CO_LOG_CAN_MESSAGES
CANmodule->useCANrxFilters = false;
#endif
for(i=0U; i<rxSize; i++){
rxArray[i].ident = 0U;
rxArray[i].pFunct = NULL;
}
for(i=0U; i<txSize; i++){
txArray[i].bufferFull = false;
}
/* initialize port */
/* Socket must be initialized and binded in application. CAN port must be
* started before application. */
/* Configure CAN module hardware filters */
if(CANmodule->useCANrxFilters){
/* Match filter, standard 11 bit CAN address only, no rtr */
for(i=0U; i<rxSize; i++){
CANmodule->filter[i].can_mask = CAN_SFF_MASK | CAN_EFF_FLAG | CAN_RTR_FLAG;
}
CANmodule->filterSize = sizeof(struct can_filter) * rxSize;
}
else{
/* Use one filter, match any standard 11 bit CAN address, no rtr */
CANmodule->filter[0].can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG;
CANmodule->filterSize = sizeof(struct can_filter);
}
return CO_ERROR_NO;
}
/******************************************************************************/
void CO_CANmodule_disable(CO_CANmodule_t *CANmodule){
free(CANmodule->filter);
}
/******************************************************************************/
uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg){
return (uint16_t) rxMsg->ident;
}
/******************************************************************************/
CO_ReturnError_t CO_CANrxBufferInit(
CO_CANmodule_t *CANmodule,
uint16_t index,
uint16_t ident,
uint16_t mask,
bool_t rtr,
void *object,
void (*pFunct)(void *object, const CO_CANrxMsg_t *message))
{
CO_ReturnError_t ret = CO_ERROR_NO;
if((CANmodule!=NULL) && (object!=NULL) && (pFunct!=NULL) && (index < CANmodule->rxSize)){
/* buffer, which will be configured */
CO_CANrx_t *buffer = &CANmodule->rxArray[index];
/* Configure object variables */
buffer->object = object;
buffer->pFunct = pFunct;
/* Configure CAN identifier and CAN mask, bit aligned with CAN module. */
buffer->ident = ident & CAN_SFF_MASK;
if(rtr){
buffer->ident |= CAN_RTR_FLAG;
}
buffer->mask = (mask & CAN_SFF_MASK) | CAN_EFF_FLAG | CAN_RTR_FLAG;
/* Set CAN hardware module filter and mask. */
if(CANmodule->useCANrxFilters){
CANmodule->filter[index].can_id = buffer->ident;
CANmodule->filter[index].can_mask = buffer->mask;
if(CANmodule->CANnormal){
if(setsockopt(CANmodule->fdSocket, SOL_CAN_RAW, CAN_RAW_FILTER,
&CANmodule->filter[0], CANmodule->filterSize) != 0)
{
ret = CO_ERROR_ILLEGAL_ARGUMENT;
}
}
}
}
else{
ret = CO_ERROR_ILLEGAL_ARGUMENT;
}
return ret;
}
/******************************************************************************/
CO_CANtx_t *CO_CANtxBufferInit(
CO_CANmodule_t *CANmodule,
uint16_t index,
uint16_t ident,
bool_t rtr,
uint8_t noOfBytes,
bool_t syncFlag)
{
CO_CANtx_t *buffer = NULL;
if((CANmodule != NULL) && (index < CANmodule->txSize)){
/* get specific buffer */
buffer = &CANmodule->txArray[index];
/* CAN identifier, bit aligned with CAN module registers */
buffer->ident = ident & CAN_SFF_MASK;
if(rtr){
buffer->ident |= CAN_RTR_FLAG;
}
buffer->DLC = noOfBytes;
buffer->bufferFull = false;
buffer->syncFlag = syncFlag;
}
return buffer;
}
/******************************************************************************/
CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer){
CO_ReturnError_t err = CO_ERROR_NO;
ssize_t n;
size_t count = sizeof(struct can_frame);
n = write(CANmodule->fdSocket, buffer, count);
#ifdef CO_LOG_CAN_MESSAGES
void CO_logMessage(const CanMsg *msg);
CO_logMessage((const CanMsg*) buffer);
#endif
if(n != count){
CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, n);
err = CO_ERROR_TX_OVERFLOW;
}
return err;
}
/******************************************************************************/
void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule){
/* Messages can not be cleared, because they are allready in kernel */
}
/******************************************************************************/
void CO_CANverifyErrors(CO_CANmodule_t *CANmodule){
#if 0
unsigned rxErrors, txErrors;
CO_EM_t* em = (CO_EM_t*)CANmodule->em;
uint32_t err;
canGetErrorCounters(CANmodule->CANbaseAddress, &rxErrors, &txErrors);
if(txErrors > 0xFFFF) txErrors = 0xFFFF;
if(rxErrors > 0xFF) rxErrors = 0xFF;
err = ((uint32_t)txErrors << 16) | ((uint32_t)rxErrors << 8) | CANmodule->error;
if(CANmodule->errOld != err){
CANmodule->errOld = err;
if(txErrors >= 256U){ /* bus off */
CO_errorReport(em, CO_EM_CAN_TX_BUS_OFF, CO_EMC_BUS_OFF_RECOVERED, err);
}
else{ /* not bus off */
CO_errorReset(em, CO_EM_CAN_TX_BUS_OFF, err);
if((rxErrors >= 96U) || (txErrors >= 96U)){ /* bus warning */
CO_errorReport(em, CO_EM_CAN_BUS_WARNING, CO_EMC_NO_ERROR, err);
}
if(rxErrors >= 128U){ /* RX bus passive */
CO_errorReport(em, CO_EM_CAN_RX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, err);
}
else{
CO_errorReset(em, CO_EM_CAN_RX_BUS_PASSIVE, err);
}
if(txErrors >= 128U){ /* TX bus passive */
if(!CANmodule->firstCANtxMessage){
CO_errorReport(em, CO_EM_CAN_TX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, err);
}
}
else{
bool_t isError = CO_isError(em, CO_EM_CAN_TX_BUS_PASSIVE);
if(isError){
CO_errorReset(em, CO_EM_CAN_TX_BUS_PASSIVE, err);
CO_errorReset(em, CO_EM_CAN_TX_OVERFLOW, err);
}
}
if((rxErrors < 96U) && (txErrors < 96U)){ /* no error */
bool_t isError = CO_isError(em, CO_EM_CAN_BUS_WARNING);
if(isError){
CO_errorReset(em, CO_EM_CAN_BUS_WARNING, err);
CO_errorReset(em, CO_EM_CAN_TX_OVERFLOW, err);
}
}
}
if(CANmodule->error & 0x02){ /* CAN RX bus overflow */
CO_errorReport(em, CO_EM_CAN_RXB_OVERFLOW, CO_EMC_CAN_OVERRUN, err);
}
}
#endif
}
/******************************************************************************/
void CO_CANreceive(CO_CANmodule_t *CANmodule, const struct can_frame *msg){
CO_CANrxMsg_t *rcvMsg; /* pointer to received message in CAN module */
uint32_t rcvMsgIdent; /* identifier of the received message */
CO_CANrx_t *buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */
int i;
bool_t msgMatched = false;
rcvMsg = (CO_CANrxMsg_t *) msg;
rcvMsgIdent = rcvMsg->ident;
/* Search rxArray form CANmodule for the matching CAN-ID. */
buffer = &CANmodule->rxArray[0];
for(i = CANmodule->rxSize; i > 0U; i--){
if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U){
msgMatched = true;
break;
}
buffer++;
}
/* Call specific function, which will process the message */
if(msgMatched && (buffer != NULL) && (buffer->pFunct != NULL)){
buffer->pFunct(buffer->object, rcvMsg);
}
#ifdef CO_LOG_CAN_MESSAGES
void CO_logMessage(const CanMsg *msg);
CO_logMessage((CanMsg*)&rcvMsg);
#endif
}
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