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

229 lines
7.2 KiB
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/*
* CAN module object for Linux SocketCAN.
*
* @file CO_driver.h
* @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/>.
*/
#ifndef CO_DRIVER_H
#define CO_DRIVER_H
/* For documentation see file drvTemplate/CO_driver.h */
#include <stddef.h> /* for 'NULL' */
#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
#include <stdbool.h> /* for 'true', 'false' */
#include <unistd.h>
#ifndef CO_SINGLE_THREAD
#include <pthread.h>
#endif
#include <linux/can.h>
#include <linux/can/raw.h>
#include <linux/can/error.h>
/* general configuration */
// #define CO_LOG_CAN_MESSAGES /* Call external function for each received or transmitted CAN message. */
#define CO_SDO_BUFFER_SIZE 889 /* Override default SDO buffer size. */
/* Critical sections */
#ifdef CO_SINGLE_THREAD
#define CO_LOCK_CAN_SEND()
#define CO_UNLOCK_CAN_SEND()
#define CO_LOCK_EMCY()
#define CO_UNLOCK_EMCY()
#define CO_LOCK_OD()
#define CO_UNLOCK_OD()
#else
#define CO_LOCK_CAN_SEND() /* not needed */
#define CO_UNLOCK_CAN_SEND()
extern pthread_mutex_t CO_EMCY_mtx;
#define CO_LOCK_EMCY() {if(pthread_mutex_lock(&CO_EMCY_mtx) != 0) CO_errExit("Mutex lock CO_EMCY_mtx failed");}
#define CO_UNLOCK_EMCY() {if(pthread_mutex_unlock(&CO_EMCY_mtx) != 0) CO_errExit("Mutex unlock CO_EMCY_mtx failed");}
extern pthread_mutex_t CO_OD_mtx;
#define CO_LOCK_OD() {if(pthread_mutex_lock(&CO_OD_mtx) != 0) CO_errExit("Mutex lock CO_OD_mtx failed");}
#define CO_UNLOCK_OD() {if(pthread_mutex_unlock(&CO_OD_mtx) != 0) CO_errExit("Mutex unlock CO_OD_mtx failed");}
#endif
/* Data types */
/* int8_t to uint64_t are defined in stdint.h */
typedef _Bool bool_t;
typedef float float32_t;
typedef double float64_t;
typedef char char_t;
typedef unsigned char oChar_t;
typedef unsigned char domain_t;
/* Return values */
typedef enum{
CO_ERROR_NO = 0,
CO_ERROR_ILLEGAL_ARGUMENT = -1,
CO_ERROR_OUT_OF_MEMORY = -2,
CO_ERROR_TIMEOUT = -3,
CO_ERROR_ILLEGAL_BAUDRATE = -4,
CO_ERROR_RX_OVERFLOW = -5,
CO_ERROR_RX_PDO_OVERFLOW = -6,
CO_ERROR_RX_MSG_LENGTH = -7,
CO_ERROR_RX_PDO_LENGTH = -8,
CO_ERROR_TX_OVERFLOW = -9,
CO_ERROR_TX_PDO_WINDOW = -10,
CO_ERROR_TX_UNCONFIGURED = -11,
CO_ERROR_PARAMETERS = -12,
CO_ERROR_DATA_CORRUPT = -13,
CO_ERROR_CRC = -14
}CO_ReturnError_t;
/* CAN receive message structure as aligned in CAN module. */
typedef struct{
uint32_t ident;
uint8_t DLC;
uint8_t data[8] __attribute__((aligned(8)));
}CO_CANrxMsg_t;
/* Received message object */
typedef struct{
uint32_t ident;
uint32_t mask;
void *object;
void (*pFunct)(void *object, const CO_CANrxMsg_t *message);
}CO_CANrx_t;
/* Transmit message object as aligned in CAN module. */
typedef struct{
uint32_t ident;
uint8_t DLC;
uint8_t data[8] __attribute__((aligned(8)));
volatile bool_t bufferFull;
volatile bool_t syncFlag;
}CO_CANtx_t;
/* CAN module object. */
typedef struct{
int32_t fdSocket; //CAN_RAW socket file descriptor
#ifdef CO_LOG_CAN_MESSAGES
CO_CANtx_t txRecord;
#endif
CO_CANrx_t *rxArray;
uint16_t rxSize;
CO_CANtx_t *txArray;
uint16_t txSize;
struct can_filter *filter; /* array of CAN filters of size rxSize */
socklen_t filterSize; /* size of filter usage in bytes */
volatile bool_t CANnormal; /* CAN in normal mode */
volatile bool_t useCANrxFilters;
volatile bool_t bufferInhibitFlag;
volatile bool_t firstCANtxMessage;
volatile uint8_t error;
volatile uint16_t CANtxCount;
uint32_t errOld;
void *em;
}CO_CANmodule_t;
/* Endianes */
#define CO_LITTLE_ENDIAN
/* Helper function, must be defined externally. */
void CO_errExit(char* msg);
/* Request CAN configuration or normal mode */
void CO_CANsetConfigurationMode(int32_t fdSocket);
void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
/* Initialize CAN module object. */
CO_ReturnError_t CO_CANmodule_init(
CO_CANmodule_t *CANmodule,
int32_t fdSocket, //CAN_RAW socket file descriptor
CO_CANrx_t rxArray[],
uint16_t rxSize,
CO_CANtx_t txArray[],
uint16_t txSize,
uint16_t CANbitRate); //not used
/* Switch off CANmodule. */
void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
/* Read CAN identifier */
uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg);
/* Configure CAN message receive buffer. */
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));
/* Configure CAN message transmit buffer. */
CO_CANtx_t *CO_CANtxBufferInit(
CO_CANmodule_t *CANmodule,
uint16_t index,
uint16_t ident,
bool_t rtr,
uint8_t noOfBytes,
bool_t syncFlag);
/* Send CAN message. */
CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
/* Clear all synchronous TPDOs from CAN module transmit buffers. */
void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule);
/* Verify all errors of CAN module. */
void CO_CANverifyErrors(CO_CANmodule_t *CANmodule);
/* Functions receives CAN messages.
*
* @param can_frame From socket read.
*/
void CO_CANreceive(CO_CANmodule_t *CANmodule, const struct can_frame *msg);
#endif
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