242 lines
8.4 KiB
C
242 lines
8.4 KiB
C
/*
|
|
* CAN module object for Microchip STM32F103 microcontroller.
|
|
*
|
|
* @file CO_driver.h
|
|
* @version SVN: \$Id: CO_driver.h 42 2013-07-09 11:14:12Z jani22 $
|
|
* @author Janez Paternoster
|
|
* @author Ondrej Netik
|
|
* @author Vijayendra
|
|
* @author Jan van Lienden
|
|
* @copyright 2013 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
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "common.h"
|
|
#include "stm32f10x_conf.h"
|
|
|
|
/* Exported define -----------------------------------------------------------*/
|
|
#define PACKED_STRUCT __attribute__((packed))
|
|
#define ALIGN_STRUCT_DWORD __attribute__((aligned(4)))
|
|
|
|
/* Peripheral addresses */
|
|
#define ADDR_CAN1 CAN1
|
|
#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */
|
|
|
|
/* Disabling interrupts */
|
|
#define CO_DISABLE_INTERRUPTS() __set_PRIMASK(1);
|
|
#define CO_ENABLE_INTERRUPTS() __set_PRIMASK(0);
|
|
|
|
#define CLOCK_CAN RCC_APB1Periph_CAN1
|
|
|
|
#define CAN_REMAP_2 /* Select CAN1 remap 2 */
|
|
#ifdef CAN1_NO_REMAP /* CAN1 not remapped */
|
|
#define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOA
|
|
#define GPIO_Remapping_CAN (0)
|
|
#define GPIO_CAN GPIOA
|
|
#define GPIO_Pin_CAN_RX GPIO_Pin_11
|
|
#define GPIO_Pin_CAN_TX GPIO_Pin_12
|
|
#define GPIO_CAN_Remap_State DISABLE
|
|
#endif
|
|
#ifdef CAN_REMAP1 /* CAN1 remap 1 */
|
|
#define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOB
|
|
#define GPIO_Remapping_CAN GPIO_Remap1_CAN1
|
|
#define GPIO_CAN GPIOB
|
|
#define GPIO_Pin_CAN_RX GPIO_Pin_8
|
|
#define GPIO_Pin_CAN_TX GPIO_Pin_9
|
|
#define GPIO_CAN_Remap_State ENABLE
|
|
#endif
|
|
#ifdef CAN_REMAP_2 /* CAN1 remap 2 */
|
|
#define CLOCK_GPIO_CAN RCC_APB2Periph_GPIOD
|
|
#define GPIO_Remapping_CAN GPIO_Remap2_CAN1
|
|
#define GPIO_CAN GPIOD
|
|
#define GPIO_Pin_CAN_RX GPIO_Pin_0
|
|
#define GPIO_Pin_CAN_TX GPIO_Pin_1
|
|
#define GPIO_CAN_Remap_State ENABLE
|
|
#endif
|
|
|
|
#ifdef STM32F10X_CL
|
|
#define CAN1_TX_INTERRUPTS CAN1_TX_IRQn
|
|
#define CAN1_RX0_INTERRUPTS CAN1_RX0_IRQn
|
|
#else
|
|
#define CAN1_TX_INTERRUPTS USB_HP_CAN1_TX_IRQn
|
|
#define CAN1_RX0_INTERRUPTS USB_LP_CAN1_RX0_IRQn
|
|
#endif
|
|
|
|
#define CAN_TXMAILBOX_0 ((uint8_t)0x00)
|
|
#define CAN_TXMAILBOX_1 ((uint8_t)0x01)
|
|
#define CAN_TXMAILBOX_2 ((uint8_t)0x02)
|
|
|
|
/* Timeout for initialization */
|
|
|
|
#define INAK_TIMEOUT ((uint32_t)0x0000FFFF)
|
|
/* Data types */
|
|
typedef float float32_t;
|
|
typedef long 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.
|
|
* prevzato z stm32f10_can.h - velikostne polozky a poradi odpovidaji. */
|
|
typedef struct{
|
|
uint32_t ident; /* Standard Identifier */
|
|
uint32_t ExtId; /* Specifies the extended identifier */
|
|
uint8_t IDE; /* Specifies the type of identifier for the
|
|
message that will be received */
|
|
uint8_t RTR; /* Remote Transmission Request bit */
|
|
uint8_t DLC; /* Data length code (bits 0...3) */
|
|
uint8_t data[8]; /* 8 data bytes */
|
|
uint8_t FMI; /* Specifies the index of the filter the message
|
|
stored in the mailbox passes through */
|
|
}CO_CANrxMsg_t;
|
|
|
|
/* Received message object */
|
|
typedef struct{
|
|
uint16_t ident;
|
|
uint16_t mask;
|
|
void *object;
|
|
// void (*pFunct)(void *object, CO_CANrxMsg_t *message); // Changed by JvL
|
|
void (*pFunct)(void *object, CanRxMsg *message); // Changed by VJ
|
|
}CO_CANrx_t;
|
|
|
|
/* Transmit message object. */
|
|
typedef struct{
|
|
uint32_t ident;
|
|
uint8_t DLC;
|
|
uint8_t data[8];
|
|
volatile uint8_t bufferFull;
|
|
volatile uint8_t syncFlag;
|
|
}CO_CANtx_t;/* ALIGN_STRUCT_DWORD; */
|
|
|
|
/* CAN module object. */
|
|
typedef struct{
|
|
CAN_TypeDef *CANbaseAddress; /* STM32F4xx specific */
|
|
CO_CANrx_t *rxArray;
|
|
uint16_t rxSize;
|
|
CO_CANtx_t *txArray;
|
|
uint16_t txSize;
|
|
volatile uint8_t useCANrxFilters;
|
|
volatile uint8_t bufferInhibitFlag;
|
|
volatile uint8_t firstCANtxMessage;
|
|
volatile uint16_t CANtxCount;
|
|
uint32_t errOld;
|
|
void *em;
|
|
}CO_CANmodule_t;
|
|
|
|
/* Init CAN Led Interface */
|
|
typedef enum {
|
|
eCoLed_None = 0,
|
|
eCoLed_Green = 1,
|
|
eCoLed_Red = 2,
|
|
} eCoLeds;
|
|
|
|
/* Exported variables -----------------------------------------------------------*/
|
|
|
|
/* Exported functions -----------------------------------------------------------*/
|
|
void InitCanLeds(void);
|
|
void CanLedsOn(eCoLeds led);
|
|
void CanLedsOff(eCoLeds led);
|
|
void CanLedsSet(eCoLeds led);
|
|
|
|
|
|
/* Request CAN configuration or normal mode */
|
|
//void CO_CANsetConfigurationMode(CAN_TypeDef *CANbaseAddress);
|
|
//void CO_CANsetNormalMode(CAN_TypeDef *CANbaseAddress);
|
|
|
|
/* Initialize CAN module object. */
|
|
CO_ReturnError_t CO_CANmodule_init(
|
|
CO_CANmodule_t *CANmodule,
|
|
CAN_TypeDef *CANbaseAddress,
|
|
CO_CANrx_t rxArray[],
|
|
uint16_t rxSize,
|
|
CO_CANtx_t txArray[],
|
|
uint16_t txSize,
|
|
uint16_t CANbitRate);
|
|
|
|
|
|
/* 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,
|
|
int8_t rtr,
|
|
void *object,
|
|
void (*pFunct)(void *object, CO_CANrxMsg_t *message));
|
|
|
|
|
|
/* Configure CAN message transmit buffer. */
|
|
CO_CANtx_t *CO_CANtxBufferInit(
|
|
CO_CANmodule_t *CANmodule,
|
|
uint16_t index,
|
|
uint16_t ident,
|
|
int8_t rtr,
|
|
uint8_t noOfBytes,
|
|
int8_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);
|
|
|
|
|
|
/* CAN interrupts receives and transmits CAN messages. */
|
|
void CO_CANinterrupt_Rx(CO_CANmodule_t *CANmodule);
|
|
void CO_CANinterrupt_Tx(CO_CANmodule_t *CANmodule);
|
|
void CO_CANinterrupt_Status(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
#endif /* CO_DRIVER_H */
|