424 lines
16 KiB
C
424 lines
16 KiB
C
/**
|
|
* CAN module object for generic microcontroller.
|
|
*
|
|
* This file is a template for other microcontrollers.
|
|
*
|
|
* @file CO_driver.h
|
|
* @ingroup CO_driver
|
|
* @version SVN: \$Id$
|
|
* @author Janez Paternoster
|
|
* @copyright 2004 - 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
|
|
|
|
|
|
/* Include processor header file */
|
|
#include <stddef.h> /* for 'NULL' */
|
|
#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
|
|
|
|
|
|
/**
|
|
* @defgroup CO_driver Driver
|
|
* @ingroup CO_CANopen
|
|
* @{
|
|
*
|
|
* Microcontroller specific code for CANopenNode.
|
|
*
|
|
* This file contains type definitions, functions and macros for:
|
|
* - Basic data types.
|
|
* - Receive and transmit buffers for CANopen messages.
|
|
* - Interaction with CAN module on the microcontroller.
|
|
* - CAN receive and transmit interrupts.
|
|
*
|
|
* This file is not only a CAN driver. There are no classic CAN queues for CAN
|
|
* messages. This file provides direct connection with other CANopen
|
|
* objects. It tries to provide fast responses and tries to avoid unnecessary
|
|
* calculations and memory consumptions.
|
|
*
|
|
* CO_CANmodule_t contains an array of _Received message objects_ (of type
|
|
* CO_CANrx_t) and an array of _Transmit message objects_ (of type CO_CANtx_t).
|
|
* Each CANopen communication object owns one member in one of the arrays.
|
|
* For example Heartbeat producer generates one CANopen transmitting object,
|
|
* so it has reserved one member in CO_CANtx_t array.
|
|
* SYNC module may produce sync or consume sync, so it has reserved one member
|
|
* in CO_CANtx_t and one member in CO_CANrx_t array.
|
|
*
|
|
* ###Reception of CAN messages.
|
|
* Before CAN messages can be received, each member in CO_CANrx_t must be
|
|
* initialized. CO_CANrxBufferInit() is called by CANopen module, which
|
|
* uses specific member. For example @ref CO_HBconsumer uses multiple members
|
|
* in CO_CANrx_t array. (It monitors multiple heartbeat messages from remote
|
|
* nodes.) It must call CO_CANrxBufferInit() multiple times.
|
|
*
|
|
* Main arguments to the CO_CANrxBufferInit() function are CAN identifier
|
|
* and a pointer to callback function. Those two arguments (and some others)
|
|
* are copied to the member of the CO_CANrx_t array.
|
|
*
|
|
* Callback function is a function, specified by specific CANopen module
|
|
* (for example by @ref CO_HBconsumer). Each CANopen module defines own
|
|
* callback function. Callback function will process the received CAN message.
|
|
* It will copy the necessary data from CAN message to proper place. It may
|
|
* also trigger additional task, which will further process the received message.
|
|
* Callback function must be fast and must only make the necessary calculations
|
|
* and copying.
|
|
*
|
|
* Received CAN messages are processed by CAN receive interrupt function.
|
|
* After CAN message is received, function first tries to find matching CAN
|
|
* identifier from CO_CANrx_t array. If found, then a corresponding callback
|
|
* function is called.
|
|
*
|
|
* Callback function accepts two parameters:
|
|
* - object is pointer to object registered by CO_CANrxBufferInit().
|
|
* - msg is pointer to CAN message of type CO_CANrxMsg_t.
|
|
*
|
|
* Callback function must return #CO_ReturnError_t: CO_ERROR_NO,
|
|
* CO_ERROR_RX_OVERFLOW, CO_ERROR_RX_PDO_OVERFLOW, CO_ERROR_RX_MSG_LENGTH or
|
|
* CO_ERROR_RX_PDO_LENGTH.
|
|
*
|
|
*
|
|
* ###Transmission of CAN messages.
|
|
* Before CAN messages can be transmitted, each member in CO_CANtx_t must be
|
|
* initialized. CO_CANtxBufferInit() is called by CANopen module, which
|
|
* uses specific member. For example Heartbeat producer must initialize it's
|
|
* member in CO_CANtx_t array.
|
|
*
|
|
* CO_CANtxBufferInit() returns a pointer of type CO_CANtx_t, which contains buffer
|
|
* where CAN message data can be written. CAN message is send with calling
|
|
* CO_CANsend() function. If at that moment CAN transmit buffer inside
|
|
* microcontroller's CAN module is free, message is copied directly to CAN module.
|
|
* Otherwise CO_CANsend() function sets _bufferFull_ flag to true. Message will be
|
|
* then sent by CAN TX interrupt as soon as CAN module is freed. Until message is
|
|
* not copied to CAN module, its contents must not change. There may be multiple
|
|
* _bufferFull_ flags in CO_CANtx_t array set to true. In that case messages with
|
|
* lower index inside array will be sent first.
|
|
*/
|
|
|
|
|
|
/**
|
|
* @name CAN module base address
|
|
* @{
|
|
*/
|
|
#define ADDR_CAN1 0 /**< Starting address of CAN module 1 registers */
|
|
#define ADDR_CAN2 1 /**< Starting address of CAN module 2 registers */
|
|
/** @} */
|
|
|
|
|
|
/**
|
|
* @name Disabling interrupts
|
|
* Interrupt masking is used to protect critical sections.
|
|
* It is used in some places in library to protect short sections of code in
|
|
* functions, which may be accessed from different tasks.
|
|
* @{
|
|
*/
|
|
#define CO_DISABLE_INTERRUPTS() /**< Disable all interrupts */
|
|
#define CO_ENABLE_INTERRUPTS() /**< Reenable interrupts */
|
|
/** @} */
|
|
|
|
|
|
/**
|
|
* @defgroup CO_dataTypes Data types
|
|
* @{
|
|
*
|
|
* According to Misra C
|
|
*/
|
|
typedef unsigned char CO_bool_t;
|
|
typedef enum{
|
|
CO_false = 0,
|
|
CO_true = 1
|
|
}CO_boolval_t;
|
|
/* int8_t to uint64_t are defined in stdint.h */
|
|
typedef float float32_t; /**< float32_t */
|
|
typedef long double float64_t; /**< float64_t */
|
|
typedef char char_t; /**< char_t */
|
|
typedef unsigned char oChar_t; /**< oChar_t */
|
|
typedef unsigned char domain_t; /**< domain_t */
|
|
/** @} */
|
|
|
|
|
|
/**
|
|
* Return values of some CANopen functions. If function was executed
|
|
* successfully it returns 0 otherwise it returns <0.
|
|
*/
|
|
typedef enum{
|
|
CO_ERROR_NO = 0, /**< Operation completed successfully */
|
|
CO_ERROR_ILLEGAL_ARGUMENT = -1, /**< Error in function arguments */
|
|
CO_ERROR_OUT_OF_MEMORY = -2, /**< Memory allocation failed */
|
|
CO_ERROR_TIMEOUT = -3, /**< Function timeout */
|
|
CO_ERROR_ILLEGAL_BAUDRATE = -4, /**< Illegal baudrate passed to function CO_CANmodule_init() */
|
|
CO_ERROR_RX_OVERFLOW = -5, /**< Previous message was not processed yet */
|
|
CO_ERROR_RX_PDO_OVERFLOW = -6, /**< previous PDO was not processed yet */
|
|
CO_ERROR_RX_MSG_LENGTH = -7, /**< Wrong receive message length */
|
|
CO_ERROR_RX_PDO_LENGTH = -8, /**< Wrong receive PDO length */
|
|
CO_ERROR_TX_OVERFLOW = -9, /**< Previous message is still waiting, buffer full */
|
|
CO_ERROR_TX_PDO_WINDOW = -10, /**< Synchronous TPDO is outside window */
|
|
CO_ERROR_TX_UNCONFIGURED = -11, /**< Transmit buffer was not confugured properly */
|
|
CO_ERROR_PARAMETERS = -12, /**< Error in function function parameters */
|
|
CO_ERROR_DATA_CORRUPT = -13, /**< Stored data are corrupt */
|
|
CO_ERROR_CRC = -14 /**< CRC does not match */
|
|
}CO_ReturnError_t;
|
|
|
|
|
|
/**
|
|
* CAN receive message structure as aligned in CAN module. It is different in
|
|
* different microcontrollers. It usually contains other variables.
|
|
*/
|
|
typedef struct{
|
|
/** CAN identifier. It must be read through CO_CANrxMsg_readIdent() function. */
|
|
uint32_t ident;
|
|
uint8_t DLC ; /**< Length of CAN message */
|
|
uint8_t data[8]; /**< 8 data bytes */
|
|
}CO_CANrxMsg_t;
|
|
|
|
|
|
/**
|
|
* Received message object
|
|
*/
|
|
typedef struct{
|
|
uint16_t ident; /**< Standard CAN Identifier (bits 0..10) + RTR (bit 11) */
|
|
uint16_t mask; /**< Standard Identifier mask with same alignment as ident */
|
|
void *object; /**< From CO_CANrxBufferInit() */
|
|
void (*pFunct)(void *object, const CO_CANrxMsg_t *message); /**< From CO_CANrxBufferInit() */
|
|
}CO_CANrx_t;
|
|
|
|
|
|
/**
|
|
* Transmit message object.
|
|
*/
|
|
typedef struct{
|
|
uint32_t ident; /**< CAN identifier as aligned in CAN module */
|
|
uint8_t data[8]; /**< 8 data bytes */
|
|
volatile CO_bool_t bufferFull; /**< True if previous message is still in buffer */
|
|
/** Synchronous PDO messages has this flag set. It prevents them to be sent outside the synchronous window */
|
|
volatile CO_bool_t syncFlag;
|
|
}CO_CANtx_t;
|
|
|
|
|
|
/**
|
|
* CAN module object. It may be different in different microcontrollers.
|
|
*/
|
|
typedef struct{
|
|
uint16_t CANbaseAddress; /**< From CO_CANmodule_init() */
|
|
CO_CANrx_t *rxArray; /**< From CO_CANmodule_init() */
|
|
uint16_t rxSize; /**< From CO_CANmodule_init() */
|
|
CO_CANtx_t *txArray; /**< From CO_CANmodule_init() */
|
|
uint16_t txSize; /**< From CO_CANmodule_init() */
|
|
/** Value different than zero indicates, that CAN module hardware filters
|
|
* are used for CAN reception. If there is not enough hardware filters,
|
|
* they won't be used. In this case will be *all* received CAN messages
|
|
* processed by software. */
|
|
volatile CO_bool_t useCANrxFilters;
|
|
/** If flag is true, then message in transmitt buffer is synchronous PDO
|
|
* message, which will be aborted, if CO_clearPendingSyncPDOs() function
|
|
* will be called by application. This may be necessary if Synchronous
|
|
* window time was expired. */
|
|
volatile CO_bool_t bufferInhibitFlag;
|
|
/** Equal to 1, when the first transmitted message (bootup message) is in CAN TX buffers */
|
|
volatile CO_bool_t firstCANtxMessage;
|
|
/** Number of messages in transmit buffer, which are waiting to be copied to the CAN module */
|
|
volatile uint16_t CANtxCount;
|
|
uint32_t errOld; /**< Previous state of CAN errors */
|
|
void *em; /**< Emergency object */
|
|
}CO_CANmodule_t;
|
|
|
|
|
|
/**
|
|
* Endianes.
|
|
*
|
|
* Depending on processor or compiler architecture, one of the two macros must
|
|
* be defined: CO_LITTLE_ENDIAN or CO_BIG_ENDIAN. CANopen itself is little endian.
|
|
*/
|
|
#define CO_LITTLE_ENDIAN
|
|
|
|
|
|
/**
|
|
* Request CAN configuration (stopped) mode and *wait* untill it is set.
|
|
*
|
|
* @param CANbaseAddress CAN module base address.
|
|
*/
|
|
void CO_CANsetConfigurationMode(uint16_t CANbaseAddress);
|
|
|
|
|
|
/**
|
|
* Request CAN normal (opearational) mode and *wait* untill it is set.
|
|
*
|
|
* @param CANbaseAddress CAN module base address.
|
|
*/
|
|
void CO_CANsetNormalMode(uint16_t CANbaseAddress);
|
|
|
|
|
|
/**
|
|
* Initialize CAN module object.
|
|
*
|
|
* Function must be called in the communication reset section. CAN module must
|
|
* be in Configuration Mode before.
|
|
*
|
|
* @param CANmodule This object will be initialized.
|
|
* @param CANbaseAddress CAN module base address.
|
|
* @param rxArray Array for handling received CAN messages
|
|
* @param rxSize Size of the above array. Must be equal to number of receiving CAN objects.
|
|
* @param txArray Array for handling transmitting CAN messages
|
|
* @param txSize Size of the above array. Must be equal to number of transmitting CAN objects.
|
|
* @param CANbitRate Valid values are (in kbps): 10, 20, 50, 125, 250, 500, 800, 1000.
|
|
* If value is illegal, bitrate defaults to 125.
|
|
*
|
|
* Return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
|
|
*/
|
|
CO_ReturnError_t CO_CANmodule_init(
|
|
CO_CANmodule_t *CANmodule,
|
|
uint16_t CANbaseAddress,
|
|
CO_CANrx_t rxArray[],
|
|
uint16_t rxSize,
|
|
CO_CANtx_t txArray[],
|
|
uint16_t txSize,
|
|
uint16_t CANbitRate);
|
|
|
|
|
|
/**
|
|
* Switch off CANmodule. Call at program exit.
|
|
*
|
|
* @param CANmodule CAN module object.
|
|
*/
|
|
void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
/**
|
|
* Read CAN identifier from received message
|
|
*
|
|
* @param rxMsg Pointer to received message
|
|
* @return 11-bit CAN standard identifier.
|
|
*/
|
|
uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg);
|
|
|
|
|
|
/**
|
|
* Configure CAN message receive buffer.
|
|
*
|
|
* Function configures specific CAN receive buffer. It sets CAN identifier
|
|
* and connects buffer with specific object. Function must be called for each
|
|
* member in _rxArray_ from CO_CANmodule_t.
|
|
*
|
|
* @param CANmodule This object.
|
|
* @param index Index of the specific buffer in _rxArray_.
|
|
* @param ident 11-bit standard CAN Identifier.
|
|
* @param mask 11-bit mask for identifier. Most usually set to 0x7FF.
|
|
* Received message (rcvMsg) will be accepted if the following
|
|
* condition is true: (((rcvMsgId ^ ident) & mask) == 0).
|
|
* @param rtr If true, 'Remote Transmit Request' messages will be accepted.
|
|
* @param object CANopen object, to which buffer is connected. It will be used as
|
|
* an argument to pFunct. Its type is (void), pFunct will change its
|
|
* type back to the correct object type.
|
|
* @param pFunct Pointer to function, which will be called, if received CAN
|
|
* message matches the identifier. It must be fast function.
|
|
*
|
|
* Return #CO_ReturnError_t: CO_ERROR_NO CO_ERROR_ILLEGAL_ARGUMENT or
|
|
* CO_ERROR_OUT_OF_MEMORY (not enough masks for configuration).
|
|
*/
|
|
CO_ReturnError_t CO_CANrxBufferInit(
|
|
CO_CANmodule_t *CANmodule,
|
|
uint16_t index,
|
|
uint16_t ident,
|
|
uint16_t mask,
|
|
CO_bool_t rtr,
|
|
void *object,
|
|
void (*pFunct)(void *object, const CO_CANrxMsg_t *message));
|
|
|
|
|
|
/**
|
|
* Configure CAN message transmit buffer.
|
|
*
|
|
* Function configures specific CAN transmit buffer. Function must be called for
|
|
* each member in _txArray_ from CO_CANmodule_t.
|
|
*
|
|
* @param CANmodule This object.
|
|
* @param index Index of the specific buffer in _txArray_.
|
|
* @param ident 11-bit standard CAN Identifier.
|
|
* @param rtr If true, 'Remote Transmit Request' messages will be transmitted.
|
|
* @param noOfBytes Length of CAN message in bytes (0 to 8 bytes).
|
|
* @param syncFlag This flag bit is used for synchronous TPDO messages. If it is set,
|
|
* message will not be sent, if curent time is outside synchronous window.
|
|
*
|
|
* @return Pointer to CAN transmit message buffer. 8 bytes data array inside
|
|
* buffer should be written, before CO_CANsend() function is called.
|
|
* Zero is returned in case of wrong arguments.
|
|
*/
|
|
CO_CANtx_t *CO_CANtxBufferInit(
|
|
CO_CANmodule_t *CANmodule,
|
|
uint16_t index,
|
|
uint16_t ident,
|
|
CO_bool_t rtr,
|
|
uint8_t noOfBytes,
|
|
CO_bool_t syncFlag);
|
|
|
|
|
|
/**
|
|
* Send CAN message.
|
|
*
|
|
* @param CANmodule This object.
|
|
* @param buffer Pointer to transmit buffer, returned by CO_CANtxBufferInit().
|
|
* Data bytes must be written in buffer before function call.
|
|
*
|
|
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_TX_OVERFLOW or
|
|
* CO_ERROR_TX_PDO_WINDOW (Synchronous TPDO is outside window).
|
|
*/
|
|
CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
|
|
|
|
|
|
/**
|
|
* Clear all synchronous TPDOs from CAN module transmit buffers.
|
|
*
|
|
* CANopen allows synchronous PDO communication only inside time between SYNC
|
|
* message and SYNC Window. If time is outside this window, new synchronous PDOs
|
|
* must not be sent and all pending sync TPDOs, which may be on CAN TX buffers,
|
|
* must be cleared.
|
|
*
|
|
* This function checks (and aborts transmission if necessary) CAN TX buffers
|
|
* when it is called. Function should be called by the stack in the moment,
|
|
* when SYNC time was just passed out of synchronous window.
|
|
*
|
|
* @param CANmodule This object.
|
|
*/
|
|
void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
/**
|
|
* Verify all errors of CAN module.
|
|
*
|
|
* Function is called directly from CO_EM_process() function.
|
|
*
|
|
* @param CANmodule This object.
|
|
*/
|
|
void CO_CANverifyErrors(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
/**
|
|
* Receives and transmits CAN messages.
|
|
*
|
|
* Function must be called directly from high priority CAN interrupt.
|
|
*
|
|
* @param CANmodule This object.
|
|
*/
|
|
void CO_CANinterrupt(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
/** @} */
|
|
#endif
|