237 lines
7.2 KiB
C
237 lines
7.2 KiB
C
/*
|
|
* CAN module object for eCos RTOS CAN layer
|
|
*
|
|
* @file CO_driver.h
|
|
* @author Uwe Kindler
|
|
* @copyright 2013 Uwe Kindler
|
|
*
|
|
* 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 */
|
|
|
|
|
|
//===========================================================================
|
|
// INCLUDES
|
|
//===========================================================================
|
|
#include <cyg/infra/cyg_type.h>
|
|
#include <cyg/io/canio.h>
|
|
#include <cyg/io/io.h>
|
|
#include <cyg/kernel/kapi.h>
|
|
|
|
|
|
//===========================================================================
|
|
// CONFIGURATION
|
|
//===========================================================================
|
|
#define CYGDBG_IO_CANOPEN_DEBUG 1 // define this if you want debug output via diagnostic channel
|
|
|
|
|
|
//===========================================================================
|
|
// DEFINES
|
|
//===========================================================================
|
|
#if (CYG_BYTEORDER == CYG_MSBFIRST)
|
|
#define CO_BIG_ENDIAN 1
|
|
#else
|
|
#define CO_LITTLE_ENDIAN 1
|
|
#endif
|
|
|
|
//
|
|
// Support debug output if this option is enabled in CDL file
|
|
//
|
|
#ifdef CYGDBG_IO_CANOPEN_DEBUG
|
|
#define CO_DBG_PRINT diag_printf
|
|
#else
|
|
#define CO_DBG_PRINT( fmt, ... )
|
|
#endif
|
|
|
|
/* CAN module base address */
|
|
// we don't really care about the addresses here because the eCos port
|
|
// uses I/O handles for accessing its CAN devices
|
|
#define ADDR_CAN1 0
|
|
#define ADDR_CAN2 1
|
|
|
|
|
|
/* Critical sections */
|
|
// shared data is accessed only from thread level code (not from ISR or DSR)
|
|
// so we simply do a scheduler lock here to prevent access from different
|
|
// threads
|
|
#define CO_LOCK_CAN_SEND() cyg_scheduler_lock()
|
|
#define CO_UNLOCK_CAN_SEND() cyg_scheduler_unlock()
|
|
|
|
#define CO_LOCK_EMCY() cyg_scheduler_lock()
|
|
#define CO_UNLOCK_EMCY() cyg_scheduler_unlock()
|
|
|
|
#define CO_LOCK_OD() cyg_scheduler_lock()
|
|
#define CO_UNLOCK_OD() cyg_scheduler_unlock()
|
|
|
|
|
|
|
|
/* Data types */
|
|
typedef unsigned char bool_t;
|
|
typedef cyg_uint8 uint8_t;
|
|
typedef cyg_uint16 uint16_t;
|
|
typedef cyg_uint32 uint32_t;
|
|
typedef cyg_uint64 uint64_t;
|
|
typedef cyg_int8 int8_t;
|
|
typedef cyg_int16 int16_t;
|
|
typedef cyg_int32 int32_t;
|
|
typedef cyg_int64 int64_t;
|
|
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. */
|
|
typedef struct{
|
|
uint32_t ID;
|
|
uint8_t DLC; /* Length of CAN message */
|
|
uint8_t RTR;
|
|
uint8_t data[8]; /* 8 data bytes */
|
|
}CO_CANrxMsg_t;
|
|
|
|
|
|
/* Received message object */
|
|
typedef struct{
|
|
uint16_t ident;
|
|
void *object;
|
|
void (*pFunct)(void *object, const CO_CANrxMsg_t *message);
|
|
}CO_CANrx_t;
|
|
|
|
|
|
/* Transmit message object. */
|
|
typedef struct{
|
|
uint16_t ID;
|
|
uint8_t DLC;
|
|
uint8_t RTR;
|
|
uint8_t data[8];
|
|
volatile uint8_t bufferFull;
|
|
volatile uint8_t syncFlag;
|
|
}CO_CANtx_t;
|
|
|
|
|
|
/* CAN module object. */
|
|
typedef struct{
|
|
CO_CANrx_t *rxArray;
|
|
uint16_t rxSize;
|
|
CO_CANtx_t *txArray;
|
|
uint16_t txSize;
|
|
volatile uint8_t *curentSyncTimeIsInsideWindow;
|
|
volatile uint8_t useCANrxFilters;
|
|
volatile uint8_t bufferInhibitFlag;
|
|
volatile uint8_t firstCANtxMessage;
|
|
volatile uint16_t CANtxCount;
|
|
uint32_t errOld;
|
|
void *em;
|
|
void *driverPrivate;
|
|
uint16_t rxBufferIndexArray[0x800]; ///< Array of pointers to rx buffers
|
|
cyg_io_handle_t ioHandle;
|
|
}CO_CANmodule_t;
|
|
|
|
#ifdef __cplusplus
|
|
extern "C"
|
|
{
|
|
#endif
|
|
|
|
/* Request CAN configuration or normal mode */
|
|
void CO_CANsetConfigurationMode(uint16_t CANbaseAddress);
|
|
void CO_CANsetNormalMode(uint16_t CANbaseAddress);
|
|
|
|
|
|
/* Initialize CAN module object. */
|
|
int16_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. */
|
|
void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
|
|
|
|
|
|
/* Read CAN identifier */
|
|
uint16_t CO_CANrxMsg_readIdent(CO_CANrxMsg_t *rxMsg);
|
|
|
|
|
|
/* Configure CAN message receive buffer. */
|
|
int16_t CO_CANrxBufferInit(
|
|
CO_CANmodule_t *CANmodule,
|
|
uint16_t index,
|
|
uint16_t ident,
|
|
uint16_t mask,
|
|
uint8_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,
|
|
uint8_t rtr,
|
|
uint8_t noOfBytes,
|
|
uint8_t syncFlag);
|
|
|
|
|
|
/* Send CAN message. */
|
|
int16_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);
|
|
|
|
|
|
#ifdef __cplusplus
|
|
} //extern "C"
|
|
#endif
|
|
#endif
|