canopennode/CO_driver.h

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/**
* CAN driver functions.
*
* Defines functions that must be implemented for each target.
*
* @file CO_driver.h
* @ingroup CO_driver
* @author Janez Paternoster
* @copyright 2004 - 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CO_DRIVER_H
#define CO_DRIVER_H
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#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
#include "CO_driver_target.h"
#include "CO_types.h"
/* Include processor header file */
#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.
*/
/**
* Request CAN configuration (stopped) mode and *wait* untill it is set.
*
* @param CANdriverState User-provided CAN module structure.
*/
void CO_CANsetConfigurationMode(void *CANdriverState);
/**
* Request CAN normal (opearational) mode and *wait* untill it is set.
*
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* @param CANmodule This object.
*/
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void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
/**
* 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 CANdriverState User-provided CAN module structure..
* @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,
void *CANdriverState,
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,
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,
bool_t rtr,
uint8_t noOfBytes,
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);
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#ifdef __cplusplus
}
#endif /* __cplusplus */
/** @} */
#endif /* CO_DRIVER_H */