282 lines
11 KiB
C
282 lines
11 KiB
C
/**
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* CAN driver functions.
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*
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* Defines functions that must be implemented for each target.
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*
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* @file CO_driver.h
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* @ingroup CO_driver
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* @author Janez Paternoster
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* @copyright 2004 - 2020 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CO_DRIVER_H
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#define CO_DRIVER_H
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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#include "CO_driver_target.h"
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#include "CO_types.h"
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/* Include processor header file */
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#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
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/**
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* @defgroup CO_driver Driver
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* @ingroup CO_CANopen
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* @{
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*
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* Microcontroller specific code for CANopenNode.
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*
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* This file contains type definitions, functions and macros for:
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* - Basic data types.
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* - Receive and transmit buffers for CANopen messages.
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* - Interaction with CAN module on the microcontroller.
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* - CAN receive and transmit interrupts.
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*
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* This file is not only a CAN driver. There are no classic CAN queues for CAN
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* messages. This file provides direct connection with other CANopen
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* objects. It tries to provide fast responses and tries to avoid unnecessary
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* calculations and memory consumptions.
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*
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* CO_CANmodule_t contains an array of _Received message objects_ (of type
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* CO_CANrx_t) and an array of _Transmit message objects_ (of type CO_CANtx_t).
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* Each CANopen communication object owns one member in one of the arrays.
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* For example Heartbeat producer generates one CANopen transmitting object,
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* so it has reserved one member in CO_CANtx_t array.
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* SYNC module may produce sync or consume sync, so it has reserved one member
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* in CO_CANtx_t and one member in CO_CANrx_t array.
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*
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* ###Reception of CAN messages.
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* Before CAN messages can be received, each member in CO_CANrx_t must be
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* initialized. CO_CANrxBufferInit() is called by CANopen module, which
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* uses specific member. For example @ref CO_HBconsumer uses multiple members
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* in CO_CANrx_t array. (It monitors multiple heartbeat messages from remote
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* nodes.) It must call CO_CANrxBufferInit() multiple times.
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*
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* Main arguments to the CO_CANrxBufferInit() function are CAN identifier
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* and a pointer to callback function. Those two arguments (and some others)
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* are copied to the member of the CO_CANrx_t array.
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*
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* Callback function is a function, specified by specific CANopen module
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* (for example by @ref CO_HBconsumer). Each CANopen module defines own
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* callback function. Callback function will process the received CAN message.
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* It will copy the necessary data from CAN message to proper place. It may
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* also trigger additional task, which will further process the received message.
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* Callback function must be fast and must only make the necessary calculations
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* and copying.
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*
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* Received CAN messages are processed by CAN receive interrupt function.
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* After CAN message is received, function first tries to find matching CAN
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* identifier from CO_CANrx_t array. If found, then a corresponding callback
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* function is called.
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*
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* Callback function accepts two parameters:
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* - object is pointer to object registered by CO_CANrxBufferInit().
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* - msg is pointer to CAN message of type CO_CANrxMsg_t.
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*
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* Callback function must return #CO_ReturnError_t: CO_ERROR_NO,
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* CO_ERROR_RX_OVERFLOW, CO_ERROR_RX_PDO_OVERFLOW, CO_ERROR_RX_MSG_LENGTH or
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* CO_ERROR_RX_PDO_LENGTH.
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*
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*
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* ###Transmission of CAN messages.
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* Before CAN messages can be transmitted, each member in CO_CANtx_t must be
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* initialized. CO_CANtxBufferInit() is called by CANopen module, which
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* uses specific member. For example Heartbeat producer must initialize it's
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* member in CO_CANtx_t array.
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*
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* CO_CANtxBufferInit() returns a pointer of type CO_CANtx_t, which contains buffer
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* where CAN message data can be written. CAN message is send with calling
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* CO_CANsend() function. If at that moment CAN transmit buffer inside
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* microcontroller's CAN module is free, message is copied directly to CAN module.
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* Otherwise CO_CANsend() function sets _bufferFull_ flag to true. Message will be
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* then sent by CAN TX interrupt as soon as CAN module is freed. Until message is
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* not copied to CAN module, its contents must not change. There may be multiple
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* _bufferFull_ flags in CO_CANtx_t array set to true. In that case messages with
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* lower index inside array will be sent first.
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*/
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/**
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* Request CAN configuration (stopped) mode and *wait* untill it is set.
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*
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* @param CANdriverState User-provided CAN module structure.
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*/
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void CO_CANsetConfigurationMode(void *CANdriverState);
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/**
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* Request CAN normal (opearational) mode and *wait* untill it is set.
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*
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* @param CANmodule This object.
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*/
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void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
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/**
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* Initialize CAN module object.
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*
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* Function must be called in the communication reset section. CAN module must
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* be in Configuration Mode before.
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*
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* @param CANmodule This object will be initialized.
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* @param CANdriverState User-provided CAN module structure..
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* @param rxArray Array for handling received CAN messages
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* @param rxSize Size of the above array. Must be equal to number of receiving CAN objects.
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* @param txArray Array for handling transmitting CAN messages
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* @param txSize Size of the above array. Must be equal to number of transmitting CAN objects.
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* @param CANbitRate Valid values are (in kbps): 10, 20, 50, 125, 250, 500, 800, 1000.
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* If value is illegal, bitrate defaults to 125.
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*
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* Return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
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*/
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CO_ReturnError_t CO_CANmodule_init(
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CO_CANmodule_t *CANmodule,
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void *CANdriverState,
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CO_CANrx_t rxArray[],
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uint16_t rxSize,
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CO_CANtx_t txArray[],
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uint16_t txSize,
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uint16_t CANbitRate);
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/**
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* Switch off CANmodule. Call at program exit.
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*
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* @param CANmodule CAN module object.
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*/
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void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
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/**
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* Read CAN identifier from received message
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*
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* @param rxMsg Pointer to received message
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* @return 11-bit CAN standard identifier.
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*/
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uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg);
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/**
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* Configure CAN message receive buffer.
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*
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* Function configures specific CAN receive buffer. It sets CAN identifier
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* and connects buffer with specific object. Function must be called for each
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* member in _rxArray_ from CO_CANmodule_t.
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*
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* @param CANmodule This object.
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* @param index Index of the specific buffer in _rxArray_.
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* @param ident 11-bit standard CAN Identifier.
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* @param mask 11-bit mask for identifier. Most usually set to 0x7FF.
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* Received message (rcvMsg) will be accepted if the following
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* condition is true: (((rcvMsgId ^ ident) & mask) == 0).
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* @param rtr If true, 'Remote Transmit Request' messages will be accepted.
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* @param object CANopen object, to which buffer is connected. It will be used as
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* an argument to pFunct. Its type is (void), pFunct will change its
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* type back to the correct object type.
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* @param pFunct Pointer to function, which will be called, if received CAN
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* message matches the identifier. It must be fast function.
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*
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* Return #CO_ReturnError_t: CO_ERROR_NO CO_ERROR_ILLEGAL_ARGUMENT or
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* CO_ERROR_OUT_OF_MEMORY (not enough masks for configuration).
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*/
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CO_ReturnError_t CO_CANrxBufferInit(
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CO_CANmodule_t *CANmodule,
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uint16_t index,
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uint16_t ident,
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uint16_t mask,
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bool_t rtr,
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void *object,
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void (*pFunct)(void *object, const CO_CANrxMsg_t *message));
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/**
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* Configure CAN message transmit buffer.
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*
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* Function configures specific CAN transmit buffer. Function must be called for
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* each member in _txArray_ from CO_CANmodule_t.
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*
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* @param CANmodule This object.
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* @param index Index of the specific buffer in _txArray_.
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* @param ident 11-bit standard CAN Identifier.
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* @param rtr If true, 'Remote Transmit Request' messages will be transmitted.
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* @param noOfBytes Length of CAN message in bytes (0 to 8 bytes).
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* @param syncFlag This flag bit is used for synchronous TPDO messages. If it is set,
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* message will not be sent, if curent time is outside synchronous window.
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*
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* @return Pointer to CAN transmit message buffer. 8 bytes data array inside
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* buffer should be written, before CO_CANsend() function is called.
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* Zero is returned in case of wrong arguments.
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*/
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CO_CANtx_t *CO_CANtxBufferInit(
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CO_CANmodule_t *CANmodule,
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uint16_t index,
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uint16_t ident,
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bool_t rtr,
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uint8_t noOfBytes,
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bool_t syncFlag);
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/**
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* Send CAN message.
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*
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* @param CANmodule This object.
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* @param buffer Pointer to transmit buffer, returned by CO_CANtxBufferInit().
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* Data bytes must be written in buffer before function call.
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_TX_OVERFLOW or
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* CO_ERROR_TX_PDO_WINDOW (Synchronous TPDO is outside window).
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*/
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CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
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/**
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* Clear all synchronous TPDOs from CAN module transmit buffers.
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*
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* CANopen allows synchronous PDO communication only inside time between SYNC
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* message and SYNC Window. If time is outside this window, new synchronous PDOs
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* must not be sent and all pending sync TPDOs, which may be on CAN TX buffers,
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* must be cleared.
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*
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* This function checks (and aborts transmission if necessary) CAN TX buffers
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* when it is called. Function should be called by the stack in the moment,
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* when SYNC time was just passed out of synchronous window.
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*
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* @param CANmodule This object.
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*/
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void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule);
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/**
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* Verify all errors of CAN module.
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*
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* Function is called directly from CO_EM_process() function.
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*
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* @param CANmodule This object.
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*/
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void CO_CANverifyErrors(CO_CANmodule_t *CANmodule);
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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/** @} */
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#endif /* CO_DRIVER_H */
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