1 /* 2 * Copyright (c) 2019 Vestas Wind Systems A/S 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #ifndef ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H 8 #define ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H 9 10 /* 11 * Zephyr RTOS CAN driver interface and configuration for CANopenNode 12 * CANopen protocol stack. 13 * 14 * See CANopenNode/stack/drvTemplate/CO_driver.h for API description. 15 */ 16 17 #ifdef __cplusplus 18 extern "C" { 19 #endif 20 21 #include <zephyr.h> 22 #include <zephyr/types.h> 23 #include <device.h> 24 #include <toolchain.h> 25 26 /* Use static variables instead of calloc() */ 27 #define CO_USE_GLOBALS 28 29 /* Use Zephyr provided crc16 implementation */ 30 #define CO_USE_OWN_CRC16 31 32 /* Use SDO buffer size from Kconfig */ 33 #define CO_SDO_BUFFER_SIZE CONFIG_CANOPENNODE_SDO_BUFFER_SIZE 34 35 /* Use trace buffer size from Kconfig */ 36 #define CO_TRACE_BUFFER_SIZE_FIXED CONFIG_CANOPENNODE_TRACE_BUFFER_SIZE 37 38 #ifdef CONFIG_CANOPENNODE_LEDS 39 #define CO_USE_LEDS 1 40 #endif 41 42 #if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__ 43 #define CO_LITTLE_ENDIAN 44 #elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__ 45 #define CO_BIG_ENDIAN 46 #else 47 #error "Unsupported endianness" 48 #endif 49 50 typedef bool bool_t; 51 typedef float float32_t; 52 typedef long double float64_t; 53 typedef char char_t; 54 typedef unsigned char oChar_t; 55 typedef unsigned char domain_t; 56 57 typedef struct canopen_rx_msg { 58 uint8_t data[8]; 59 uint16_t ident; 60 uint8_t DLC; 61 } CO_CANrxMsg_t; 62 63 typedef void (*CO_CANrxBufferCallback_t)(void *object, 64 const CO_CANrxMsg_t *message); 65 66 typedef struct canopen_rx { 67 int filter_id; 68 void *object; 69 CO_CANrxBufferCallback_t pFunct; 70 uint16_t ident; 71 } CO_CANrx_t; 72 73 typedef struct canopen_tx { 74 uint8_t data[8]; 75 uint16_t ident; 76 uint8_t DLC; 77 bool_t rtr : 1; 78 bool_t bufferFull : 1; 79 bool_t syncFlag : 1; 80 } CO_CANtx_t; 81 82 typedef struct canopen_module { 83 const struct device *dev; 84 CO_CANrx_t *rx_array; 85 CO_CANtx_t *tx_array; 86 uint16_t rx_size; 87 uint16_t tx_size; 88 uint32_t errors; 89 void *em; 90 bool_t configured : 1; 91 bool_t CANnormal : 1; 92 bool_t first_tx_msg : 1; 93 } CO_CANmodule_t; 94 95 void canopen_send_lock(void); 96 void canopen_send_unlock(void); 97 #define CO_LOCK_CAN_SEND() canopen_send_lock() 98 #define CO_UNLOCK_CAN_SEND() canopen_send_unlock() 99 100 void canopen_emcy_lock(void); 101 void canopen_emcy_unlock(void); 102 #define CO_LOCK_EMCY() canopen_emcy_lock() 103 #define CO_UNLOCK_EMCY() canopen_emcy_unlock() 104 105 void canopen_od_lock(void); 106 void canopen_od_unlock(void); 107 #define CO_LOCK_OD() canopen_od_lock() 108 #define CO_UNLOCK_OD() canopen_od_unlock() 109 110 /* 111 * CANopenNode RX callbacks run in interrupt context, no memory 112 * barrier needed. 113 */ 114 #define CANrxMemoryBarrier() 115 #define IS_CANrxNew(rxNew) ((uintptr_t)rxNew) 116 #define SET_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)1L; } 117 #define CLEAR_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)0L; } 118 119 #ifdef __cplusplus 120 } 121 #endif 122 123 #endif /* ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H */ 124
