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/kernel.h> 22 #include <zephyr/types.h> 23 #include <zephyr/device.h> 24 #include <zephyr/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 #ifdef CONFIG_LITTLE_ENDIAN 43 #define CO_LITTLE_ENDIAN 44 #else 45 #define CO_BIG_ENDIAN 46 #endif 47 48 typedef bool bool_t; 49 typedef float float32_t; 50 typedef long double float64_t; 51 typedef char char_t; 52 typedef unsigned char oChar_t; 53 typedef unsigned char domain_t; 54 55 typedef struct canopen_rx_msg { 56 uint8_t data[8]; 57 uint16_t ident; 58 uint8_t DLC; 59 } CO_CANrxMsg_t; 60 61 typedef void (*CO_CANrxBufferCallback_t)(void *object, 62 const CO_CANrxMsg_t *message); 63 64 typedef struct canopen_rx { 65 int filter_id; 66 void *object; 67 CO_CANrxBufferCallback_t pFunct; 68 uint16_t ident; 69 uint16_t mask; 70 } CO_CANrx_t; 71 72 typedef struct canopen_tx { 73 uint8_t data[8]; 74 uint16_t ident; 75 uint8_t DLC; 76 bool_t rtr : 1; 77 bool_t bufferFull : 1; 78 bool_t syncFlag : 1; 79 } CO_CANtx_t; 80 81 typedef struct canopen_module { 82 const struct device *dev; 83 CO_CANrx_t *rx_array; 84 CO_CANtx_t *tx_array; 85 uint16_t rx_size; 86 uint16_t tx_size; 87 uint32_t errors; 88 void *em; 89 bool_t configured : 1; 90 bool_t CANnormal : 1; 91 bool_t first_tx_msg : 1; 92 } CO_CANmodule_t; 93 94 void canopen_send_lock(void); 95 void canopen_send_unlock(void); 96 #define CO_LOCK_CAN_SEND() canopen_send_lock() 97 #define CO_UNLOCK_CAN_SEND() canopen_send_unlock() 98 99 void canopen_emcy_lock(void); 100 void canopen_emcy_unlock(void); 101 #define CO_LOCK_EMCY() canopen_emcy_lock() 102 #define CO_UNLOCK_EMCY() canopen_emcy_unlock() 103 104 void canopen_od_lock(void); 105 void canopen_od_unlock(void); 106 #define CO_LOCK_OD() canopen_od_lock() 107 #define CO_UNLOCK_OD() canopen_od_unlock() 108 109 /* 110 * CANopenNode RX callbacks run in interrupt context, no memory 111 * barrier needed. 112 */ 113 #define CANrxMemoryBarrier() 114 #define IS_CANrxNew(rxNew) ((uintptr_t)rxNew) 115 #define SET_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)1L; } 116 #define CLEAR_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)0L; } 117 118 #ifdef __cplusplus 119 } 120 #endif 121 122 #endif /* ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H */ 123
