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 #include <zephyr/dsp/types.h> /* float32_t, float64_t */ 26 27 /* Use static variables instead of calloc() */ 28 #define CO_USE_GLOBALS 29 30 /* Use Zephyr provided crc16 implementation */ 31 #define CO_USE_OWN_CRC16 32 33 /* Use SDO buffer size from Kconfig */ 34 #define CO_SDO_BUFFER_SIZE CONFIG_CANOPENNODE_SDO_BUFFER_SIZE 35 36 /* Use trace buffer size from Kconfig */ 37 #define CO_TRACE_BUFFER_SIZE_FIXED CONFIG_CANOPENNODE_TRACE_BUFFER_SIZE 38 39 #ifdef CONFIG_CANOPENNODE_LEDS 40 #define CO_USE_LEDS 1 41 #endif 42 43 #ifdef CONFIG_LITTLE_ENDIAN 44 #define CO_LITTLE_ENDIAN 45 #else 46 #define CO_BIG_ENDIAN 47 #endif 48 49 typedef bool bool_t; 50 typedef char char_t; 51 typedef unsigned char oChar_t; 52 typedef unsigned char domain_t; 53 54 BUILD_ASSERT(sizeof(float32_t) >= 4); 55 BUILD_ASSERT(sizeof(float64_t) >= 8); 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 uint16_t mask; 72 #ifdef CONFIG_CAN_ACCEPT_RTR 73 bool rtr; 74 #endif /* CONFIG_CAN_ACCEPT_RTR */ 75 } CO_CANrx_t; 76 77 typedef struct canopen_tx { 78 uint8_t data[8]; 79 uint16_t ident; 80 uint8_t DLC; 81 bool_t rtr : 1; 82 bool_t bufferFull : 1; 83 bool_t syncFlag : 1; 84 } CO_CANtx_t; 85 86 typedef struct canopen_module { 87 const struct device *dev; 88 CO_CANrx_t *rx_array; 89 CO_CANtx_t *tx_array; 90 uint16_t rx_size; 91 uint16_t tx_size; 92 uint32_t errors; 93 void *em; 94 bool_t configured : 1; 95 bool_t CANnormal : 1; 96 bool_t first_tx_msg : 1; 97 } CO_CANmodule_t; 98 99 void canopen_send_lock(void); 100 void canopen_send_unlock(void); 101 #define CO_LOCK_CAN_SEND() canopen_send_lock() 102 #define CO_UNLOCK_CAN_SEND() canopen_send_unlock() 103 104 void canopen_emcy_lock(void); 105 void canopen_emcy_unlock(void); 106 #define CO_LOCK_EMCY() canopen_emcy_lock() 107 #define CO_UNLOCK_EMCY() canopen_emcy_unlock() 108 109 void canopen_od_lock(void); 110 void canopen_od_unlock(void); 111 #define CO_LOCK_OD() canopen_od_lock() 112 #define CO_UNLOCK_OD() canopen_od_unlock() 113 114 /* 115 * CANopenNode RX callbacks run in interrupt context, no memory 116 * barrier needed. 117 */ 118 #define CANrxMemoryBarrier() 119 #define IS_CANrxNew(rxNew) ((uintptr_t)rxNew) 120 #define SET_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)1L; } 121 #define CLEAR_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)0L; } 122 123 #ifdef __cplusplus 124 } 125 #endif 126 127 #endif /* ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H */ 128
