blob: 5dba56ef80002ee6c33253a3b4e354c6e8661b84 [file] [log] [blame]
/*
* Copyright (c) 2019 Vestas Wind Systems A/S
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H
#define ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H
/*
* Zephyr RTOS CAN driver interface and configuration for CANopenNode
* CANopen protocol stack.
*
* See CANopenNode/stack/drvTemplate/CO_driver.h for API description.
*/
#ifdef __cplusplus
extern "C" {
#endif
#include <zephyr/kernel.h>
#include <zephyr/types.h>
#include <zephyr/device.h>
#include <zephyr/toolchain.h>
#include <zephyr/dsp/types.h> /* float32_t, float64_t */
/* Use static variables instead of calloc() */
#define CO_USE_GLOBALS
/* Use Zephyr provided crc16 implementation */
#define CO_USE_OWN_CRC16
/* Use SDO buffer size from Kconfig */
#define CO_SDO_BUFFER_SIZE CONFIG_CANOPENNODE_SDO_BUFFER_SIZE
/* Use trace buffer size from Kconfig */
#define CO_TRACE_BUFFER_SIZE_FIXED CONFIG_CANOPENNODE_TRACE_BUFFER_SIZE
#ifdef CONFIG_CANOPENNODE_LEDS
#define CO_USE_LEDS 1
#endif
#ifdef CONFIG_LITTLE_ENDIAN
#define CO_LITTLE_ENDIAN
#else
#define CO_BIG_ENDIAN
#endif
typedef bool bool_t;
typedef char char_t;
typedef unsigned char oChar_t;
typedef unsigned char domain_t;
BUILD_ASSERT(sizeof(float32_t) >= 4);
BUILD_ASSERT(sizeof(float64_t) >= 8);
typedef struct canopen_rx_msg {
uint8_t data[8];
uint16_t ident;
uint8_t DLC;
} CO_CANrxMsg_t;
typedef void (*CO_CANrxBufferCallback_t)(void *object,
const CO_CANrxMsg_t *message);
typedef struct canopen_rx {
int filter_id;
void *object;
CO_CANrxBufferCallback_t pFunct;
uint16_t ident;
uint16_t mask;
#ifdef CONFIG_CAN_ACCEPT_RTR
bool rtr;
#endif /* CONFIG_CAN_ACCEPT_RTR */
} CO_CANrx_t;
typedef struct canopen_tx {
uint8_t data[8];
uint16_t ident;
uint8_t DLC;
bool_t rtr : 1;
bool_t bufferFull : 1;
bool_t syncFlag : 1;
} CO_CANtx_t;
typedef struct canopen_module {
const struct device *dev;
CO_CANrx_t *rx_array;
CO_CANtx_t *tx_array;
uint16_t rx_size;
uint16_t tx_size;
uint32_t errors;
void *em;
bool_t configured : 1;
bool_t CANnormal : 1;
bool_t first_tx_msg : 1;
} CO_CANmodule_t;
void canopen_send_lock(void);
void canopen_send_unlock(void);
#define CO_LOCK_CAN_SEND() canopen_send_lock()
#define CO_UNLOCK_CAN_SEND() canopen_send_unlock()
void canopen_emcy_lock(void);
void canopen_emcy_unlock(void);
#define CO_LOCK_EMCY() canopen_emcy_lock()
#define CO_UNLOCK_EMCY() canopen_emcy_unlock()
void canopen_od_lock(void);
void canopen_od_unlock(void);
#define CO_LOCK_OD() canopen_od_lock()
#define CO_UNLOCK_OD() canopen_od_unlock()
/*
* CANopenNode RX callbacks run in interrupt context, no memory
* barrier needed.
*/
#define CANrxMemoryBarrier()
#define IS_CANrxNew(rxNew) ((uintptr_t)rxNew)
#define SET_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)1L; }
#define CLEAR_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)0L; }
#ifdef __cplusplus
}
#endif
#endif /* ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H */