CO_driver_target.h

/*
 * Device and application specific definitions for CANopenNode.
 *
 * @file        CO_driver_target.h
 * @author      Janez Paternoster
 * @copyright   2021 Janez Paternoster
 *
 * This file is part of CANopenNode, an opensource CANopen Stack.
 * Project home page is <https://github.com/CANopenNode/CANopenNode>.
 * For more information on CANopen see <http://www.can-cia.org/>.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef CO_DRIVER_TARGET_H
#define CO_DRIVER_TARGET_H
 
/* This file contains device and application specific definitions.
 * It is included from CO_driver.h, which contains documentation
 * for common definitions below. */
 
#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>
 
#ifdef CO_DRIVER_CUSTOM
#include "CO_driver_custom.h"
#endif
 
/* Disable storage */
#define CO_CONFIG_STORAGE   0x00
 
#ifndef CO_CONFIG_SDO_SRV
#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | \
                           CO_CONFIG_SDO_SRV_BLOCK)
#endif
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 900
#endif
#ifndef CO_CONFIG_CRC16
#define CO_CONFIG_CRC16 (CO_CONFIG_CRC16_ENABLE)
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* Stack configuration override default values.
 * For more information see file CO_config.h. */
 
 
/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
#define CO_LITTLE_ENDIAN
#define CO_SWAP_16(x) x
#define CO_SWAP_32(x) x
#define CO_SWAP_64(x) x
/* NULL is defined in stddef.h */
/* true and false are defined in stdbool.h */
/* int8_t to uint64_t are defined in stdint.h */
typedef uint_fast8_t            bool_t;
typedef float                   float32_t;
typedef double                  float64_t;
 
typedef struct {
    uint32_t ident;
    uint8_t DLC;
    uint8_t data[8];
} CO_CANrxMsg_t;
 
/* Access to received CAN message */
#define CO_CANrxMsg_readIdent(msg) ((uint16_t)(((CO_CANrxMsg_t*)(msg)))->ident)
#define CO_CANrxMsg_readDLC(msg)   ((uint8_t)(((CO_CANrxMsg_t*)(msg)))->DLC)
#define CO_CANrxMsg_readData(msg)  ((uint8_t*)(((CO_CANrxMsg_t*)(msg)))->data)
 
/* Received message object */
typedef struct {
    uint16_t ident;
    uint16_t mask;
    void *object;
    void (*CANrx_callback)(void *object, void *message);
} CO_CANrx_t;
 
/* Transmit message object */
typedef struct {
    uint32_t ident;
    uint8_t DLC;
    uint8_t data[8];
    volatile bool_t bufferFull;
    volatile bool_t syncFlag;
} CO_CANtx_t;
 
/* CAN module object */
typedef struct {
    void *CANptr;
    CO_CANrx_t *rxArray;
    uint16_t rxSize;
    CO_CANtx_t *txArray;
    uint16_t txSize;
    uint16_t CANerrorStatus;
    volatile bool_t CANnormal;
    volatile bool_t useCANrxFilters;
    volatile bool_t bufferInhibitFlag;
    volatile bool_t firstCANtxMessage;
    volatile uint16_t CANtxCount;
    uint32_t errOld;
    uint32_t txLock;
    uint32_t emcyLock;
    uint32_t odLock;
} CO_CANmodule_t;
 
 
/* Data storage object for one entry */
typedef struct {
    void *addr;
    size_t len;
    uint8_t subIndexOD;
    uint8_t attr;
    /* Additional variables (target specific) */
    void *addrNV;
} CO_storage_entry_t;
 
void CO_CANModule_Lock(uint32_t *lock);
 
 
void CO_CANModule_Unlock(uint32_t *lock);
 
/* (un)lock critical section in CO_CANsend() */
#define CO_LOCK_CAN_SEND(CAN_MODULE)    CO_CANModule_Lock(&((CO_CANmodule_t *) CAN_MODULE)->txLock)
#define CO_UNLOCK_CAN_SEND(CAN_MODULE)  CO_CANModule_Unlock(&((CO_CANmodule_t *) CAN_MODULE)->txLock)
 
/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
#define CO_LOCK_EMCY(CAN_MODULE)    CO_CANModule_Lock(&((CO_CANmodule_t *) CAN_MODULE)->emcyLock)
#define CO_UNLOCK_EMCY(CAN_MODULE)  CO_CANModule_Unlock(&((CO_CANmodule_t *) CAN_MODULE)->emcyLock)
 
/* (un)lock critical section when accessing Object Dictionary */
#define CO_LOCK_OD(CAN_MODULE)      CO_CANModule_Lock(&((CO_CANmodule_t *) CAN_MODULE)->odLock)
#define CO_UNLOCK_OD(CAN_MODULE)    CO_CANModule_Unlock(&((CO_CANmodule_t *) CAN_MODULE)->odLock)
 
/* Synchronization between CAN receive and message processing threads. */
#define CO_MemoryBarrier()
#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
#define CO_FLAG_SET(rxNew) {CO_MemoryBarrier(); rxNew = (void*)1L;}
#define CO_FLAG_CLEAR(rxNew) {CO_MemoryBarrier(); rxNew = NULL;}
 
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* CO_DRIVER_TARGET_H */