Interface between CAN hardware and CANopenNode. More...

#include <string.h>
#include "CO_config.h"
#include "CO_driver_target.h"

Include dependency graph for CO_driver.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	CO_CANrx_t
	Configuration object for CAN received message for specific CANopenNode Object. More...

struct	CO_CANtx_t
	Configuration object for CAN transmit message for specific CANopenNode Object. More...

struct	CO_CANmodule_t
	Complete CAN module object. More...

struct	CO_storage_entry_t
	Data storage object for one entry. More...

Macros
#define	CO_VERSION_MAJOR 4
	Major version number of CANopenNode.

#define	CO_VERSION_MINOR 0
	Minor version number of CANopenNode.

#define	CO_LITTLE_ENDIAN
	CO_LITTLE_ENDIAN or CO_BIG_ENDIAN must be defined.

#define	CO_SWAP_16(x) x
	Macro must swap bytes, if CO_BIG_ENDIAN is defined.

#define	CO_SWAP_32(x) x
	Macro must swap bytes, if CO_BIG_ENDIAN is defined.

#define	CO_SWAP_64(x) x
	Macro must swap bytes, if CO_BIG_ENDIAN is defined.

#define	NULL (0)
	NULL, for general usage.

#define	true 1
	Logical true, for general use.

#define	false 0
	Logical false, for general use.

#define	CO_LOCK_CAN_SEND(CAN_MODULE) /*< Lock critical section in CO_CANsend() /
	Lock critical section in CO_CANsend()

#define	CO_UNLOCK_CAN_SEND(CAN_MODULE) /*< Unlock critical section in CO_CANsend() /
	Unlock critical section in CO_CANsend()

#define	CO_LOCK_EMCY(CAN_MODULE) /*< Lock critical section in CO_errorReport() or CO_errorReset() /
	Lock critical section in CO_errorReport() or CO_errorReset()

#define	CO_UNLOCK_EMCY(CAN_MODULE) /*< Unlock critical section in CO_errorReport() or CO_errorReset() /
	Unlock critical section in CO_errorReport() or CO_errorReset()

#define	CO_LOCK_OD(CAN_MODULE) /*< Lock critical section when accessing Object Dictionary /
	Lock critical section when accessing Object Dictionary.

#define	CO_UNLOCK_OD(CAN_MODULE) /*< Unock critical section when accessing Object Dictionary /
	Unock critical section when accessing Object Dictionary.

#define	CO_FLAG_READ(rxNew) ((rxNew) != NULL)
	Check if new message has arrived.

#define	CO_FLAG_SET(rxNew)
	Set new message flag.

#define	CO_FLAG_CLEAR(rxNew)
	Clear new message flag.

#define	CO_CAN_ID_NMT_SERVICE 0x000U
	0x000 Network management

#define	CO_CAN_ID_GFC 0x001U
	0x001 Global fail-safe command

#define	CO_CAN_ID_SYNC 0x080U
	0x080 Synchronous message

#define	CO_CAN_ID_EMERGENCY 0x080U
	0x080 Emergency messages (+nodeID)

#define	CO_CAN_ID_TIME 0x100U
	0x100 Time message

#define	CO_CAN_ID_SRDO_1 0x0FFU
	0x0FF Default SRDO1 (+2*nodeID)

#define	CO_CAN_ID_TPDO_1 0x180U
	0x180 Default TPDO1 (+nodeID)

#define	CO_CAN_ID_RPDO_1 0x200U
	0x200 Default RPDO1 (+nodeID)

#define	CO_CAN_ID_TPDO_2 0x280U
	0x280 Default TPDO2 (+nodeID)

#define	CO_CAN_ID_RPDO_2 0x300U
	0x300 Default RPDO2 (+nodeID)

#define	CO_CAN_ID_TPDO_3 0x380U
	0x380 Default TPDO3 (+nodeID)

#define	CO_CAN_ID_RPDO_3 0x400U
	0x400 Default RPDO3 (+nodeID)

#define	CO_CAN_ID_TPDO_4 0x480U
	0x480 Default TPDO4 (+nodeID)

#define	CO_CAN_ID_RPDO_4 0x500U
	0x500 Default RPDO5 (+nodeID)

#define	CO_CAN_ID_SDO_SRV 0x580U
	0x580 SDO response from server (+nodeID)

#define	CO_CAN_ID_SDO_CLI 0x600U
	0x600 SDO request from client (+nodeID)

#define	CO_CAN_ID_HEARTBEAT 0x700U
	0x700 Heartbeat message

#define	CO_CAN_ID_LSS_SLV 0x7E4U
	0x7E4 LSS response from slave

#define	CO_CAN_ID_LSS_MST 0x7E5U
	0x7E5 LSS request from master

#define	CO_IS_RESTRICTED_CAN_ID(CAN_ID)
	Restricted CAN-IDs.

#define	CO_CAN_ERRTX_WARNING 0x0001U
	0x0001 CAN transmitter warning

#define	CO_CAN_ERRTX_PASSIVE 0x0002U
	0x0002 CAN transmitter passive

#define	CO_CAN_ERRTX_BUS_OFF 0x0004U
	0x0004 CAN transmitter bus off

#define	CO_CAN_ERRTX_OVERFLOW 0x0008U
	0x0008 CAN transmitter overflow

#define	CO_CAN_ERRTX_PDO_LATE 0x0080U
	0x0080 TPDO is outside sync window

#define	CO_CAN_ERRRX_WARNING 0x0100U
	0x0100 CAN receiver warning

#define	CO_CAN_ERRRX_PASSIVE 0x0200U
	0x0200 CAN receiver passive

#define	CO_CAN_ERRRX_OVERFLOW 0x0800U
	0x0800 CAN receiver overflow

#define	CO_CAN_ERR_WARN_PASSIVE 0x0303U
	0x0303 combination

Typedefs
typedef uint_fast8_t	bool_t
	Boolean data type for general use.

typedef signed char	int8_t
	INTEGER8 in CANopen (0002h), 8-bit signed integer.

typedef signed int	int16_t
	INTEGER16 in CANopen (0003h), 16-bit signed integer.

typedef signed long int	int32_t
	INTEGER32 in CANopen (0004h), 32-bit signed integer.

typedef signed long long int	int64_t
	INTEGER64 in CANopen (0015h), 64-bit signed integer.

typedef unsigned char	uint8_t
	UNSIGNED8 in CANopen (0005h), 8-bit unsigned integer.

typedef unsigned int	uint16_t
	UNSIGNED16 in CANopen (0006h), 16-bit unsigned integer.

typedef unsigned long int	uint32_t
	UNSIGNED32 in CANopen (0007h), 32-bit unsigned integer.

typedef unsigned long long int	uint64_t
	UNSIGNED64 in CANopen (001Bh), 64-bit unsigned integer.

typedef float	float32_t
	REAL32 in CANopen (0008h), single precision floating point value, 32-bit.

typedef double	float64_t
	REAL64 in CANopen (0011h), double precision floating point value, 64-bit.

Enumerations
enum	CO_ReturnError_t { CO_ERROR_NO = 0 , CO_ERROR_ILLEGAL_ARGUMENT = -1 , CO_ERROR_OUT_OF_MEMORY = -2 , CO_ERROR_TIMEOUT = -3 , CO_ERROR_ILLEGAL_BAUDRATE = -4 , CO_ERROR_RX_OVERFLOW = -5 , CO_ERROR_RX_PDO_OVERFLOW = -6 , CO_ERROR_RX_MSG_LENGTH = -7 , CO_ERROR_RX_PDO_LENGTH = -8 , CO_ERROR_TX_OVERFLOW = -9 , CO_ERROR_TX_PDO_WINDOW = -10 , CO_ERROR_TX_UNCONFIGURED = -11 , CO_ERROR_OD_PARAMETERS = -12 , CO_ERROR_DATA_CORRUPT = -13 , CO_ERROR_CRC = -14 , CO_ERROR_TX_BUSY = -15 , CO_ERROR_WRONG_NMT_STATE = -16 , CO_ERROR_SYSCALL = -17 , CO_ERROR_INVALID_STATE = -18 , CO_ERROR_NODE_ID_UNCONFIGURED_LSS }
	Return values of some CANopen functions. More...

Functions
void	CANrx_callback (void object, void rxMsg)
	CAN receive callback function which pre-processes received CAN message.

static uint16_t	CO_CANrxMsg_readIdent (void *rxMsg)
	CANrx_callback() can read CAN identifier from received CAN message.

static uint8_t	CO_CANrxMsg_readDLC (void *rxMsg)
	CANrx_callback() can read Data Length Code from received CAN message.

static const uint8_t *	CO_CANrxMsg_readData (void *rxMsg)
	CANrx_callback() can read pointer to data from received CAN message.

void	CO_CANsetConfigurationMode (void *CANptr)
	Request CAN configuration (stopped) mode and wait until it is set.

void	CO_CANsetNormalMode (CO_CANmodule_t *CANmodule)
	Request CAN normal (operational) mode and wait until it is set.

CO_ReturnError_t	CO_CANmodule_init (CO_CANmodule_t CANmodule, void CANptr, CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[], uint16_t txSize, uint16_t CANbitRate)
	Initialize CAN module object.

void	CO_CANmodule_disable (CO_CANmodule_t *CANmodule)
	Switch off CANmodule.

CO_ReturnError_t	CO_CANrxBufferInit (CO_CANmodule_t CANmodule, uint16_t index, uint16_t ident, uint16_t mask, bool_t rtr, void object, void(CANrx_callback)(void object, void *message))
	Configure CAN message receive buffer.

CO_CANtx_t *	CO_CANtxBufferInit (CO_CANmodule_t *CANmodule, uint16_t index, uint16_t ident, bool_t rtr, uint8_t noOfBytes, bool_t syncFlag)
	Configure CAN message transmit buffer.

CO_ReturnError_t	CO_CANsend (CO_CANmodule_t CANmodule, CO_CANtx_t buffer)
	Send CAN message.

void	CO_CANclearPendingSyncPDOs (CO_CANmodule_t *CANmodule)
	Clear all synchronous TPDOs from CAN module transmit buffers.

void	CO_CANmodule_process (CO_CANmodule_t *CANmodule)
	Process can module - verify CAN errors.

static uint8_t	CO_getUint8 (const void *buf)
	Get uint8_t value from memory buffer.

static uint16_t	CO_getUint16 (const void *buf)
	Get uint16_t value from memory buffer, see CO_getUint8.

static uint32_t	CO_getUint32 (const void *buf)
	Get uint32_t value from memory buffer, see CO_getUint8.

static uint8_t	CO_setUint8 (void *buf, uint8_t value)
	Write uint8_t value into memory buffer.

static uint8_t	CO_setUint16 (void *buf, uint16_t value)
	Write uint16_t value into memory buffer, see CO_setUint8.

static uint8_t	CO_setUint32 (void *buf, uint32_t value)
	Write uint32_t value into memory buffer, see CO_setUint8.

Detailed Description

Interface between CAN hardware and CANopenNode.

Author: Janez Paternoster

This file is part of https://github.com/CANopenNode/CANopenNode, a CANopen Stack.

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.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description