CO_driver_target.h

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#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>
#include <endian.h>
#ifndef CO_SINGLE_THREAD
#include <pthread.h>
#endif
#include <linux/can.h>
#include <net/if.h>
#include <sys/epoll.h>
 
#ifdef CO_DRIVER_CUSTOM
#include "CO_driver_custom.h"
#endif
#include "CO_error.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* TODO some parts are disabled in non-finished pre-release */
#define CO_CONFIG_HB_CONS (0)
#define CO_CONFIG_TIME (0)
#define CO_CONFIG_SYNC (0)
#define CO_CONFIG_PDO (0)
#define CO_CONFIG_TRACE (0)
 
 
/* Stack configuration override default values.
 * For more information see file CO_config.h. */
#ifdef CO_SINGLE_THREAD
#define CO_CONFIG_FLAG_CALLBACK_PRE_USED 0
#else
#define CO_CONFIG_FLAG_CALLBACK_PRE_USED CO_CONFIG_FLAG_CALLBACK_PRE
#endif
 
#ifndef CO_CONFIG_NMT
#define CO_CONFIG_NMT (CO_CONFIG_NMT_CALLBACK_CHANGE | \
                       CO_CONFIG_NMT_MASTER | \
                       CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                       CO_CONFIG_FLAG_TIMERNEXT)
#endif
 
#ifndef CO_CONFIG_HB_CONS
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | \
                           CO_CONFIG_HB_CONS_CALLBACK_CHANGE | \
                           CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                           CO_CONFIG_FLAG_TIMERNEXT)
#endif
 
#ifndef CO_CONFIG_EM
#define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | \
                      CO_CONFIG_EM_PROD_CONFIGURABLE | \
                      CO_CONFIG_EM_PROD_INHIBIT | \
                      CO_CONFIG_EM_HISTORY | \
                      CO_CONFIG_EM_STATUS_BITS | \
                      CO_CONFIG_EM_CONSUMER | \
                      CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                      CO_CONFIG_FLAG_TIMERNEXT)
#endif
 
#ifndef CO_CONFIG_SDO_SRV
#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | \
                           CO_CONFIG_SDO_SRV_BLOCK | \
                           CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                           CO_CONFIG_FLAG_TIMERNEXT | \
                           CO_CONFIG_FLAG_OD_DYNAMIC)
#endif
 
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 900
#endif
 
#ifndef CO_CONFIG_SDO_CLI
#define CO_CONFIG_SDO_CLI (CO_CONFIG_SDO_CLI_ENABLE | \
                           CO_CONFIG_SDO_CLI_SEGMENTED | \
                           CO_CONFIG_SDO_CLI_BLOCK | \
                           CO_CONFIG_SDO_CLI_LOCAL | \
                           CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                           CO_CONFIG_FLAG_TIMERNEXT | \
                           CO_CONFIG_FLAG_OD_DYNAMIC)
#endif
 
#ifndef CO_CONFIG_TIME
#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | \
                        CO_CONFIG_TIME_PRODUCER | \
                        CO_CONFIG_FLAG_CALLBACK_PRE_USED)
#endif
 
#ifndef CO_CONFIG_SYNC
#define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | \
                        CO_CONFIG_SYNC_PRODUCER | \
                        CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                        CO_CONFIG_FLAG_TIMERNEXT)
#endif
 
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO (CO_CONFIG_RPDO_ENABLE | \
                       CO_CONFIG_TPDO_ENABLE | \
                       CO_CONFIG_PDO_SYNC_ENABLE | \
                       CO_CONFIG_RPDO_CALLS_EXTENSION | \
                       CO_CONFIG_TPDO_CALLS_EXTENSION | \
                       CO_CONFIG_FLAG_CALLBACK_PRE_USED | \
                       CO_CONFIG_FLAG_TIMERNEXT)
#endif
 
#ifndef CO_CONFIG_LEDS
#define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | \
                        CO_CONFIG_FLAG_TIMERNEXT)
#endif
 
#ifndef CO_CONFIG_LSS
#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | \
                       CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND | \
                       CO_CONFIG_LSS_MASTER | \
                       CO_CONFIG_FLAG_CALLBACK_PRE_USED)
#endif
 
#ifndef CO_CONFIG_GTW
#define CO_CONFIG_GTW (CO_CONFIG_GTW_ASCII | \
                       CO_CONFIG_GTW_ASCII_SDO | \
                       CO_CONFIG_GTW_ASCII_NMT | \
                       CO_CONFIG_GTW_ASCII_LSS | \
                       CO_CONFIG_GTW_ASCII_LOG | \
                       CO_CONFIG_GTW_ASCII_ERROR_DESC | \
                       CO_CONFIG_GTW_ASCII_PRINT_HELP | \
                       CO_CONFIG_GTW_ASCII_PRINT_LEDS)
#define CO_CONFIG_GTW_BLOCK_DL_LOOP 3
#define CO_CONFIG_GTWA_COMM_BUF_SIZE 2000
#define CO_CONFIG_GTWA_LOG_BUF_SIZE 10000
#endif
 
#ifndef CO_CONFIG_CRC16
#define CO_CONFIG_CRC16 (CO_CONFIG_CRC16_ENABLE)
#endif
 
#ifndef CO_CONFIG_FIFO
#define CO_CONFIG_FIFO (CO_CONFIG_FIFO_ENABLE | \
                        CO_CONFIG_FIFO_ALT_READ | \
                        CO_CONFIG_FIFO_CRC16_CCITT | \
                        CO_CONFIG_FIFO_ASCII_COMMANDS | \
                        CO_CONFIG_FIFO_ASCII_DATATYPES)
#endif
 
#ifndef CO_CONFIG_TRACE
#define CO_CONFIG_TRACE (CO_CONFIG_TRACE_ENABLE)
#endif
 
 
/* Print debug info from some internal parts of the stack */
#if (CO_CONFIG_DEBUG) & CO_CONFIG_DEBUG_COMMON
#include <stdio.h>
#include <syslog.h>
#define CO_DEBUG_COMMON(msg) log_printf(LOG_DEBUG, DBG_CO_DEBUG, msg);
#endif
 
 
/* Macro for passing additional information about error, see CO_driver.h. */
#define CO_errinfo(CANmodule, err) CANmodule->errinfo = err
 
#ifndef CO_DRIVER_MULTI_INTERFACE
#define CO_DRIVER_MULTI_INTERFACE 0
#endif
 
#ifndef CO_DRIVER_ERROR_REPORTING
#define CO_DRIVER_ERROR_REPORTING 1
#endif
 
/* skip this section for Doxygen, because it is documented in CO_driver.h */
#ifndef CO_DOXYGEN
 
/* Basic definitions */
#ifdef __BYTE_ORDER
#if __BYTE_ORDER == __LITTLE_ENDIAN
    #define CO_LITTLE_ENDIAN
    #define CO_SWAP_16(x) x
    #define CO_SWAP_32(x) x
    #define CO_SWAP_64(x) x
#else
    #define CO_BIG_ENDIAN
    #include <byteswap.h>
    #define CO_SWAP_16(x) bswap_16(x)
    #define CO_SWAP_32(x) bswap_32(x)
    #define CO_SWAP_64(x) bswap_64(x)
#endif
#endif
/* #define CO_USE_LEDS */
/* 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 unsigned char           bool_t;
typedef float                   float32_t;
typedef double                  float64_t;
typedef char                    char_t;
typedef unsigned char           oChar_t;
typedef unsigned char           domain_t;
 
 
/* CAN receive message structure as aligned in socketCAN. */
typedef struct {
    uint32_t ident;
    uint8_t DLC;
    uint8_t padding[3];
    uint8_t data[8];
} CO_CANrxMsg_t;
 
/* Access to received CAN message */
static inline uint16_t CO_CANrxMsg_readIdent(void *rxMsg) {
    CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
    return (uint16_t) (rxMsgCasted->ident & CAN_SFF_MASK);
}
static inline uint8_t CO_CANrxMsg_readDLC(void *rxMsg) {
    CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
    return (uint8_t) (rxMsgCasted->DLC);
}
static inline uint8_t *CO_CANrxMsg_readData(void *rxMsg) {
    CO_CANrxMsg_t *rxMsgCasted = (CO_CANrxMsg_t *)rxMsg;
    return (uint8_t *) (rxMsgCasted->data);
}
 
 
/* Received message object */
typedef struct {
    uint32_t ident;
    uint32_t mask;
    void *object;
    void (*CANrx_callback)(void *object, void *message);
    int can_ifindex;           /* CAN Interface index from last message */
    struct timespec     timestamp;      /* time of reception of last message */
} CO_CANrx_t;
 
/* Transmit message object as aligned in socketCAN. */
typedef struct {
    uint32_t ident;
    uint8_t DLC;
    uint8_t padding[3];     /* ensure alignment */
    uint8_t data[8];
    volatile bool_t bufferFull; /* not used */
    volatile bool_t syncFlag;   /* info about transmit message */
    int can_ifindex;            /* CAN Interface index to use */
} CO_CANtx_t;
 
 
/* Max COB ID for standard frame format */
#define CO_CAN_MSG_SFF_MAX_COB_ID (1 << CAN_SFF_ID_BITS)
 
/* CAN interface object (CANptr), passed to CO_CANinit() */
typedef struct {
    int can_ifindex;            /* CAN Interface index */
    int epoll_fd;               /* File descriptor for epoll, which waits for
                                   CAN receive event */
} CO_CANptrSocketCan_t;
 
/* socketCAN interface object */
typedef struct {
    int can_ifindex;            /* CAN Interface index */
    char ifName[IFNAMSIZ];      /* CAN Interface name */
    int fd;                     /* socketCAN file descriptor */
#if CO_DRIVER_ERROR_REPORTING > 0 || defined CO_DOXYGEN
    CO_CANinterfaceErrorhandler_t errorhandler;
#endif
} CO_CANinterface_t;
 
/* CAN module object */
typedef struct {
    /* List of can interfaces. From CO_CANmodule_init() or one per
     *  CO_CANmodule_addInterface() call */
    CO_CANinterface_t *CANinterfaces;
    uint32_t CANinterfaceCount; /* interface count */
    CO_CANrx_t *rxArray;
    uint16_t rxSize;
    struct can_filter *rxFilter;/* socketCAN filter list, one per rx buffer */
    uint32_t rxDropCount;       /* messages dropped on rx socket queue */
    CO_CANtx_t *txArray;
    uint16_t txSize;
    uint16_t CANerrorStatus;
    int32_t errinfo;
    volatile bool_t CANnormal;
    int epoll_fd;               /* File descriptor for epoll, which waits for
                                   CAN receive event */
#if CO_DRIVER_MULTI_INTERFACE > 0 || defined CO_DOXYGEN
    /* Lookup tables Cob ID to rx/tx array index.
     *  Only feasible for SFF Messages. */
    uint32_t rxIdentToIndex[CO_CAN_MSG_SFF_MAX_COB_ID];
    uint32_t txIdentToIndex[CO_CAN_MSG_SFF_MAX_COB_ID];
#endif
} CO_CANmodule_t;
 
#ifdef CO_SINGLE_THREAD
#define CO_LOCK_CAN_SEND()
#define CO_UNLOCK_CAN_SEND()
#define CO_LOCK_EMCY()
#define CO_UNLOCK_EMCY()
#define CO_LOCK_OD()
#define CO_UNLOCK_OD()
#define CO_MemoryBarrier()
#else
 
/* (un)lock critical section in CO_CANsend() - unused */
#define CO_LOCK_CAN_SEND()
#define CO_UNLOCK_CAN_SEND()
 
/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
extern pthread_mutex_t CO_EMCY_mutex;
static inline int CO_LOCK_EMCY() {
    return pthread_mutex_lock(&CO_EMCY_mutex);
}
static inline void CO_UNLOCK_EMCY() {
    (void)pthread_mutex_unlock(&CO_EMCY_mutex);
}
 
/* (un)lock critical section when accessing Object Dictionary */
extern pthread_mutex_t CO_OD_mutex;
static inline int CO_LOCK_OD() {
    return pthread_mutex_lock(&CO_OD_mutex);
}
static inline void CO_UNLOCK_OD() {
    (void)pthread_mutex_unlock(&CO_OD_mutex);
}
 
/* Synchronization between CAN receive and message processing threads. */
#define CO_MemoryBarrier() {__sync_synchronize();}
#endif /* CO_SINGLE_THREAD */
 
#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;}
 
#endif /* #ifndef CO_DOXYGEN */
 
 
#if CO_DRIVER_MULTI_INTERFACE > 0 || defined CO_DOXYGEN
 
CO_ReturnError_t CO_CANmodule_addInterface(CO_CANmodule_t *CANmodule,
                                           int can_ifindex);
 
bool_t CO_CANrxBuffer_getInterface(CO_CANmodule_t *CANmodule,
                                   uint16_t ident,
                                   const void **const CANptrRx,
                                   struct timespec *timestamp);
 
CO_ReturnError_t CO_CANtxBuffer_setInterface(CO_CANmodule_t *CANmodule,
                                             uint16_t ident,
                                             const void *CANptrTx);
#endif /* CO_DRIVER_MULTI_INTERFACE */
 
 
bool_t CO_CANrxFromEpoll(CO_CANmodule_t *CANmodule,
                         struct epoll_event *ev,
                         CO_CANrxMsg_t *buffer,
                         int32_t *msgIndex);
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* CO_DRIVER_TARGET_H */