Refs #316. Implemented framework for LibOpenBLT's generic CAN driver module.
git-svn-id: https://svn.code.sf.net/p/openblt/code/trunk@309 5dc33758-31d5-4daf-9ae8-b24bf3d40d73
This commit is contained in:
Frank Voorburg
parent
fd5fc2dfc5
commit
49c50f77cf
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@ -105,6 +105,7 @@ set(
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LIB_SRCS
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openblt.c
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session.c
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candriver.c
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xcploader.c
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xcptpuart.c
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firmware.c
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@ -0,0 +1,208 @@
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/************************************************************************************//**
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* \file candriver.c
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* \brief Generic CAN driver source file.
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* \ingroup Session
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* \internal
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*----------------------------------------------------------------------------------------
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* C O P Y R I G H T
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*----------------------------------------------------------------------------------------
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* Copyright (c) 2017 by Feaser http://www.feaser.com All rights reserved
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*
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*----------------------------------------------------------------------------------------
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* L I C E N S E
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*----------------------------------------------------------------------------------------
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* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by the Free
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* Software Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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*
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* You have received a copy of the GNU General Public License along with OpenBLT. It
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* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
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*
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* \endinternal
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****************************************************************************************/
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/****************************************************************************************
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* Include files
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****************************************************************************************/
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#include <assert.h> /* for assertions */
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#include <stdint.h> /* for standard integer types */
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#include <stddef.h> /* for NULL declaration */
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#include <stdbool.h> /* for boolean type */
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#include "candriver.h" /* Generic CAN driver module */
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/****************************************************************************************
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* Local data declarations
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****************************************************************************************/
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/** \brief Pointer to the CAN interface that is linked. */
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static tCanInterface const * canIfPtr;
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/** \brief Flag to store the connection status. */
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static bool canConnected;
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/************************************************************************************//**
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** \brief Initializes the CAN module. Typically called once at program startup.
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** \param settings Pointer to the CAN module settings.
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** \param interface Pointer to the CAN interface to link.
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**
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****************************************************************************************/
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void CanInit(tCanSettings const * settings, tCanInterface const * const interface)
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{
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/* Initialize locals. */
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canIfPtr = NULL;
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canConnected = false;
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/* Check parameters. */
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assert(settings != NULL);
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assert(interface != NULL);
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/* Only continue with valid parameters. */
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if ( (settings != NULL) && (interface != NULL) ) /*lint !e774 */
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{
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/* Link the CAN interface. */
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canIfPtr = interface;
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/* Initialize the CAN interface. */
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canIfPtr->Init(settings);
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}
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} /*** end of CanInit ***/
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/************************************************************************************//**
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** \brief Terminates the CAN module. Typically called once at program cleanup.
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**
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****************************************************************************************/
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void CanTerminate(void)
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{
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Make sure to disconnect first. */
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CanDisconnect();
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/* Terminate the CAN interface. */
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canIfPtr->Terminate();
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/* Unlink the CAN interface. */
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canIfPtr = NULL;
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}
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} /*** end of CanTerminate ***/
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/************************************************************************************//**
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** \brief Connects the CAN module.
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** \return True if connected, false otherwise.
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**
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****************************************************************************************/
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bool CanConnect(void)
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{
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bool result = false;
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Make sure that the CAN module is in the disconnected state. */
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CanDisconnect();
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/* Connect the CAN interface. */
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result = canIfPtr->Connect();
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/* Update the connection state. */
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canConnected = result;
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}
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/* Give the result back to the caller. */
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return result;
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} /*** end of CanConnect ***/
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/************************************************************************************//**
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** \brief Disconnects the CAN module.
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**
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****************************************************************************************/
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void CanDisconnect(void)
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{
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Only disconnect if actually connected. */
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if (canConnected)
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{
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/* Disconnect CAN interface. */
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canIfPtr->Disconnect();
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/* Update the connection state. */
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canConnected = false;
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}
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}
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} /*** end of CanDisconnect ***/
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/************************************************************************************//**
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** \brief Obtains the connection state of the CAN module.
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** \return True if connected, false otherwise.
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**
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****************************************************************************************/
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bool CanIsConnected(void)
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{
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/* Obtain and return the connection state to the caller. */
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return canConnected;
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} /*** end of CanIsConnected ***/
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/************************************************************************************//**
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** \brief Submits a message for transmission on the CAN bus.
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** \param msg Pointer to CAN message structure.
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** \return True if successful, false otherwise.
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**
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****************************************************************************************/
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bool CanTransmit(tCanMsg const * msg)
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{
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bool result = false;
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Only transmit the message if connected. */
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if (canConnected)
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{
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result = canIfPtr->Transmit(msg);
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}
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}
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/* Give the result back to the caller. */
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return result;
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} /*** end of CanTransmit ***/
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/************************************************************************************//**
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** \brief Registers the event callback functions that should be called by the CAN
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** module.
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** \param events Pointer to structure with event callback function pointers.
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**
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****************************************************************************************/
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void CanRegisterEvents(tCanEvents const * events)
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{
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Register the events with the CAN interface. */
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canIfPtr->RegisterEvents(events);
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}
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} /*** end of CanRegisterEvents ***/
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/*********************************** end of candriver.c ********************************/
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@ -0,0 +1,148 @@
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/************************************************************************************//**
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* \file candriver.h
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* \brief Generic CAN driver header file.
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* \ingroup Session
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* \internal
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*----------------------------------------------------------------------------------------
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* C O P Y R I G H T
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*----------------------------------------------------------------------------------------
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* Copyright (c) 2017 by Feaser http://www.feaser.com All rights reserved
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*
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*----------------------------------------------------------------------------------------
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* L I C E N S E
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*----------------------------------------------------------------------------------------
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* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by the Free
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* Software Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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*
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* You have received a copy of the GNU General Public License along with OpenBLT. It
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* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
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*
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* \endinternal
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****************************************************************************************/
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#ifndef CANDRIVER_H
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#define CANDRIVER_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/****************************************************************************************
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* Macro definitions
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****************************************************************************************/
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/** \brief Maximum number of data bytes in a CAN message. */
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#define CAN_MSG_MAX_LEN (8u)
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/** Bit mask that configures a CAN message identifier as 29-bit extended as opposed to
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* 11-bit standard. Whenever this bit is set in the CAN identifier field of tCanMsg,
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* then the CAN identifier is configured for 29-bit CAN extended.
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*/
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#define CAN_MSG_EXT_ID_MASK (0x80000000u)
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/****************************************************************************************
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* Type definitions
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****************************************************************************************/
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/** \brief Enumeration of the supported baudrates. */
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typedef enum
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{
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CAN_BR10K = 0, /**< 10 kbits/sec */
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CAN_BR20K = 1, /**< 20 kbits/sec */
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CAN_BR50K = 2, /**< 50 kbits/sec */
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CAN_BR100K = 3, /**< 100 kbits/sec */
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CAN_BR125K = 4, /**< 125 kbits/sec */
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CAN_BR250K = 5, /**< 250 kbits/sec */
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CAN_BR500K = 6, /**< 500 kbits/sec */
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CAN_BR800K = 7, /**< 800 kbits/sec */
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CAN_BR1M = 8 /**< 1 Mbits/sec */
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} tCanBaudrate;
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/** \brief Layout of a CAN message. Note that \ref CAN_MSG_EXT_ID_MASK can be used to
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* configure the CAN message identifier as 29-bit extended.
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*/
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typedef struct t_can_msg
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{
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uint32_t id; /**< CAN message identifier. */
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uint8_t dlc; /**< CAN message data length code. */
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uint8_t data[CAN_MSG_MAX_LEN]; /**< Array with CAN message data. */
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} tCanMsg;
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/** \brief Type to group of CAN interface related settings. The device name specifies
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* the name of the CAN interface device. For some CAN interfaces this is don't
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* care, but for other absolutely necessar, for example Linux SocketCAN. The
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* channel specifies the channel on the CAN interface, in case it has multiple
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* CAN channels. The baudrate specifies the communication speed on the CAN
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* network. The code and mask values configure the message reception acceptance
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* filter. A mask bit value of 0 means don't care. The code part of the filter
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* determines what bit values to match in the received message identifier.
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* Example 1: Receive all CAN identifiers
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* .code = 0x00000000
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* .mask = 0x00000000
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* Example 2: Receive only CAN identifier 0x124 (11-bit or 29-bit)
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* .code = 0x00000124
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* .mask = 0x00000124
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* Example 3: Receive only CAN identifier 0x124 (11-bit)
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* .code = 0x00000124
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* .mask = 0x80000124
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* Example 4: Receive only CAN identifier 0x124 (29-bit)
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* .code = 0x80000124
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* .mask = 0x80000124
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*/
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typedef struct t_can_settings
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{
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char const * devicename; /**< CAN interface device name (pcanusb, vcan0).*/
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uint32_t channel; /**< Zero based CAN channel index. */
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tCanBaudrate baudrate; /**< Communication speed. */
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uint32_t code; /**< Code of the reception acceptance filter. */
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uint32_t mask; /**< Mask of the reception acceptance filter. */
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} tCanSettings;
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/** \brief Structure with CAN event callback functions. */
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typedef struct t_can_events
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{
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/** \brief Event function that should be called when a message was transmitted. */
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void (*MsgTxed) (tCanMsg const * msg);
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/** \brief Event function that should be called when a message was received. */
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void (*MsgRxed) (tCanMsg const * msg);
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} tCanEvents;
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/** \brief CAN interface type. */
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typedef struct t_can_interface
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{
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/** \brief Initialization of the CAN interface. */
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void (*Init) (tCanSettings const * settings);
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/** \brief Terminates the CAN interface. */
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void (*Terminate) (void);
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/** \brief Connects the CAN interface to the CAN bus. */
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bool (*Connect) (void);
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/** \brief Disconnects the CAN interface from the CAN bus. */
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void (*Disconnect) (void);
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/** \brief Submits a CAN message for transmission. */
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bool (*Transmit) (tCanMsg const * msg);
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/** \brief Registers the event callback functions. */
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void (*RegisterEvents) (tCanEvents const * events);
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} tCanInterface;
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/***************************************************************************************
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* Function prototypes
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****************************************************************************************/
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void CanInit(tCanSettings const * settings, tCanInterface const * const interface);
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void CanTerminate(void);
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bool CanConnect(void);
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void CanDisconnect(void);
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bool CanIsConnected(void);
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bool CanTransmit(tCanMsg const * msg);
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void CanRegisterEvents(tCanEvents const * events);
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#ifdef __cplusplus
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}
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#endif
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#endif /* CANDRIVER_H */
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/*********************************** end of candriver.h ********************************/
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@ -35,7 +35,7 @@ extern "C" {
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/****************************************************************************************
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* Type definitions
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****************************************************************************************/
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/** \brief Enumaration of the supported baudrates. */
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/** \brief Enumeration of the supported baudrates. */
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typedef enum
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{
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SERIALPORT_BR9600 = 0, /**< 9600 bits/sec */
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