CO_driver_target.h File Reference

CANopenNode v4 target definitions for the generic HardFOC driver (CO_driver_hardfoc.c). More...

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "hf_co_driver.h"

Go to the source code of this file.

Classes
struct	CO_CANrxMsg_t
struct	CO_CANrx_t
struct	CO_CANtx_t
struct	CO_CANmodule_t
struct	CO_storage_entry_t

Macros
#define	CO_LITTLE_ENDIAN
#define	CO_SWAP_16(x)   (x)
#define	CO_SWAP_32(x)   (x)
#define	CO_SWAP_64(x)   (x)
#define	CO_CAN_MAX_LEN   HF_CO_CAN_MAX_LEN
#define	CO_CANrxMsg_readIdent(msg)   ((uint16_t)(((const CO_CANrxMsg_t*)(msg))->ident & 0x07FFU))
#define	CO_CANrxMsg_readDLC(msg)   (((const CO_CANrxMsg_t*)(msg))->dlc)
#define	CO_CANrxMsg_readData(msg)   (((const CO_CANrxMsg_t*)(msg))->data)
#define	CO_LOCK_CAN_SEND(CAN_MODULE)   hf_co_lock(CAN_MODULE)
#define	CO_UNLOCK_CAN_SEND(CAN_MODULE)   hf_co_unlock(CAN_MODULE)
#define	CO_LOCK_EMCY(CAN_MODULE)   hf_co_lock(CAN_MODULE)
#define	CO_UNLOCK_EMCY(CAN_MODULE)   hf_co_unlock(CAN_MODULE)
#define	CO_LOCK_OD(CAN_MODULE)   hf_co_lock(CAN_MODULE)
#define	CO_UNLOCK_OD(CAN_MODULE)   hf_co_unlock(CAN_MODULE)
#define	CO_MemoryBarrier()   __sync_synchronize()
#define	CO_FLAG_READ(rxNew)   ((rxNew) != NULL)
#define	CO_FLAG_SET(rxNew)
#define	CO_FLAG_CLEAR(rxNew)

Typedefs
typedef uint_fast8_t	bool_t
typedef float	float32_t
typedef double	float64_t

Functions
void	hf_co_lock (CO_CANmodule_t *CANmodule)
void	hf_co_unlock (CO_CANmodule_t *CANmodule)

Detailed Description

CANopenNode v4 target definitions for the generic HardFOC driver (CO_driver_hardfoc.c).

This directory is on the include path instead of CANopenNode's example/, so the stack picks this file up. It provides:

• CO_CAN_MAX_LEN: payload size of the RX/TX buffers, 8 on classic builds and 64 with HF_CO_CAN_FD=1 (nothing above the port binding assumes 8 bytes);
• the RX/TX buffer and CANmodule types;
• the CO locks: one recursive mutex per CANmodule (FreeRTOS on target, pthreads on a POSIX host, nothing on a bare build);
• the application's stack configuration: hf_co_app_config.h is included first when the application puts one on the include path (HF_CORE_CANOPENNODE_CONFIG_DIR), so its CO_CONFIG_* values win over the module defaults.

SPDX-License-Identifier: GPL-3.0-or-later

Macro Definition Documentation

CO_CAN_MAX_LEN

#define CO_CAN_MAX_LEN   HF_CO_CAN_MAX_LEN

Payload bytes of every CANopenNode RX/TX buffer.

CO_CANrxMsg_readData

#define CO_CANrxMsg_readData

(

msg

)

(((const CO_CANrxMsg_t*)(msg))->data)

CO_CANrxMsg_readDLC

#define CO_CANrxMsg_readDLC

(

msg

)

(((const CO_CANrxMsg_t*)(msg))->dlc)

CO_CANrxMsg_readIdent

#define CO_CANrxMsg_readIdent

(

msg

)

((uint16_t)(((const CO_CANrxMsg_t*)(msg))->ident & 0x07FFU))

CO_FLAG_CLEAR

#define CO_FLAG_CLEAR

(

rxNew

)

Value:

  do {                                                                                                                 \
    CO_MemoryBarrier();                                                                                                \
    (rxNew) = NULL;                                                                                                    \
  } while (0)

CO_FLAG_READ

#define CO_FLAG_READ

(

rxNew

)

((rxNew) != NULL)

CO_FLAG_SET

#define CO_FLAG_SET

(

rxNew

)

Value:

  do {                                                                                                                 \
    CO_MemoryBarrier();                                                                                                \
    (rxNew) = (void*)1L;                                                                                               \
  } while (0)

CO_LITTLE_ENDIAN

#define CO_LITTLE_ENDIAN

CO_LOCK_CAN_SEND

#define CO_LOCK_CAN_SEND

(

CAN_MODULE

)

hf_co_lock(CAN_MODULE)

CO_LOCK_EMCY

#define CO_LOCK_EMCY

(

CAN_MODULE

)

hf_co_lock(CAN_MODULE)

CO_LOCK_OD

#define CO_LOCK_OD

(

CAN_MODULE

)

hf_co_lock(CAN_MODULE)

CO_MemoryBarrier

#define CO_MemoryBarrier

(

)

__sync_synchronize()

CO_SWAP_16

#define CO_SWAP_16

(

x

)

(x)

CO_SWAP_32

#define CO_SWAP_32

(

x

)

(x)

CO_SWAP_64

#define CO_SWAP_64

(

x

)

(x)

CO_UNLOCK_CAN_SEND

#define CO_UNLOCK_CAN_SEND

(

CAN_MODULE

)

hf_co_unlock(CAN_MODULE)

CO_UNLOCK_EMCY

#define CO_UNLOCK_EMCY

(

CAN_MODULE

)

hf_co_unlock(CAN_MODULE)

CO_UNLOCK_OD

#define CO_UNLOCK_OD

(

CAN_MODULE

)

hf_co_unlock(CAN_MODULE)

Typedef Documentation

bool_t

typedef uint_fast8_t bool_t

float32_t

typedef float float32_t

float64_t

typedef double float64_t

Function Documentation

hf_co_lock()

void hf_co_lock

(

CO_CANmodule_t *

CANmodule

)

Take / release the CANmodule lock (recursive; never held across a blocking call).

hf_co_unlock()

void hf_co_unlock

(

CO_CANmodule_t *

CANmodule

)