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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 | /* * Copyright (c) 2019 Vestas Wind Systems A/S * * SPDX-License-Identifier: Apache-2.0 */ #include <zephyr.h> #include <drivers/can.h> #include <init.h> #include <sys/util.h> #include <CO_driver.h> #include <CO_Emergency.h> #include <CO_SDO.h> #define LOG_LEVEL CONFIG_CANOPEN_LOG_LEVEL #include <logging/log.h> LOG_MODULE_REGISTER(canopen_driver); K_THREAD_STACK_DEFINE(canopen_tx_workq_stack, CONFIG_CANOPEN_TX_WORKQUEUE_STACK_SIZE); struct k_work_q canopen_tx_workq; struct canopen_tx_work_container { struct k_work work; CO_CANmodule_t *CANmodule; }; struct canopen_tx_work_container canopen_tx_queue; K_MUTEX_DEFINE(canopen_send_mutex); K_MUTEX_DEFINE(canopen_emcy_mutex); K_MUTEX_DEFINE(canopen_co_mutex); inline void canopen_send_lock(void) { k_mutex_lock(&canopen_send_mutex, K_FOREVER); } inline void canopen_send_unlock(void) { k_mutex_unlock(&canopen_send_mutex); } inline void canopen_emcy_lock(void) { k_mutex_lock(&canopen_emcy_mutex, K_FOREVER); } inline void canopen_emcy_unlock(void) { k_mutex_unlock(&canopen_emcy_mutex); } inline void canopen_od_lock(void) { k_mutex_lock(&canopen_co_mutex, K_FOREVER); } inline void canopen_od_unlock(void) { k_mutex_unlock(&canopen_co_mutex); } static void canopen_detach_all_rx_filters(CO_CANmodule_t *CANmodule) { u16_t i; if (!CANmodule || !CANmodule->rx_array || !CANmodule->configured) { return; } for (i = 0U; i < CANmodule->rx_size; i++) { if (CANmodule->rx_array[i].filter_id != CAN_NO_FREE_FILTER) { can_detach(CANmodule->dev, CANmodule->rx_array[i].filter_id); CANmodule->rx_array[i].filter_id = CAN_NO_FREE_FILTER; } } } static void canopen_rx_isr_callback(struct zcan_frame *msg, void *arg) { CO_CANrx_t *buffer = (CO_CANrx_t *)arg; CO_CANrxMsg_t rxMsg; if (!buffer || !buffer->pFunct) { LOG_ERR("failed to process CAN rx isr callback"); return; } rxMsg.ident = msg->std_id; rxMsg.DLC = msg->dlc; memcpy(rxMsg.data, msg->data, msg->dlc); buffer->pFunct(buffer->object, &rxMsg); } static void canopen_tx_isr_callback(u32_t error_flags, void *arg) { CO_CANmodule_t *CANmodule = arg; if (!CANmodule) { LOG_ERR("failed to process CAN tx isr callback"); return; } if (error_flags == CAN_TX_OK) { CANmodule->first_tx_msg = false; } k_work_submit_to_queue(&canopen_tx_workq, &canopen_tx_queue.work); } static void canopen_tx_retry(struct k_work *item) { struct canopen_tx_work_container *container = CONTAINER_OF(item, struct canopen_tx_work_container, work); CO_CANmodule_t *CANmodule = container->CANmodule; struct zcan_frame msg; CO_CANtx_t *buffer; int err; u16_t i; CO_LOCK_CAN_SEND(); for (i = 0; i < CANmodule->tx_size; i++) { buffer = &CANmodule->tx_array[i]; if (buffer->bufferFull) { msg.id_type = CAN_STANDARD_IDENTIFIER; msg.std_id = buffer->ident; msg.dlc = buffer->DLC; msg.rtr = (buffer->rtr ? 1 : 0); memcpy(msg.data, buffer->data, buffer->DLC); err = can_send(CANmodule->dev, &msg, K_NO_WAIT, canopen_tx_isr_callback, CANmodule); if (err == CAN_TIMEOUT) { break; } else if (err != CAN_TX_OK) { LOG_ERR("failed to send CAN frame (err %d)", err); CO_errorReport(CANmodule->em, CO_EM_GENERIC_SOFTWARE_ERROR, CO_EMC_COMMUNICATION, 0); } buffer->bufferFull = false; } } CO_UNLOCK_CAN_SEND(); } void CO_CANsetConfigurationMode(void *CANdriverState) { /* No operation */ } void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule) { CANmodule->CANnormal = true; } CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule, void *CANdriverState, CO_CANrx_t rxArray[], u16_t rxSize, CO_CANtx_t txArray[], u16_t txSize, u16_t CANbitRate) { u16_t i; int err; LOG_DBG("rxSize = %d, txSize = %d", rxSize, txSize); if (!CANmodule || !rxArray || !txArray || !CANdriverState) { LOG_ERR("failed to initialize CAN module"); return CO_ERROR_ILLEGAL_ARGUMENT; } if (rxSize > CONFIG_CAN_MAX_FILTER) { LOG_ERR("insufficient number of concurrent CAN RX filters" " (needs %d, %d available)", rxSize, CONFIG_CAN_MAX_FILTER); return CO_ERROR_OUT_OF_MEMORY; } else if (rxSize < CONFIG_CAN_MAX_FILTER) { LOG_DBG("excessive number of concurrent CAN RX filters enabled" " (needs %d, %d available)", rxSize, CONFIG_CAN_MAX_FILTER); } canopen_detach_all_rx_filters(CANmodule); canopen_tx_queue.CANmodule = CANmodule; CANmodule->dev = CANdriverState; CANmodule->rx_array = rxArray; CANmodule->rx_size = rxSize; CANmodule->tx_array = txArray; CANmodule->tx_size = txSize; CANmodule->CANnormal = false; CANmodule->first_tx_msg = true; CANmodule->errors = 0; CANmodule->em = NULL; for (i = 0U; i < rxSize; i++) { rxArray[i].ident = 0U; rxArray[i].pFunct = NULL; rxArray[i].filter_id = CAN_NO_FREE_FILTER; } for (i = 0U; i < txSize; i++) { txArray[i].bufferFull = false; } err = can_configure(CANmodule->dev, CAN_NORMAL_MODE, KHZ(CANbitRate)); if (err) { LOG_ERR("failed to configure CAN interface (err %d)", err); return CO_ERROR_ILLEGAL_ARGUMENT; } CANmodule->configured = true; return CO_ERROR_NO; } void CO_CANmodule_disable(CO_CANmodule_t *CANmodule) { int err; if (!CANmodule || !CANmodule->dev) { return; } canopen_detach_all_rx_filters(CANmodule); err = can_configure(CANmodule->dev, CAN_SILENT_MODE, 0); if (err) { LOG_ERR("failed to disable CAN interface (err %d)", err); } } u16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg) { return rxMsg->ident; } CO_ReturnError_t CO_CANrxBufferInit(CO_CANmodule_t *CANmodule, u16_t index, u16_t ident, u16_t mask, bool_t rtr, void *object, CO_CANrxBufferCallback_t pFunct) { struct zcan_filter filter; CO_CANrx_t *buffer; if (CANmodule == NULL) { return CO_ERROR_ILLEGAL_ARGUMENT; } if (!pFunct || (index >= CANmodule->rx_size)) { LOG_ERR("failed to initialize CAN rx buffer, illegal argument"); CO_errorReport(CANmodule->em, CO_EM_GENERIC_SOFTWARE_ERROR, CO_EMC_SOFTWARE_INTERNAL, 0); return CO_ERROR_ILLEGAL_ARGUMENT; } buffer = &CANmodule->rx_array[index]; buffer->object = object; buffer->pFunct = pFunct; filter.id_type = CAN_STANDARD_IDENTIFIER; filter.std_id = ident; filter.std_id_mask = mask; filter.rtr = (rtr ? 1 : 0); filter.rtr_mask = 1; if (buffer->filter_id != CAN_NO_FREE_FILTER) { can_detach(CANmodule->dev, buffer->filter_id); } buffer->filter_id = can_attach_isr(CANmodule->dev, canopen_rx_isr_callback, buffer, &filter); if (buffer->filter_id == CAN_NO_FREE_FILTER) { LOG_ERR("failed to attach CAN rx isr, no free filter"); CO_errorReport(CANmodule->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, 0); return CO_ERROR_OUT_OF_MEMORY; } return CO_ERROR_NO; } CO_CANtx_t *CO_CANtxBufferInit(CO_CANmodule_t *CANmodule, u16_t index, u16_t ident, bool_t rtr, u8_t noOfBytes, bool_t syncFlag) { CO_CANtx_t *buffer; if (CANmodule == NULL) { return NULL; } if (index >= CANmodule->tx_size) { LOG_ERR("failed to initialize CAN rx buffer, illegal argument"); CO_errorReport(CANmodule->em, CO_EM_GENERIC_SOFTWARE_ERROR, CO_EMC_SOFTWARE_INTERNAL, 0); return NULL; } buffer = &CANmodule->tx_array[index]; buffer->ident = ident; buffer->rtr = rtr; buffer->DLC = noOfBytes; buffer->bufferFull = false; buffer->syncFlag = syncFlag; return buffer; } CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer) { CO_ReturnError_t ret = CO_ERROR_NO; struct zcan_frame msg; int err; if (!CANmodule || !CANmodule->dev || !buffer) { return CO_ERROR_ILLEGAL_ARGUMENT; } CO_LOCK_CAN_SEND(); if (buffer->bufferFull) { if (!CANmodule->first_tx_msg) { CO_errorReport(CANmodule->em, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, buffer->ident); } buffer->bufferFull = false; ret = CO_ERROR_TX_OVERFLOW; } msg.id_type = CAN_STANDARD_IDENTIFIER; msg.std_id = buffer->ident; msg.dlc = buffer->DLC; msg.rtr = (buffer->rtr ? 1 : 0); memcpy(msg.data, buffer->data, buffer->DLC); err = can_send(CANmodule->dev, &msg, K_NO_WAIT, canopen_tx_isr_callback, CANmodule); if (err == CAN_TIMEOUT) { buffer->bufferFull = true; } else if (err != CAN_TX_OK) { LOG_ERR("failed to send CAN frame (err %d)", err); CO_errorReport(CANmodule->em, CO_EM_GENERIC_SOFTWARE_ERROR, CO_EMC_COMMUNICATION, 0); ret = CO_ERROR_TX_UNCONFIGURED; } CO_UNLOCK_CAN_SEND(); return ret; } void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule) { bool_t tpdoDeleted = false; CO_CANtx_t *buffer; u16_t i; if (!CANmodule) { return; } CO_LOCK_CAN_SEND(); for (i = 0; i < CANmodule->tx_size; i++) { buffer = &CANmodule->tx_array[i]; if (buffer->bufferFull && buffer->syncFlag) { buffer->bufferFull = false; tpdoDeleted = true; } } CO_UNLOCK_CAN_SEND(); if (tpdoDeleted) { CO_errorReport(CANmodule->em, CO_EM_TPDO_OUTSIDE_WINDOW, CO_EMC_COMMUNICATION, 0); } } void CO_CANverifyErrors(CO_CANmodule_t *CANmodule) { CO_EM_t *em = (CO_EM_t *)CANmodule->em; struct can_bus_err_cnt err_cnt; enum can_state state; u8_t rx_overflows; u32_t errors; /* * TODO: Zephyr lacks an API for reading the rx mailbox * overflow counter. */ rx_overflows = 0; state = can_get_state(CANmodule->dev, &err_cnt); errors = ((u32_t)err_cnt.tx_err_cnt << 16) | ((u32_t)err_cnt.rx_err_cnt << 8) | rx_overflows; if (errors != CANmodule->errors) { CANmodule->errors = errors; if (state == CAN_BUS_OFF) { /* Bus off */ CO_errorReport(em, CO_EM_CAN_TX_BUS_OFF, CO_EMC_BUS_OFF_RECOVERED, errors); } else { /* Bus not off */ CO_errorReset(em, CO_EM_CAN_TX_BUS_OFF, errors); if ((err_cnt.rx_err_cnt >= 96U) || (err_cnt.tx_err_cnt >= 96U)) { /* Bus warning */ CO_errorReport(em, CO_EM_CAN_BUS_WARNING, CO_EMC_NO_ERROR, errors); } else { /* Bus not warning */ CO_errorReset(em, CO_EM_CAN_BUS_WARNING, errors); } if (err_cnt.rx_err_cnt >= 128U) { /* Bus rx passive */ CO_errorReport(em, CO_EM_CAN_RX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, errors); } else { /* Bus not rx passive */ CO_errorReset(em, CO_EM_CAN_RX_BUS_PASSIVE, errors); } if (err_cnt.tx_err_cnt >= 128U && !CANmodule->first_tx_msg) { /* Bus tx passive */ CO_errorReport(em, CO_EM_CAN_TX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, errors); } else if (CO_isError(em, CO_EM_CAN_TX_BUS_PASSIVE)) { /* Bus not tx passive */ CO_errorReset(em, CO_EM_CAN_TX_BUS_PASSIVE, errors); CO_errorReset(em, CO_EM_CAN_TX_OVERFLOW, errors); } } /* This code can be activated if we can read the overflows*/ if (false && rx_overflows != 0U) { CO_errorReport(em, CO_EM_CAN_RXB_OVERFLOW, CO_EMC_CAN_OVERRUN, errors); } } } static int canopen_init(struct device *dev) { ARG_UNUSED(dev); k_work_q_start(&canopen_tx_workq, canopen_tx_workq_stack, K_THREAD_STACK_SIZEOF(canopen_tx_workq_stack), CONFIG_CANOPEN_TX_WORKQUEUE_PRIORITY); k_work_init(&canopen_tx_queue.work, canopen_tx_retry); return 0; } SYS_INIT(canopen_init, APPLICATION, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT); |