ccand_11xx.h

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/*
 * @brief LPC11xx CCAN ROM API declarations and functions
 *
 * @note
 * Copyright(C) NXP Semiconductors, 2012
 * All rights reserved.
 *
 * @par
 * Software that is described herein is for illustrative purposes only
 * which provides customers with programming information regarding the
 * LPC products.  This software is supplied "AS IS" without any warranties of
 * any kind, and NXP Semiconductors and its licensor disclaim any and
 * all warranties, express or implied, including all implied warranties of
 * merchantability, fitness for a particular purpose and non-infringement of
 * intellectual property rights.  NXP Semiconductors assumes no responsibility
 * or liability for the use of the software, conveys no license or rights under any
 * patent, copyright, mask work right, or any other intellectual property rights in
 * or to any products. NXP Semiconductors reserves the right to make changes
 * in the software without notification. NXP Semiconductors also makes no
 * representation or warranty that such application will be suitable for the
 * specified use without further testing or modification.
 *
 * @par
 * Permission to use, copy, modify, and distribute this software and its
 * documentation is hereby granted, under NXP Semiconductors' and its
 * licensor's relevant copyrights in the software, without fee, provided that it
 * is used in conjunction with NXP Semiconductors microcontrollers.  This
 * copyright, permission, and disclaimer notice must appear in all copies of
 * this code.
 */

#ifndef __CCAND_11XX_H_
#define __CCAND_11XX_H_

#ifdef __cplusplus
extern "C" {
#endif

#define CAN_ERROR_NONE  0x00000000UL
#define CAN_ERROR_PASS  0x00000001UL
#define CAN_ERROR_WARN  0x00000002UL
#define CAN_ERROR_BOFF  0x00000004UL
#define CAN_ERROR_STUF  0x00000008UL
#define CAN_ERROR_FORM  0x00000010UL
#define CAN_ERROR_ACK   0x00000020UL
#define CAN_ERROR_BIT1  0x00000040UL
#define CAN_ERROR_BIT0  0x00000080UL
#define CAN_ERROR_CRC   0x00000100UL

#define CAN_MSGOBJ_STD  0x00000000UL    /* CAN 2.0a 11-bit ID */
#define CAN_MSGOBJ_EXT  0x20000000UL    /* CAN 2.0b 29-bit ID */
#define CAN_MSGOBJ_DAT  0x00000000UL    /* data frame */
#define CAN_MSGOBJ_RTR  0x40000000UL    /* rtr frame    */

typedef struct CCAN_MSG_OBJ {
        uint32_t  mode_id;
        uint32_t  mask;
        uint8_t   data[8];
        uint8_t   dlc;
        uint8_t   msgobj;
} CCAN_MSG_OBJ_T;

/**************************************************************************
   SDO Abort Codes
**************************************************************************/
#define SDO_ABORT_TOGGLE          0x05030000UL  // Toggle bit not alternated
#define SDO_ABORT_SDOTIMEOUT      0x05040000UL  // SDO protocol timed out
#define SDO_ABORT_UNKNOWN_COMMAND 0x05040001UL  // Client/server command specifier not valid or unknown
#define SDO_ABORT_UNSUPPORTED     0x06010000UL  // Unsupported access to an object
#define SDO_ABORT_WRITEONLY       0x06010001UL  // Attempt to read a write only object
#define SDO_ABORT_READONLY        0x06010002UL  // Attempt to write a read only object
#define SDO_ABORT_NOT_EXISTS      0x06020000UL  // Object does not exist in the object dictionary
#define SDO_ABORT_PARAINCOMP      0x06040043UL  // General parameter incompatibility reason
#define SDO_ABORT_ACCINCOMP       0x06040047UL  // General internal incompatibility in the device
#define SDO_ABORT_TYPEMISMATCH    0x06070010UL  // Data type does not match, length of service parameter does not match
#define SDO_ABORT_UNKNOWNSUB      0x06090011UL  // Sub-index does not exist
#define SDO_ABORT_VALUE_RANGE     0x06090030UL  // Value range of parameter exceeded (only for write access)
#define SDO_ABORT_TRANSFER        0x08000020UL  // Data cannot be transferred or stored to the application
#define SDO_ABORT_LOCAL           0x08000021UL  // Data cannot be transferred or stored to the application because of local control
#define SDO_ABORT_DEVSTAT         0x08000022UL  // Data cannot be transferred or stored to the application because of the present device state

typedef struct CCAN_ODCONSTENTRY {
        uint16_t index;
        uint8_t  subindex;
        uint8_t  len;
        uint32_t val;
} CCAN_ODCONSTENTRY_T;

// upper-nibble values for CAN_ODENTRY.entrytype_len
#define OD_NONE    0x00         // Object Dictionary entry doesn't exist
#define OD_EXP_RO  0x10         // Object Dictionary entry expedited, read-only
#define OD_EXP_WO  0x20         // Object Dictionary entry expedited, write-only
#define OD_EXP_RW  0x30         // Object Dictionary entry expedited, read-write
#define OD_SEG_RO  0x40         // Object Dictionary entry segmented, read-only
#define OD_SEG_WO  0x50         // Object Dictionary entry segmented, write-only
#define OD_SEG_RW  0x60         // Object Dictionary entry segmented, read-write

typedef struct CCAN_ODENTRY {
        uint16_t index;
        uint8_t  subindex;
        uint8_t  entrytype_len;
        uint8_t  *val;
} CCAN_ODENTRY_T;

typedef struct CCAN_CANOPENCFG {
        uint8_t   node_id;
        uint8_t   msgobj_rx;
        uint8_t   msgobj_tx;
        uint8_t   isr_handled;
        uint32_t  od_const_num;
        CCAN_ODCONSTENTRY_T *od_const_table;
        uint32_t  od_num;
        CCAN_ODENTRY_T *od_table;
} CCAN_CANOPENCFG_T;

// Return values for CANOPEN_sdo_req() callback
#define CAN_SDOREQ_NOTHANDLED     0     // process regularly, no impact
#define CAN_SDOREQ_HANDLED_SEND   1     // processed in callback, auto-send returned msg
#define CAN_SDOREQ_HANDLED_NOSEND 2     // processed in callback, don't send response

// Values for CANOPEN_sdo_seg_read/write() callback 'openclose' parameter
#define CAN_SDOSEG_SEGMENT        0     // segment read/write
#define CAN_SDOSEG_OPEN           1     // channel is opened
#define CAN_SDOSEG_CLOSE          2     // channel is closed

typedef struct CCAN_CALLBACKS {
        void (*CAN_rx)(uint8_t msg_obj_num);
        void (*CAN_tx)(uint8_t msg_obj_num);
        void (*CAN_error)(uint32_t error_info);
        uint32_t (*CANOPEN_sdo_read)(uint16_t index, uint8_t subindex);
        uint32_t (*CANOPEN_sdo_write)(uint16_t index, uint8_t subindex, uint8_t *dat_ptr);
        uint32_t (*CANOPEN_sdo_seg_read)(uint16_t index, uint8_t subindex, uint8_t openclose, uint8_t *length,
                                                                         uint8_t *data, uint8_t *last);
        uint32_t (*CANOPEN_sdo_seg_write)(uint16_t index, uint8_t subindex, uint8_t openclose, uint8_t length,
                                                                          uint8_t *data, uint8_t *fast_resp);
        uint8_t (*CANOPEN_sdo_req)(uint8_t length_req, uint8_t *req_ptr, uint8_t *length_resp, uint8_t *resp_ptr);
} CCAN_CALLBACKS_T;

typedef struct CCAN_API {
        void (*init_can)(uint32_t *can_cfg, uint8_t isr_ena);
        void (*isr)(void);
        void (*config_rxmsgobj)(CCAN_MSG_OBJ_T *msg_obj);
        uint8_t (*can_receive)(CCAN_MSG_OBJ_T *msg_obj);
        void (*can_transmit)(CCAN_MSG_OBJ_T *msg_obj);
        void (*config_canopen)(CCAN_CANOPENCFG_T *canopen_cfg);
        void (*canopen_handler)(void);
        void (*config_calb)(CCAN_CALLBACKS_T *callback_cfg);
} CCAN_API_T;

#define LPC_CCAN_API    ((CCAN_API_T *) (LPC_ROM_API->candApiBase))

#ifdef __cplusplus
}
#endif

#endif /* __CCAND_11XX_H_ */