| 1 | /*-----------------------------------------------------------------------------
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| 2 | cal.h -- CAN Application Layer CAL
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| 3 |
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| 4 | Copyright (c) 1994 JANZ Computer AG
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| 5 | All Rights Reserved
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| 6 |
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| 7 | Created 94/10/11 by Soenke Hansen
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| 8 | Version 1.9 of 98/07/31
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| 9 |
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| 10 | CALO: CAN Application Layer Object
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| 11 |
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| 12 | CALO's receive CAN messages. Using only the identifier and the RTR bit
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| 13 | of a CAN message CAL forwards a message to the appropriate CALO.
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| 14 | CALO's are either waiting on an event (e.g., CAN message, timer, user
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| 15 | request) or are ready to do work. The latter objects are maintained on a
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| 16 | queue until they have finished their work.
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| 17 |
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| 18 | Prototypes of functions defined in cal.c.
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| 19 |
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| 20 | -----------------------------------------------------------------------------*/
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| 21 |
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| 22 |
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| 23 | #ifndef cal_DEFINED
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| 24 | #define cal_DEFINED
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| 25 |
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| 26 | #ifdef __cplusplus
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| 27 | extern "C" {
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| 28 | #endif
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| 29 |
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| 30 | #include "defs.h"
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| 31 | #include "msg.h"
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| 32 |
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| 33 |
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| 34 | #ifdef FIRMWARE
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| 35 | /* CAN Application Layer Object */
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| 36 | struct calo {
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| 37 | WORD_t id; /* identifier (handle) of object */
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| 38 | WORD_t head; /* head of CAN messages received */
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| 39 | OBJECT obj; /* object specific data */
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| 40 | void (*mhdl)(); /* CAL handler for received message */
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| 41 | struct calo *nxtrx; /* next on rx id hash queue */
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| 42 | struct calo *nxtcal; /* next on CAL id hash queue */
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| 43 | };
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| 44 |
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| 45 | #define NIL_CALO (struct calo *)0
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| 46 |
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| 47 | /* Identifiers (handles) of CAL objects -- not to be confused with
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| 48 | CAN message Ids -- are 11 bit numbers. Ids of requests issued to
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| 49 | ICANOS are 16 bit words with the lower bits equal to the
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| 50 | Id of the requesting CAL Object. CALID_MASK is used in retrieving
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| 51 | the CAL Object Id from the request Id. */
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| 52 | #define CALID_MASK 0x07ff
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| 53 |
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| 54 | /* Nil CAN message head (descriptor) */
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| 55 | #define NIL_CAN_HEAD 0xffff /* invalid descriptor */
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| 56 |
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| 57 | #endif /* FIRMWARE */
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| 58 |
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| 59 | /* CAN Identifiers used by CAL (cf. CiA/DS204-1, Annex I) */
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| 60 | #define ID_START_STOP 0 /* Node Start, Stop, Disconnect */
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| 61 | #define ID_CMS_NIL 0 /* invalid CMS Id */
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| 62 | #define ID_CMS_MIN 1 /* range of CMS */
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| 63 | #define ID_CMS_MAX 1760 /* identifiers */
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| 64 | #define ID_GUARD_NIL 0 /* invalid guard Id */
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| 65 | #define ID_GUARD_MIN 1761 /* range of guarding */
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| 66 | #define ID_GUARD_MAX 2015 /* identifiers */
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| 67 | #define ID_LMT_S 2020 /* from LMT Slave */
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| 68 | #define ID_LMT_M 2021 /* from LMT Master */
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| 69 | #define ID_NMT_IDENTIFY 2022 /* Identify Node Protocol */
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| 70 | #define ID_DBT_S 2023 /* from DBT Slave */
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| 71 | #define ID_DBT_M 2024 /* from DBT Master */
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| 72 | #define ID_NMT_S 2025 /* from NMT Slave */
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| 73 | #define ID_NMT_M 2026 /* from NMT Master */
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| 74 | #define ID_SELFTEST 2027 /* for module selftest */
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| 75 | #define ID_MIN 0 /* range of identifiers */
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| 76 | #define ID_MAX 2031 /* controlled by CiA */
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| 77 |
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| 78 |
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| 79 | /*--------- Prototypes of CAL User Functions -------------------------------*/
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| 80 |
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| 81 | #ifdef FIRMWARE
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| 82 |
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| 83 | /* Initialize CAL */
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| 84 | extern void InitCal(
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| 85 | WORD_t, /* req. clock period */
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| 86 | WORD_t, /* bus timing */
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| 87 | WORD_t, /* timeout interval */
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| 88 | void (*)(), /* user handler for NMT Slave ind/con */
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| 89 | void (*)(), /* user handler for DBT Slave ind/con */
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| 90 | void (*)() /* user handler for LMT Slave ind/con */
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| 91 | );
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| 92 |
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| 93 | /* Free the resources held by CAL */
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| 94 | extern void DeleteCal(void);
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| 95 |
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| 96 | /* Execute CAL */
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| 97 | extern void RunCal(void);
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| 98 |
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| 99 | /*--------- Enable/Disable Remote Services ---------------------------------*/
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| 100 |
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| 101 | #define EnableCAN() buson_bcan()
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| 102 | #define DisableCAN() busoff_bcan()
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| 103 |
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| 104 | /*--------- Prototypes of CAL internal functions ---------------------------*/
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| 105 |
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| 106 | /* Create a CAL object. */
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| 107 | extern struct calo *NewCalO(void);
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| 108 |
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| 109 | /* Delete a CAL object. */
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| 110 | extern void DeleteCalO(struct calo *);
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| 111 |
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| 112 | /* Get a CAL object by its Id (handle). */
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| 113 | extern struct calo *GetCalO(WORD_t);
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| 114 |
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| 115 | /* Assign CAN message head to a CAL Object */
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| 116 | extern int AssignCalO(struct calo *, WORD_t);
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| 117 |
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| 118 | /* Unassign CAN message head from a CAL Object */
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| 119 | extern void UnassignCalO(struct calo *);
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| 120 |
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| 121 | #endif /* FIRMWARE */
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| 122 |
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| 123 | #ifdef __cplusplus
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| 124 | }
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| 125 | #endif
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| 126 |
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| 127 | #endif /* !cal_DEFINED */
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