adding dependencies

2022-10-10 12:39:30 +01:00
parent 0e8e1e4db6
commit 2327ae7aab
867 changed files with 137599 additions and 0 deletions
@@ -0,0 +1,144 @@
+/*
+ * This file is part of the libopeninv project.
+ *
+ * Copyright (C) 2016 Nail Güzel
+ * Johannes Huebner <dev@johanneshuebner.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef STM32_CAN_H_INCLUDED
+#define STM32_CAN_H_INCLUDED
+#include "params.h"
+
+#define CAN_ERR_INVALID_ID -1
+#define CAN_ERR_INVALID_OFS -2
+#define CAN_ERR_INVALID_LEN -3
+#define CAN_ERR_MAXMESSAGES -4
+#define CAN_ERR_MAXITEMS -5
+
+#ifndef MAX_ITEMS
+#define MAX_ITEMS 70
+#endif // MAX_ITEMS_PER_MESSAGE
+
+#ifndef MAX_MESSAGES
+#define MAX_MESSAGES 10
+#endif // MAX_MESSAGES
+
+#ifndef SENDBUFFER_LEN
+#define SENDBUFFER_LEN 20
+#endif // SENDBUFFER_LEN
+
+#ifndef MAX_USER_MESSAGES
+#define MAX_USER_MESSAGES 10
+#endif // MAX_USER_MESSAGES
+
+
+class CANIDMAP;
+class SENDBUFFER;
+
+class Can
+{
+public:
+   enum baudrates
+   {
+      Baud125, Baud250, Baud500, Baud800, Baud1000, BaudLast
+   };
+
+   Can(uint32_t baseAddr, enum baudrates baudrate, bool remap = false);
+   void Clear(void);
+   void SetBaudrate(enum baudrates baudrate);
+   void Send(uint32_t canId, uint32_t data[2]) { Send(canId, data, 8); }
+   void Send(uint32_t canId, uint8_t data[8], uint8_t len) { Send(canId, (uint32_t*)data, len); }
+   void Send(uint32_t canId, uint32_t data[2], uint8_t len);
+   void SendAll();
+   void SDOWrite(uint8_t remoteNodeId, uint16_t index, uint8_t subIndex, uint32_t data);
+   void Save();
+   void SetReceiveCallback(void (*recv)(uint32_t, uint32_t*));
+   bool RegisterUserMessage(uint32_t canId);
+   void ClearUserMessages();
+   uint32_t GetLastRxTimestamp();
+   int AddSend(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain);
+   int AddRecv(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain);
+   int AddSend(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain, int8_t offset);
+   int AddRecv(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain, int8_t offset);
+   int Remove(Param::PARAM_NUM param);
+   bool FindMap(Param::PARAM_NUM param, uint32_t& canId, uint8_t& offset, uint8_t& length, float& gain, bool& rx);
+   void IterateCanMap(void (*callback)(Param::PARAM_NUM, uint32_t, uint8_t, uint8_t, float, bool));
+   void HandleRx(int fifo);
+   void HandleTx();
+   void SetNodeId(uint8_t id) { nodeId = id; }
+   static Can* GetInterface(int index);
+
+private:
+   static volatile bool isSaving;
+
+   struct CANPOS
+   {
+      float gain;
+      uint16_t mapParam;
+      int8_t offset;
+      uint8_t offsetBits;
+      uint8_t numBits;
+      uint8_t next;
+   };
+
+   struct CANIDMAP
+   {
+      #ifdef CAN_EXT
+      uint32_t canId;
+      #else
+      uint16_t canId;
+      #endif // CAN_EXT
+      uint8_t first;
+   };
+
+   struct SENDBUFFER
+   {
+      uint32_t id;
+      uint32_t len;
+      uint32_t data[2];
+   };
+
+   CANIDMAP canSendMap[MAX_MESSAGES];
+   CANIDMAP canRecvMap[MAX_MESSAGES];
+   CANPOS canPosMap[MAX_ITEMS + 1]; //Last item is a "tail"
+   uint32_t lastRxTimestamp;
+   SENDBUFFER sendBuffer[SENDBUFFER_LEN];
+   int sendCnt;
+   void (*recvCallback)(uint32_t, uint32_t*);
+   uint16_t userIds[MAX_USER_MESSAGES];
+   int nextUserMessageIndex;
+   uint32_t canDev;
+   uint8_t nodeId;
+
+   void ProcessSDO(uint32_t data[2]);
+   void ClearMap(CANIDMAP *canMap);
+   int RemoveFromMap(CANIDMAP *canMap, Param::PARAM_NUM param);
+   int Add(CANIDMAP *canMap, Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain, int8_t offset);
+   uint32_t SaveToFlash(uint32_t baseAddress, uint32_t* data, int len);
+   int LoadFromFlash();
+   CANIDMAP *FindById(CANIDMAP *canMap, uint32_t canId);
+   int CopyIdMapExcept(CANIDMAP *source, CANIDMAP *dest, Param::PARAM_NUM param);
+   void ReplaceParamEnumByUid(CANIDMAP *canMap);
+   void ReplaceParamUidByEnum(CANIDMAP *canMap);
+   void ConfigureFilters();
+   void SetFilterBank(int& idIndex, int& filterId, uint16_t* idList);
+   void SetFilterBank29(int& idIndex, int& filterId, uint32_t* idList);
+   uint32_t GetFlashAddress();
+
+   static Can* interfaces[];
+};
+
+
+#endif