| 35 | } |
| 36 | |
| 37 | CO_ReturnError_t |
| 38 | CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[], |
| 39 | uint16_t txSize, uint16_t CANbitRate) { |
| 40 | uint16_t i; |
| 41 | |
| 42 | /* verify arguments */ |
| 43 | if (CANmodule == NULL || rxArray == NULL || txArray == NULL) { |
| 44 | return CO_ERROR_ILLEGAL_ARGUMENT; |
| 45 | } |
| 46 | |
| 47 | /* Configure object variables */ |
| 48 | CANmodule->CANptr = CANptr; |
| 49 | CANmodule->rxArray = rxArray; |
| 50 | CANmodule->rxSize = rxSize; |
| 51 | CANmodule->txArray = txArray; |
| 52 | CANmodule->txSize = txSize; |
| 53 | CANmodule->CANerrorStatus = 0; |
| 54 | CANmodule->CANnormal = false; |
| 55 | CANmodule->useCANrxFilters = (rxSize <= 32U) ? true : false; /* microcontroller dependent */ |
| 56 | CANmodule->bufferInhibitFlag = false; |
| 57 | CANmodule->firstCANtxMessage = true; |
| 58 | CANmodule->CANtxCount = 0U; |
| 59 | CANmodule->errOld = 0U; |
| 60 | |
| 61 | for (i = 0U; i < rxSize; i++) { |
| 62 | rxArray[i].ident = 0U; |
| 63 | rxArray[i].mask = 0xFFFFU; |
| 64 | rxArray[i].object = NULL; |
| 65 | rxArray[i].CANrx_callback = NULL; |
| 66 | } |
| 67 | for (i = 0U; i < txSize; i++) { |
| 68 | txArray[i].bufferFull = false; |
| 69 | } |
| 70 | |
| 71 | /* Configure CAN module registers */ |
| 72 | |
| 73 | /* Configure CAN timing */ |
| 74 | |
| 75 | /* Configure CAN module hardware filters */ |
| 76 | if (CANmodule->useCANrxFilters) { |
| 77 | /* CAN module filters are used, they will be configured with */ |
| 78 | /* CO_CANrxBufferInit() functions, called by separate CANopen */ |
| 79 | /* init functions. */ |
| 80 | /* Configure all masks so, that received message must match filter */ |
| 81 | } else { |
| 82 | /* CAN module filters are not used, all messages with standard 11-bit */ |
| 83 | /* identifier will be received */ |
| 84 | /* Configure mask 0 so, that all messages with standard identifier are accepted */ |
| 85 | } |
| 86 | |
| 87 | /* configure CAN interrupt registers */ |
| 88 | |
| 89 | return CO_ERROR_NO; |
| 90 | } |
| 91 | |
| 92 | void |
| 93 | CO_CANmodule_disable(CO_CANmodule_t* CANmodule) { |