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modules: canopennode: add rxmsg callback

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Implement callback for incoming CAN messages for any of the
configured filters for CANopenNode.

This can be used to wake the loop calling CO_process when a
new message was received which needs processing.

Signed-off-by: Christian Gabriel <ch_gabriel@web.de>
This commit is contained in:
Christian Gabriel 2024-10-06 09:52:27 +02:00 committed by Henrik Brix Andersen
parent ede954c098
commit 5c638395ac
2 changed files with 36 additions and 0 deletions
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11
modules/canopennode/CO_driver.c
View file

@ -31,6 +31,8 @@ K_MUTEX_DEFINE(canopen_send_mutex);
K_MUTEX_DEFINE(canopen_emcy_mutex);
K_MUTEX_DEFINE(canopen_co_mutex);
static canopen_rxmsg_callback_t rxmsg_callback;
inline void canopen_send_lock(void)
{
k_mutex_lock(&canopen_send_mutex, K_FOREVER);
@ -61,6 +63,11 @@ inline void canopen_od_unlock(void)
k_mutex_unlock(&canopen_co_mutex);
}
void canopen_set_rxmsg_callback(canopen_rxmsg_callback_t callback)
{
rxmsg_callback = callback;
}
static void canopen_detach_all_rx_filters(CO_CANmodule_t *CANmodule)
{
uint16_t i;
@ -83,6 +90,7 @@ static void canopen_rx_callback(const struct device *dev, struct can_frame *fram
CO_CANmodule_t *CANmodule = (CO_CANmodule_t *)user_data;
CO_CANrxMsg_t rxMsg;
CO_CANrx_t *buffer;
canopen_rxmsg_callback_t callback = rxmsg_callback;
int i;
ARG_UNUSED(dev);
@ -105,6 +113,9 @@ static void canopen_rx_callback(const struct device *dev, struct can_frame *fram
rxMsg.DLC = frame->dlc;
memcpy(rxMsg.data, frame->data, frame->dlc);
buffer->pFunct(buffer->object, &rxMsg);
if (callback != NULL) {
callback();
}
break;
}
}

25
modules/canopennode/canopennode.h
View file

@ -144,6 +144,31 @@ void canopen_leds_init(CO_NMT_t *nmt,
*/
void canopen_leds_program_download(bool in_progress);
/**
* @brief Callback for incoming CAN message
*
* This callback will be called from interrupt context and should therefore
* return quickly.
*
* It can be used to e.g. wake the loop polling calling CO_process.
*/
typedef void (*canopen_rxmsg_callback_t)(void);
/**
* @brief Set callback for incoming CAN message
*
* Set up callback to be called on incoming CAN message on any of
* the configured filters for CANopenNode.
*
* This can be used to wake the loop calling CO_process when an incoming
* message needs to be processed.
*
* Setting a new callback will overwrite any existing callback.
*
* @param callback the callback to set
*/
void canopen_set_rxmsg_callback(canopen_rxmsg_callback_t callback);
#ifdef __cplusplus
}
#endif