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subsys: canopen: Add a wrapper to avoid passing device to CO_init

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Add a dedicated structure instead.

Fixes #27399

Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
This commit is contained in:
Tomasz Bursztyka 2020-07-09 15:39:45 +02:00 • committed by Carles Cufí
commit 8d0a3f3b5c
3 changed files with 11 additions and 8 deletions
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4
include/canbus/canopen.h
View file

@ -38,6 +38,10 @@ enum canopen_storage {
CANOPEN_STORAGE_EEPROM,
};
struct canopen_context {
const struct device *dev;
};
/**
* @brief Attach CANopen object dictionary storage handlers.
*

8
samples/subsys/canbus/canopen/src/main.c
View file

@ -202,14 +202,14 @@ void main(void)
{
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
CO_ReturnError_t err;
const struct device *can;
struct canopen_context can;
uint16_t timeout;
uint32_t elapsed;
int64_t timestamp;
int ret;
can = device_get_binding(CAN_INTERFACE);
if (!can) {
can.dev = device_get_binding(CAN_INTERFACE);
if (!can.dev) {
LOG_ERR("CAN interface not found");
return;
}
@ -234,7 +234,7 @@ void main(void)
while (reset != CO_RESET_APP) {
elapsed = 0U; /* milliseconds */
err = CO_init(can, CONFIG_CANOPEN_NODE_ID, CAN_BITRATE);
err = CO_init(&can, CONFIG_CANOPEN_NODE_ID, CAN_BITRATE);
if (err != CO_ERROR_NO) {
LOG_ERR("CO_init failed (err = %d)", err);
return;

7
subsys/canbus/canopen/CO_driver.c
View file

@ -9,9 +9,7 @@
#include <init.h>
#include <sys/util.h>
#include <CO_driver.h>
#include <CO_Emergency.h>
#include <CO_SDO.h>
#include <canbus/canopen.h>
#define LOG_LEVEL CONFIG_CANOPEN_LOG_LEVEL
#include <logging/log.h>
@ -169,6 +167,7 @@ CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule,
CO_CANtx_t txArray[], uint16_t txSize,
uint16_t CANbitRate)
{
struct canopen_context *ctx = (struct canopen_context *)CANdriverState;
uint16_t i;
int err;
@ -193,7 +192,7 @@ CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule,
canopen_detach_all_rx_filters(CANmodule);
canopen_tx_queue.CANmodule = CANmodule;
CANmodule->dev = CANdriverState;
CANmodule->dev = ctx->dev;
CANmodule->rx_array = rxArray;
CANmodule->rx_size = rxSize;
CANmodule->tx_array = txArray;