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提交 91d866d8 编写于 作者: B BernardXiong
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[DeviceDrivers] Use mutex to lock can_open/close

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components/drivers/can/can.c
浏览文件 @ 91d866d8
......@@ -3,20 +3,33 @@
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2015, RT-Thread Development Team
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rt-thread.org/license/LICENSE
* 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 2 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, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Change Logs:
* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
* 2015-07-06 Bernard code cleanup.
* 2015-07-06 Bernard code cleanup and remove RT_CAN_USING_LED;
*/
#include <rthw.h>
#include <rtthread.h>
#include <rtdevice.h>
#define CAN_LOCK(can) rt_mutex_take(&(can->lock), RT_WAITING_FOREVER)
#define CAN_UNLOCK(can) rt_mutex_release(&(can->lock))
static rt_err_t rt_can_init(struct rt_device *dev)
{
rt_err_t result = RT_EOK;
......@@ -54,7 +67,6 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
while (msgs)
{
rt_base_t level;
rt_int32_t hdr;
struct rt_can_msg_list *listmsg = RT_NULL;
/* disable interrupt */
......@@ -75,6 +87,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
}
else if (hdr == -1)
#endif /*RT_CAN_USING_HDR*/
{
if (!rt_list_isempty(&rx_fifo->uselist))
{
listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
......@@ -86,7 +99,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
listmsg->owner->msgs--;
}
listmsg->owner = RT_NULL;
#endif
#endif /*RT_CAN_USING_HDR*/
}
else
{
......@@ -94,17 +107,20 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
rt_hw_interrupt_enable(level);
break;
}
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
if (listmsg != RT_NULL)
{
rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg));
level = rt_hw_interrupt_disable();
rt_list_insert_before(&rx_fifo->freelist, &listmsg->list);
rx_fifo->freenumbers++;
RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
rt_hw_interrupt_enable(level);
listmsg = RT_NULL;
}
else
......@@ -146,20 +162,23 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
else
{
rt_hw_interrupt_enable(level);
rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER);
continue;
}
rt_hw_interrupt_enable(level);
no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
tx_tosnd->result = RT_CAN__SND_RESUTL_WAIT;
if (can->ops->sendmsg(can, data , no))
tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
if (can->ops->sendmsg(can, data, no) != RT_EOK)
{
/* send failed. */
level = rt_hw_interrupt_disable();
rt_list_insert_after(&tx_fifo->freelist, &tx_tosnd->list);
rt_hw_interrupt_enable(level);
continue;
}
can->status.sndchange = 1;
rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
......@@ -172,11 +191,12 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
rt_hw_interrupt_enable(level);
if (result == RT_CAN__SND_RESUTL_OK)
if (result == RT_CAN_SND_RESULT_OK)
{
level = rt_hw_interrupt_disable();
can->status.sndpkg++;
rt_hw_interrupt_enable(level);
data ++;
msgs -= sizeof(struct rt_can_msg);
if (!msgs) break;
......@@ -192,13 +212,9 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
level = rt_hw_interrupt_disable();
if (rt_list_isempty(&tx_fifo->freelist))
{
rt_hw_interrupt_enable(level);
rt_completion_done(&(tx_fifo->completion));
}
else
{
rt_hw_interrupt_enable(level);
}
rt_hw_interrupt_enable(level);
}
return (size - msgs);
......@@ -226,16 +242,17 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
}
level = rt_hw_interrupt_disable();
if ((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_OK))
if ((tx_fifo->buffer[no].result != RT_CAN_SND_RESULT_OK))
{
rt_hw_interrupt_enable(level);
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
continue;
}
tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_WAIT;
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_WAIT;
rt_hw_interrupt_enable(level);
if (can->ops->sendmsg(can, data , no) != RT_EOK)
if (can->ops->sendmsg(can, data, no) != RT_EOK)
{
continue;
}
......@@ -243,7 +260,7 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
result = tx_fifo->buffer[no].result;
if (result == RT_CAN__SND_RESUTL_OK)
if (result == RT_CAN_SND_RESULT_OK)
{
level = rt_hw_interrupt_disable();
can->status.sndpkg++;
......@@ -271,19 +288,21 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev;
CAN_LOCK(can);
/* get open flags */
dev->open_flag = oflag & 0xff;
rt_enter_critical();
if (can->can_rx == RT_NULL)
{
if (oflag & RT_DEVICE_FLAG_INT_RX)
{
int i=0;
int i = 0;
struct rt_can_rx_fifo *rx_fifo;
rx_fifo = (struct rt_can_rx_fifo *) rt_malloc(sizeof(struct rt_can_rx_fifo) +
can->config.msgboxsz * sizeof(struct rt_can_msg_list));
RT_ASSERT(rx_fifo != RT_NULL);
rx_fifo->buffer = (struct rt_can_msg_list *)(rx_fifo + 1);
rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
rt_list_init(&rx_fifo->freelist);
......@@ -298,7 +317,6 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
#endif
}
can->can_rx = rx_fifo;
rt_exit_critical();
dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
/* configure low level device */
......@@ -307,15 +325,9 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
else
{
can->can_rx = RT_NULL;
rt_exit_critical();
}
}
else
{
rt_exit_critical();
}
rt_enter_critical();
if (can->can_tx == RT_NULL)
{
if (oflag & RT_DEVICE_FLAG_INT_TX)
......@@ -326,6 +338,7 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
tx_fifo = (struct rt_can_tx_fifo *) rt_malloc(sizeof(struct rt_can_tx_fifo) +
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
RT_ASSERT(tx_fifo != RT_NULL);
tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1);
rt_memset(tx_fifo->buffer, 0,
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
......@@ -334,11 +347,11 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
{
rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
rt_completion_init(&(tx_fifo->buffer[i].completion));
tx_fifo->buffer[i].result = RT_CAN__SND_RESUTL_OK;
tx_fifo->buffer[i].result = RT_CAN_SND_RESULT_OK;
}
rt_completion_init(&(tx_fifo->completion));
can->can_tx = tx_fifo;
rt_exit_critical();
dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
/* configure low level device */
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
......@@ -346,25 +359,17 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
else
{
can->can_tx = RT_NULL;
rt_exit_critical();
}
}
else
{
rt_exit_critical();
}
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
#ifdef RT_CAN_USING_HDR
rt_enter_critical();
if (can->hdr == RT_NULL)
{
int i = 0;
struct rt_can_hdr *phdr;
/* exit critical region for malloc a header. */
rt_exit_critical();
phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr * sizeof(struct rt_can_hdr));
RT_ASSERT(phdr != RT_NULL);
rt_memset(phdr, 0, can->config.maxhdr * sizeof(struct rt_can_hdr));
......@@ -373,45 +378,18 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
rt_list_init(&phdr[i].list);
}
rt_enter_critical();
can->hdr = phdr;
rt_exit_critical();
}
else
{
rt_exit_critical();
}
#endif
rt_enter_critical();
if (!can->timerinitflag)
{
can->timerinitflag = 1;
rt_exit_critical();
#ifdef RT_CAN_USING_LED
if (can->config.rcvled != RT_NULL)
{
rt_pin_mode(can->config.rcvled->pin, can->config.rcvled->mode);
rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
}
if (can->config.sndled != RT_NULL)
{
rt_pin_mode(can->config.sndled->pin, can->config.sndled->mode);
rt_pin_write(can->config.sndled->pin, can->config.sndled->init);
}
if (can->config.errled != RT_NULL)
{
rt_pin_mode(can->config.errled->pin, can->config.errled->mode);
rt_pin_write(can->config.errled->pin, can->config.errled->init);
}
#endif
rt_timer_start(&can->timer);
}
else
{
rt_exit_critical();
}
CAN_UNLOCK(can);
return RT_EOK;
}
......@@ -423,48 +401,33 @@ static rt_err_t rt_can_close(struct rt_device *dev)
RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev;
CAN_LOCK(can);
/* this device has more reference count */
if (dev->ref_count > 1) return RT_EOK;
if (dev->ref_count > 1)
{
CAN_UNLOCK(can);
return RT_EOK;
}
rt_enter_critical();
if (can->timerinitflag)
{
can->timerinitflag = 0;
rt_exit_critical();
rt_timer_stop(&can->timer);
#ifdef RT_CAN_USING_LED
rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
rt_pin_write(can->config.rcvled->pin, can->config.sndled->init);
rt_pin_write(can->config.rcvled->pin, can->config.errled->init);
#endif
}
else
{
rt_exit_critical();
}
rt_enter_critical();
can->status_indicate.ind = RT_NULL;
can->status_indicate.args = RT_NULL;
rt_exit_critical();
#ifdef RT_CAN_USING_HDR
rt_enter_critical();
if (can->hdr != RT_NULL)
{
struct rt_can_hdr *hdr;
hdr = can->hdr;
rt_free(can->hdr);
can->hdr = RT_NULL;
rt_exit_critical();
rt_free(hdr);
}
else
{
rt_exit_critical();
}
#endif
if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
{
struct rt_can_rx_fifo *rx_fifo;
......@@ -475,8 +438,9 @@ static rt_err_t rt_can_close(struct rt_device *dev)
rt_free(rx_fifo);
dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
/* configure low level device */
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_RX);
}
if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
{
struct rt_can_tx_fifo *tx_fifo;
......@@ -489,7 +453,11 @@ static rt_err_t rt_can_close(struct rt_device *dev)
/* configure low level device */
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
}
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
CAN_UNLOCK(can);
return RT_EOK;
}
......@@ -505,7 +473,7 @@ static rt_size_t rt_can_read(struct rt_device *dev,
can = (struct rt_can_device *)dev;
if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
if ((dev->open_flag & RT_DEVICE_FLAG_INT_RX) && (dev->ref_count > 0))
{
return _can_int_rx(can, buffer, size);
}
......@@ -525,7 +493,7 @@ static rt_size_t rt_can_write(struct rt_device *dev,
can = (struct rt_can_device *)dev;
if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
if ((dev->open_flag & RT_DEVICE_FLAG_INT_TX) && (dev->ref_count > 0))
{
if (can->config.privmode)
{
......@@ -573,10 +541,8 @@ static rt_err_t rt_can_control(struct rt_device *dev,
rt_base_t level;
struct rt_can_tx_fifo *tx_fifo;
if (res = can->ops->control(can, cmd, args) != RT_EOK)
{
return res;
}
res = can->ops->control(can, cmd, args);
if (res != RT_EOK) return res;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
if (can->config.privmode)
......@@ -595,7 +561,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
for (i = 0; i < can->config.sndboxnumber; i++)
{
level = rt_hw_interrupt_disable();
if (tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK)
if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
{
rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
}
......@@ -605,10 +571,12 @@ static rt_err_t rt_can_control(struct rt_device *dev,
return RT_EOK;
}
break;
case RT_CAN_CMD_SET_STATUS_IND:
can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
break;
#ifdef RT_CAN_USING_HDR
case RT_CAN_CMD_SET_FILTER:
res = can->ops->control(can, cmd, args);
......@@ -636,8 +604,8 @@ static rt_err_t rt_can_control(struct rt_device *dev,
pitem++;
continue;
}
level = rt_hw_interrupt_disable();
level = rt_hw_interrupt_disable();
if (!can->hdr[pitem->hdr].connected)
{
rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
......@@ -647,6 +615,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
rt_list_init(&can->hdr[pitem->hdr].list);
}
rt_hw_interrupt_enable(level);
count--;
pitem++;
}
......@@ -682,6 +651,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
}
break;
#endif /*RT_CAN_USING_HDR*/
default :
/* control device */
if (can->ops->control != RT_NULL)
......@@ -699,105 +669,14 @@ static rt_err_t rt_can_control(struct rt_device *dev,
*/
static void cantimeout(void *arg)
{
#ifdef RT_CAN_USING_LED
rt_uint32_t ledonflag = 0;
#endif /*RT_CAN_USING_LED*/
rt_can_t can = (rt_can_t)arg;
rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status);
if (can->timerinitflag == 1)
{
#ifdef RT_CAN_USING_LED
ledonflag = 1;
#endif /*RT_CAN_USING_LED*/
can->timerinitflag = 0xFF;
}
#ifdef RT_CAN_USING_LED
if (can->config.rcvled != RT_NULL && can->config.sndled == RT_NULL)
{
if (ledonflag == 1)
{
rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init ? 0 : 1);
}
else
{
if (can->status.rcvchange == 1 || can->status.sndchange == 1)
{
can->status.rcvchange = 0;
can->status.sndchange = 0;
rt_pin_write(can->config.rcvled->pin, rt_pin_read(can->config.rcvled->pin) ? 0 : 1);
}
else
{
rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
}
}
}
else if (can->config.rcvled != RT_NULL && can->config.sndled != RT_NULL)
{
if (ledonflag == 1)
{
rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init ? 0 : 1);
rt_pin_write(can->config.sndled->pin, can->config.sndled->init ? 0 : 1);
}
else
{
if (can->status.rcvchange == 1)
{
can->status.rcvchange = 0;
rt_pin_write(can->config.rcvled->pin, rt_pin_read(can->config.rcvled->pin) ? 0 : 1);
}
else
{
rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
}
if (can->status.sndchange == 1)
{
can->status.sndchange = 0;
rt_pin_write(can->config.sndled->pin, rt_pin_read(can->config.sndled->pin) ? 0 : 1);
}
else
{
rt_pin_write(can->config.sndled->pin, can->config.sndled->init);
}
}
}
else if (can->config.rcvled == RT_NULL && can->config.sndled != RT_NULL)
{
if (ledonflag == 1)
{
rt_pin_write(can->config.sndled->pin, can->config.sndled->init ? 0 : 1);
}
else
{
if (can->status.rcvchange == 1 || can->status.sndchange == 1)
{
can->status.rcvchange = 0;
can->status.sndchange = 0;
rt_pin_write(can->config.sndled->pin, rt_pin_read(can->config.sndled->pin) ? 0 : 1);
}
else
{
rt_pin_write(can->config.sndled->pin, can->config.sndled->init);
}
}
}
if (ledonflag == 1)
{
rt_pin_write(can->config.errled->pin, can->config.errled->init ? 0 : 1);
}
else
{
if (can->status.errcode)
{
rt_pin_write(can->config.errled->pin, can->config.errled->init ? 0 : 1);
}
else
{
rt_pin_write(can->config.errled->pin, can->config.errled->init);
}
}
#endif
if (can->status_indicate.ind != RT_NULL)
{
can->status_indicate.ind(can, can->status_indicate.args);
......@@ -825,6 +704,8 @@ rt_err_t rt_hw_can_register(struct rt_can_device *can,
#endif
can->can_rx = RT_NULL;
can->can_tx = RT_NULL;
rt_mutex_init(&(can->lock), "can", RT_IPC_FLAG_PRIO);
device->init = rt_can_init;
device->open = rt_can_open;
device->close = rt_can_close;
......@@ -838,7 +719,8 @@ rt_err_t rt_hw_can_register(struct rt_can_device *can,
rt_memset(&can->status, 0, sizeof(can->status));
device->user_data = data;
can->timerinitflag = 0;
can->timerinitflag = 0;
rt_timer_init(&can->timer,
name,
cantimeout,
......@@ -954,6 +836,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
}
else
#endif
{
if (can->parent.rx_indicate != RT_NULL)
{
rt_size_t rx_length;
......@@ -965,6 +848,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
can->parent.rx_indicate(&can->parent, rx_length);
}
}
break;
}
......@@ -976,13 +860,14 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
no = event >> 8;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL);
if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
{
tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_OK;
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
}
else
{
tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
}
rt_completion_done(&(tx_fifo->buffer[no].completion));
break;
......@@ -1055,3 +940,4 @@ int cmd_canstat(int argc, void **argv)
}
FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
#endif
components/drivers/include/drivers/can.h
浏览文件 @ 91d866d8
......@@ -3,80 +3,76 @@
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2015, RT-Thread Development Team
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rt-thread.org/license/LICENSE
* 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 2 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, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Change Logs:
* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
* 2015-07-06 Bernard remove RT_CAN_USING_LED.
*/
#ifndef CAN_H_
#define CAN_H_
#include <rtthread.h>
#ifndef RT_CANMSG_BOX_SZ
#define RT_CANMSG_BOX_SZ 16
#define RT_CANMSG_BOX_SZ 16
#endif
#ifndef RT_CANSND_BOX_NUM
#define RT_CANSND_BOX_NUM 1
#define RT_CANSND_BOX_NUM 1
#endif
enum CANBAUD
{
CAN1MBaud=0, // 1 MBit/sec
CAN800kBaud, // 800 kBit/sec
CAN500kBaud, // 500 kBit/sec
CAN250kBaud, // 250 kBit/sec
CAN125kBaud, // 125 kBit/sec
CAN100kBaud, // 100 kBit/sec
CAN50kBaud, // 50 kBit/sec
CAN20kBaud, // 20 kBit/sec
CAN10kBaud // 10 kBit/sec
CAN1MBaud = 0, /* 1 MBit/sec */
CAN800kBaud, /* 800 kBit/sec */
CAN500kBaud, /* 500 kBit/sec */
CAN250kBaud, /* 250 kBit/sec */
CAN125kBaud, /* 125 kBit/sec */
CAN100kBaud, /* 100 kBit/sec */
CAN50kBaud, /* 50 kBit/sec */
CAN20kBaud, /* 20 kBit/sec */
CAN10kBaud /* 10 kBit/sec */
};
#define RT_CAN_MODE_NORMAL 0
#define RT_CAN_MODE_LISEN 1
#define RT_CAN_MODE_LOOPBACK 2
#define RT_CAN_MODE_LOOPBACKANLISEN 3
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00
#define RT_CAN_MODE_NORMAL 0
#define RT_CAN_MODE_LISEN 1
#define RT_CAN_MODE_LOOPBACK 2
#define RT_CAN_MODE_LOOPBACKANLISEN 3
#ifdef RT_CAN_USING_LED
struct rt_can_led
{
rt_uint32_t pin,mode,init;
struct rt_timer* timer;
const char* timer_name;
};
#endif /*RT_CAN_USING_LED*/
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00
struct rt_can_filter_item
{
rt_uint32_t id :29;
rt_uint32_t ide :1;
rt_uint32_t rtr :1;
rt_uint32_t mode :1;
rt_uint32_t mask;
rt_int32_t hdr;
rt_uint32_t id : 29;
rt_uint32_t ide : 1;
rt_uint32_t rtr : 1;
rt_uint32_t mode : 1;
rt_uint32_t mask;
rt_int32_t hdr;
#ifdef RT_CAN_USING_HDR
rt_err_t (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
void* args;
rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
void *args;
#endif /*RT_CAN_USING_HDR*/
};
#ifdef RT_CAN_USING_HDR
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
{\
id,\
ide,\
rtr,\
mode,\
mask,\
-1,\
ind,\
args,\
}
{(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)}
#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
......@@ -90,15 +86,9 @@ struct rt_can_filter_item
#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
#else
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
{\
id,\
ide,\
rtr,\
mode,\
mask,\
-1,\
}
{(id), (ide), (rtr), (mode), (mask), -1, }
#define RT_CAN_FILTER_STD_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
#define RT_CAN_FILTER_EXT_INIT(id) \
......@@ -115,26 +105,22 @@ struct rt_can_filter_item
struct rt_can_filter_config
{
rt_uint32_t count;
rt_uint32_t actived;
struct rt_can_filter_item* items;
rt_uint32_t count;
rt_uint32_t actived;
struct rt_can_filter_item *items;
};
struct can_configure
{
rt_uint32_t baud_rate;
rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber;
rt_uint32_t mode :8;
rt_uint32_t privmode :8;
rt_uint32_t reserved :16;
#ifdef RT_CAN_USING_LED
const struct rt_can_led* rcvled;
const struct rt_can_led* sndled;
const struct rt_can_led* errled;
#endif /*RT_CAN_USING_LED*/
rt_uint32_t ticks;
rt_uint32_t baud_rate;
rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber;
rt_uint32_t mode : 8;
rt_uint32_t privmode : 8;
rt_uint32_t reserved : 16;
rt_uint32_t ticks;
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
rt_uint32_t maxhdr;
#endif
};
......@@ -147,80 +133,88 @@ struct can_configure
};
struct rt_can_ops;
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
#define RT_DEVICE_CAN_INT_ERR 0x1000
#define RT_DEVICE_CAN_INT_ERR 0x1000
enum RT_CAN_STATUS_MODE
{
NORMAL = 0,
ERRWARNING = 1,
ERRPASSIVE = 2,
BUSOFF = 4,
NORMAL = 0,
ERRWARNING = 1,
ERRPASSIVE = 2,
BUSOFF = 4,
};
enum RT_CAN_BUS_ERR
{
RT_CAN_BUS_NO_ERR = 0,
RT_CAN_BUS_BIT_PAD_ERR = 1,
RT_CAN_BUS_FORMAT_ERR = 2,
RT_CAN_BUS_ACK_ERR = 3,
RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
RT_CAN_BUS_CRC_ERR = 6,
RT_CAN_BUS_NO_ERR = 0,
RT_CAN_BUS_BIT_PAD_ERR = 1,
RT_CAN_BUS_FORMAT_ERR = 2,
RT_CAN_BUS_ACK_ERR = 3,
RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
RT_CAN_BUS_CRC_ERR = 6,
};
struct rt_can_status
{
rt_uint32_t rcverrcnt;
rt_uint32_t snderrcnt;
rt_uint32_t errcode;
rt_uint32_t rcvpkg;
rt_uint32_t dropedrcvpkg;
rt_uint32_t sndpkg;
rt_uint32_t dropedsndpkg;
rt_uint32_t bitpaderrcnt;
rt_uint32_t formaterrcnt;
rt_uint32_t ackerrcnt;
rt_uint32_t biterrcnt;
rt_uint32_t crcerrcnt;
rt_uint32_t rcvchange;
rt_uint32_t sndchange;
rt_uint32_t lasterrtype;
rt_uint32_t rcverrcnt;
rt_uint32_t snderrcnt;
rt_uint32_t errcode;
rt_uint32_t rcvpkg;
rt_uint32_t dropedrcvpkg;
rt_uint32_t sndpkg;
rt_uint32_t dropedsndpkg;
rt_uint32_t bitpaderrcnt;
rt_uint32_t formaterrcnt;
rt_uint32_t ackerrcnt;
rt_uint32_t biterrcnt;
rt_uint32_t crcerrcnt;
rt_uint32_t rcvchange;
rt_uint32_t sndchange;
rt_uint32_t lasterrtype;
};
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr {
rt_uint32_t connected;
rt_uint32_t msgs;
struct rt_can_filter_item filter;
struct rt_list_node list;
struct rt_can_hdr
{
rt_uint32_t connected;
rt_uint32_t msgs;
struct rt_can_filter_item filter;
struct rt_list_node list;
};
#endif
struct rt_can_device;
typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device *, void *);
typedef struct rt_can_status_ind_type
{
rt_canstatus_ind ind;
void* args;
void *args;
} *rt_can_status_ind_type_t;
struct rt_can_device
{
struct rt_device parent;
const struct rt_can_ops *ops;
struct can_configure config;
struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
struct rt_device parent;
const struct rt_can_ops *ops;
struct can_configure config;
struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr* hdr;
struct rt_can_hdr *hdr;
#endif
void *can_rx;
void *can_tx;
struct rt_mutex lock;
void *can_rx;
void *can_tx;
};
typedef struct rt_can_device *rt_can_t;
......@@ -229,68 +223,76 @@ typedef struct rt_can_device *rt_can_t;
#define RT_CAN_DTR 0
#define RT_CAN_RTR 1
typedef struct rt_can_status * rt_can_status_t;
typedef struct rt_can_status *rt_can_status_t;
struct rt_can_msg
{
rt_uint32_t id :29;
rt_uint32_t ide :1;
rt_uint32_t rtr :1;
rt_uint32_t rsv :1;
rt_uint32_t len :8;
rt_uint32_t priv :8;
rt_uint32_t hdr :8;
rt_uint32_t reserved :8;
rt_uint8_t data[8];
rt_uint32_t id : 29;
rt_uint32_t ide : 1;
rt_uint32_t rtr : 1;
rt_uint32_t rsv : 1;
rt_uint32_t len : 8;
rt_uint32_t priv : 8;
rt_uint32_t hdr : 8;
rt_uint32_t reserved : 8;
rt_uint8_t data[8];
};
typedef struct rt_can_msg* rt_can_msg_t;
struct rt_can_msg_list {
struct rt_list_node list;
typedef struct rt_can_msg *rt_can_msg_t;
struct rt_can_msg_list
{
struct rt_list_node list;
#ifdef RT_CAN_USING_HDR
struct rt_list_node hdrlist;
struct rt_can_hdr* owner;
struct rt_list_node hdrlist;
struct rt_can_hdr *owner;
#endif
struct rt_can_msg data;
struct rt_can_msg data;
};
struct rt_can_rx_fifo
{
/* software fifo */
struct rt_can_msg_list *buffer;
rt_uint32_t freenumbers;
struct rt_list_node freelist;
struct rt_list_node uselist;
/* software fifo */
struct rt_can_msg_list *buffer;
rt_uint32_t freenumbers;
struct rt_list_node freelist;
struct rt_list_node uselist;
};
#define RT_CAN__SND_RESUTL_OK 0
#define RT_CAN__SND_RESUTL_ERR 1
#define RT_CAN__SND_RESUTL_WAIT 2
#define RT_CAN_SND_RESULT_OK 0
#define RT_CAN_SND_RESULT_ERR 1
#define RT_CAN_SND_RESULT_WAIT 2
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
struct rt_can_sndbxinx_list {
struct rt_list_node list;
struct rt_completion completion;
rt_uint32_t result;
struct rt_can_sndbxinx_list
{
struct rt_list_node list;
struct rt_completion completion;
rt_uint32_t result;
};
struct rt_can_tx_fifo
{
struct rt_can_sndbxinx_list *buffer;
struct rt_completion completion;
struct rt_list_node freelist;
struct rt_can_sndbxinx_list *buffer;
struct rt_completion completion;
struct rt_list_node freelist;
};
struct rt_can_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void *buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can, void *buf, rt_uint32_t boxno);
};
rt_err_t rt_hw_can_register(struct rt_can_device *can,
const char *name,
const struct rt_can_ops *ops,
void *data);
const char *name,
const struct rt_can_ops *ops,
void *data);
void rt_hw_can_isr(struct rt_can_device *can, int event);
#endif /*_CAN_H*/
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