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提交 7de47e02 编写于 作者: B Bernard Xiong
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Merge pull request #514 from BernardXiong/master 

[DeviceDrivers] code cleanup for CAN driver and fix some critical issue
上级 eb23f0de 2ca3ceab
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Showing with 701 addition and 672 deletion
components/drivers/can/can.c
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components/drivers/include/drivers/can.h
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......@@ -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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